From 2b787e4f1ed66b5b97602a28a9b5ed239e3cd8f4 Mon Sep 17 00:00:00 2001
From: Kalana Ratnayake <kalanaratnayake95@gmail.com>
Date: Sat, 18 Jul 2026 06:02:28 +0000
Subject: [PATCH 1/2] added doxygen for documentation

---
 .devcontainer/humble/Dockerfile               |    1 +
 .devcontainer/jazzy/Dockerfile                |    1 +
 .github/workflows/doxygen-pages.yml           |   86 +
 .../Doxygen => Doxygen                        |   16 +-
 readme.md => README.md                        |    1 +
 docs/html/README_8md.html                     |   81 +
 docs/html/TODO_8md.html                       |   81 +
 docs/html/action__runner_8hpp.html            |  203 ++
 docs/html/action__runner_8hpp__incl.map       |   84 +
 docs/html/action__runner_8hpp__incl.md5       |    1 +
 docs/html/action__runner_8hpp__incl.png       |  Bin 0 -> 257791 bytes
 docs/html/action__runner_8hpp_source.html     |  329 +++
 docs/html/annotated.html                      |  139 +
 docs/html/basic__tutorial_8md.html            |   81 +
 docs/html/bc_s.png                            |  Bin 0 -> 676 bytes
 docs/html/bc_sd.png                           |  Bin 0 -> 635 bytes
 docs/html/bond__cache_8hpp.html               |  146 +
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 docs/html/call__establish__bond_8py.html      |  105 +
 docs/html/call__get__interfaces_8py.html      |  105 +
 docs/html/call__get__providers_8py.html       |  105 +
 .../call__get__semantic__interfaces_8py.html  |  105 +
 docs/html/call__get__specs_8py.html           |  105 +
 docs/html/call__register__cap_8py.html        |  105 +
 .../capabilities2__events_2readme_8md.html    |   81 +
 .../html/capabilities2__msgs_2readme_8md.html |   81 +
 .../capabilities2__runner_2readme_8md.html    |   81 +
 ...bilities2__server_2models_2readme_8md.html |   81 +
 .../capabilities2__server_2readme_8md.html    |   81 +
 ...lities2__server_8composed_8launch_8py.html |   99 +
 .../capabilities2__server_8launch_8py.html    |   99 +
 docs/html/capabilities__api_8hpp.html         |  320 +++
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 .../capabilities__api_8hpp__dep__incl.png     |  Bin 0 -> 24233 bytes
 docs/html/capabilities__api_8hpp__incl.map    |  178 ++
 docs/html/capabilities__api_8hpp__incl.md5    |    1 +
 docs/html/capabilities__api_8hpp__incl.png    |  Bin 0 -> 740887 bytes
 docs/html/capabilities__api_8hpp_source.html  |  876 ++++++
 docs/html/capabilities__db_8hpp.html          |  268 ++
 .../html/capabilities__db_8hpp__dep__incl.map |   13 +
 .../html/capabilities__db_8hpp__dep__incl.md5 |    1 +
 .../html/capabilities__db_8hpp__dep__incl.png |  Bin 0 -> 31193 bytes
 docs/html/capabilities__db_8hpp__incl.map     |  132 +
 docs/html/capabilities__db_8hpp__incl.md5     |    1 +
 docs/html/capabilities__db_8hpp__incl.png     |  Bin 0 -> 441533 bytes
 docs/html/capabilities__db_8hpp_source.html   |  753 +++++
 docs/html/capabilities__server_8hpp.html      |  315 ++
 .../capabilities__server_8hpp__dep__incl.map  |    9 +
 .../capabilities__server_8hpp__dep__incl.md5  |    1 +
 .../capabilities__server_8hpp__dep__incl.png  |  Bin 0 -> 18259 bytes
 docs/html/capabilities__server_8hpp__incl.map |  158 +
 docs/html/capabilities__server_8hpp__incl.md5 |    1 +
 docs/html/capabilities__server_8hpp__incl.png |  Bin 0 -> 574064 bytes
 .../capabilities__server_8hpp_source.html     |  940 ++++++
 .../capabilities__server__component_8cpp.html |  243 ++
 ...bilities__server__component_8cpp__incl.map |  151 +
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 ...bilities__server__component_8cpp__incl.png |  Bin 0 -> 496515 bytes
 .../html/capabilities__server__node_8cpp.html |  282 ++
 .../capabilities__server__node_8cpp__incl.map |  154 +
 .../capabilities__server__node_8cpp__incl.md5 |    1 +
 .../capabilities__server__node_8cpp__incl.png |  Bin 0 -> 513419 bytes
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 ...asscapabilities2__events_1_1EventNode.html |  771 +++++
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 ...ents_1_1PublishedEvent__inherit__graph.map |    5 +
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 ...ies2__events_1_1UUIDGenerator-members.html |   92 +
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 ...ties2__runner_1_1ActionRunner-members.html |  160 ++
 ...capabilities2__runner_1_1ActionRunner.html |  795 +++++
 ...2__runner_1_1ActionRunner__coll__graph.map |   11 +
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 ...ities2__runner_1_1EnCapRunner-members.html |   95 +
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 ...unner_1_1InputMultiplexRunner-members.html |  152 +
 ...ties2__runner_1_1InputMultiplexRunner.html |  550 ++++
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 ...ties2__runner_1_1LaunchRunner-members.html |  142 +
 ...capabilities2__runner_1_1LaunchRunner.html |  458 +++
 ...2__runner_1_1LaunchRunner__coll__graph.map |   11 +
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 ...2__runner_1_1LaunchRunner__coll__graph.png |  Bin 0 -> 19839 bytes
 ...runner_1_1LaunchRunner__inherit__graph.map |    9 +
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 ...runner_1_1MultiplexBaseRunner-members.html |  146 +
 ...ities2__runner_1_1MultiplexBaseRunner.html |  492 ++++
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 ...s2__runner_1_1NoTriggerRunner-members.html |  139 +
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 ...sscapabilities2__runner_1_1RunnerBase.html | 1478 ++++++++++
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 ...__runner_1_1RunnerBase__inherit__graph.map |   27 +
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 ...ies2__runner_1_1ServiceRunner-members.html |  154 +
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 ...unner_1_1ServiceRunner__inherit__graph.map |    9 +
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 ...runner_1_1ThreadTriggerRunner-members.html |  148 +
 ...ities2__runner_1_1ThreadTriggerRunner.html |  647 +++++
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 ...ities2__runner_1_1TopicRunner-members.html |  156 +
 ...scapabilities2__runner_1_1TopicRunner.html |  675 +++++
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 ...abilities2__server_1_1CapabilitiesAPI.html | 1098 +++++++
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 docs/html/classes.html                        |  135 +
 docs/html/closed.png                          |  Bin 0 -> 132 bytes
 docs/html/create__runners_8md.html            |   81 +
 docs/html/db__base_8hpp.html                  |  265 ++
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 docs/html/db__base_8hpp__incl.map             |  118 +
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 docs/html/db__base_8hpp_source.html           |  281 ++
 docs/html/defineable__base_8hpp.html          |  151 +
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 ...put__multiplex__runner_8hpp__dep__incl.map |    5 +
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 ...ities2__server_2docs_2terminal__usage.html |   95 +
 ...capabilities2__server_2models_2readme.html |  153 +
 .../md_capabilities2__server_2readme.html     |  161 ++
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 docs/html/md_docs_2basic__tutorial.html       |  226 ++
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 docs/html/namespacecall__establish__bond.html |  130 +
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 ...espacecall__get__semantic__interfaces.html |  130 +
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 ...espacecapabilities2__server_1_1models.html |  142 +
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 docs/html/securing__capabilities_8md.html     |   81 +
 docs/html/semantic__interface_8hpp.html       |  169 ++
 .../semantic__interface_8hpp__dep__incl.map   |   19 +
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 .../semantic__interface_8hpp__dep__incl.png   |  Bin 0 -> 50582 bytes
 docs/html/semantic__interface_8hpp__incl.map  |   31 +
 docs/html/semantic__interface_8hpp__incl.md5  |    1 +
 docs/html/semantic__interface_8hpp__incl.png  |  Bin 0 -> 59022 bytes
 .../html/semantic__interface_8hpp_source.html |  183 ++
 docs/html/semantic__interfaces_8md.html       |   81 +
 docs/html/service__runner_8hpp.html           |  190 ++
 docs/html/service__runner_8hpp__dep__incl.map |    7 +
 docs/html/service__runner_8hpp__dep__incl.md5 |    1 +
 docs/html/service__runner_8hpp__dep__incl.png |  Bin 0 -> 16746 bytes
 docs/html/service__runner_8hpp__incl.map      |   69 +
 docs/html/service__runner_8hpp__incl.md5      |    1 +
 docs/html/service__runner_8hpp__incl.png      |  Bin 0 -> 182248 bytes
 docs/html/service__runner_8hpp_source.html    |  234 ++
 docs/html/setup_8md.html                      |   81 +
 docs/html/setup__with__dev_8md.html           |   81 +
 docs/html/splitbar.png                        |  Bin 0 -> 314 bytes
 docs/html/splitbard.png                       |  Bin 0 -> 282 bytes
 docs/html/sql__safe_8hpp.html                 |  167 ++
 docs/html/sql__safe_8hpp__dep__incl.map       |   43 +
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 docs/html/sql__safe_8hpp__dep__incl.png       |  Bin 0 -> 126854 bytes
 docs/html/sql__safe_8hpp__incl.map            |    7 +
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 docs/html/sql__safe_8hpp_source.html          |  130 +
 ...nts_1_1EventNode_1_1EventPipe-members.html |   91 +
 ...es2__events_1_1EventNode_1_1EventPipe.html |  150 +
 ...s2__events_1_1EventParameters-members.html |   96 +
 ...abilities2__events_1_1EventParameters.html |  395 +++
 ...ilities2__events_1_1Parameter-members.html |   96 +
 ...uctcapabilities2__events_1_1Parameter.html |  317 ++
 ...2__events_1_1event__exception-members.html |   90 +
 ...bilities2__events_1_1event__exception.html |  180 ++
 ...vents_1_1event__exception__coll__graph.map |    5 +
 ...vents_1_1event__exception__coll__graph.md5 |    1 +
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 ...ts_1_1event__exception__inherit__graph.map |    5 +
 ...ts_1_1event__exception__inherit__graph.md5 |    1 +
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 ..._events_1_1options__exception-members.html |   90 +
 ...lities2__events_1_1options__exception.html |  174 ++
 ...nts_1_1options__exception__coll__graph.map |    5 +
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 ..._1_1options__exception__inherit__graph.map |    5 +
 ..._1_1options__exception__inherit__graph.md5 |    1 +
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 ...bilities2__runner_1_1resource-members.html |   91 +
 ...ructcapabilities2__runner_1_1resource.html |  151 +
 ...__runner_1_1runner__exception-members.html |   90 +
 ...ilities2__runner_1_1runner__exception.html |  180 ++
 ...nner_1_1runner__exception__coll__graph.map |    5 +
 ...nner_1_1runner__exception__coll__graph.md5 |    1 +
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 ...r_1_1runner__exception__inherit__graph.map |    5 +
 ...r_1_1runner__exception__inherit__graph.md5 |    1 +
 ...r_1_1runner__exception__inherit__graph.png |  Bin 0 -> 5770 bytes
 ...ties2__runner_1_1runner__opts-members.html |   96 +
 ...capabilities2__runner_1_1runner__opts.html |  232 ++
 ...odels_1_1capability__model__t-members.html |   90 +
 ...ver_1_1models_1_1capability__model__t.html |  140 +
 ..._1capability__model__t__inherit__graph.map |    5 +
 ..._1capability__model__t__inherit__graph.md5 |    1 +
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 ...models_1_1defineable__base__t-members.html |   93 +
 ...rver_1_1models_1_1defineable__base__t.html |  235 ++
 ...1_1defineable__base__t__inherit__graph.map |    7 +
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 ...1_1defineable__base__t__inherit__graph.png |  Bin 0 -> 14185 bytes
 ...1_1models_1_1header__model__t-members.html |  100 +
 ..._server_1_1models_1_1header__model__t.html |  324 +++
 ...odels_1_1header__model__t__coll__graph.map |    9 +
 ...odels_1_1header__model__t__coll__graph.md5 |    1 +
 ...odels_1_1header__model__t__coll__graph.png |  Bin 0 -> 19255 bytes
 ...ls_1_1header__model__t__inherit__graph.map |    9 +
 ...ls_1_1header__model__t__inherit__graph.md5 |    1 +
 ...ls_1_1header__model__t__inherit__graph.png |  Bin 0 -> 19255 bytes
 ...dels_1_1identifiable__base__t-members.html |   89 +
 ...er_1_1models_1_1identifiable__base__t.html |  129 +
 ...1identifiable__base__t__inherit__graph.map |    5 +
 ...1identifiable__base__t__inherit__graph.md5 |    1 +
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 ...models_1_1interface__model__t-members.html |   95 +
 ...rver_1_1models_1_1interface__model__t.html |  287 ++
 ...ls_1_1interface__model__t__coll__graph.map |   15 +
 ...ls_1_1interface__model__t__coll__graph.md5 |    1 +
 ...ls_1_1interface__model__t__coll__graph.png |  Bin 0 -> 35331 bytes
 ...1_1interface__model__t__inherit__graph.map |    5 +
 ...1_1interface__model__t__inherit__graph.md5 |    1 +
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 ...models_1_1modifiable__base__t-members.html |   90 +
 ...rver_1_1models_1_1modifiable__base__t.html |  145 +
 ...1_1modifiable__base__t__inherit__graph.map |    5 +
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 ...models_1_1predicate__model__t-members.html |   93 +
 ...rver_1_1models_1_1predicate__model__t.html |  212 ++
 ...els_1_1predicateable__base__t-members.html |   89 +
 ...r_1_1models_1_1predicateable__base__t.html |  134 +
 ...predicateable__base__t__inherit__graph.map |    9 +
 ...predicateable__base__t__inherit__graph.md5 |    1 +
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 ...1models_1_1provider__model__t-members.html |  101 +
 ...erver_1_1models_1_1provider__model__t.html |  359 +++
 ...els_1_1provider__model__t__coll__graph.map |   20 +
 ...els_1_1provider__model__t__coll__graph.md5 |    1 +
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 ..._1_1provider__model__t__inherit__graph.map |    9 +
 ..._1_1provider__model__t__inherit__graph.md5 |    1 +
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 ...models_1_1remappable__base__t-members.html |   89 +
 ...rver_1_1models_1_1remappable__base__t.html |  142 +
 ...ls_1_1remappable__base__t__coll__graph.map |    5 +
 ...ls_1_1remappable__base__t__coll__graph.md5 |    1 +
 ...ls_1_1remappable__base__t__coll__graph.png |  Bin 0 -> 10575 bytes
 ...1_1remappable__base__t__inherit__graph.map |    7 +
 ...1_1remappable__base__t__inherit__graph.md5 |    1 +
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 ...models_1_1remapping__model__t-members.html |   94 +
 ...rver_1_1models_1_1remapping__model__t.html |  246 ++
 ...odels_1_1remappings__model__t-members.html |   94 +
 ...ver_1_1models_1_1remappings__model__t.html |  222 ++
 ...1models_1_1resource__model__t-members.html |   93 +
 ...erver_1_1models_1_1resource__model__t.html |  211 ++
 ...dels_1_1run__config__model__t-members.html |  101 +
 ...er_1_1models_1_1run__config__model__t.html |  333 +++
 ..._1_1run__config__model__t__coll__graph.map |   20 +
 ..._1_1run__config__model__t__coll__graph.md5 |    1 +
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 ...1run__config__model__t__inherit__graph.map |    5 +
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 ..._1models_1_1running__model__t-members.html |   93 +
 ...server_1_1models_1_1running__model__t.html |  177 ++
 ...dels_1_1running__model__t__coll__graph.map |    5 +
 ...dels_1_1running__model__t__coll__graph.md5 |    1 +
 ...dels_1_1running__model__t__coll__graph.png |  Bin 0 -> 8644 bytes
 ...s_1_1running__model__t__inherit__graph.map |    5 +
 ...s_1_1running__model__t__inherit__graph.md5 |    1 +
 ...s_1_1running__model__t__inherit__graph.png |  Bin 0 -> 8644 bytes
 ...semantic__interface__model__t-members.html |   97 +
 ...dels_1_1semantic__interface__model__t.html |  327 +++
 ...ntic__interface__model__t__coll__graph.map |   18 +
 ...ntic__interface__model__t__coll__graph.md5 |    1 +
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 ...c__interface__model__t__inherit__graph.map |    7 +
 ...c__interface__model__t__inherit__graph.md5 |    1 +
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 ..._1_1soft__deleteable__base__t-members.html |   89 +
 ..._1models_1_1soft__deleteable__base__t.html |  129 +
 ...t__deleteable__base__t__inherit__graph.map |    5 +
 ...t__deleteable__base__t__inherit__graph.md5 |    1 +
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 ...ls_1_1specification__model__t-members.html |   94 +
 ..._1_1models_1_1specification__model__t.html |  227 ++
 docs/html/sync_off.png                        |  Bin 0 -> 853 bytes
 docs/html/sync_on.png                         |  Bin 0 -> 845 bytes
 docs/html/system-structure.png                |  Bin 0 -> 84291 bytes
 docs/html/system__runners_8cpp.html           |  242 ++
 docs/html/system__runners_8cpp__incl.map      |   81 +
 docs/html/system__runners_8cpp__incl.md5      |    1 +
 docs/html/system__runners_8cpp__incl.png      |  Bin 0 -> 226034 bytes
 docs/html/tab_a.png                           |  Bin 0 -> 142 bytes
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 docs/html/tab_sd.png                          |  Bin 0 -> 188 bytes
 docs/html/tabs.css                            |    1 +
 docs/html/terminal__usage_8md.html            |   81 +
 docs/html/test_8cpp.html                      |  282 ++
 docs/html/test_8cpp__incl.map                 |  152 +
 docs/html/test_8cpp__incl.md5                 |    1 +
 docs/html/test_8cpp__incl.png                 |  Bin 0 -> 525206 bytes
 docs/html/threadtrigger__runner_8hpp.html     |  202 ++
 .../threadtrigger__runner_8hpp__dep__incl.map |   16 +
 .../threadtrigger__runner_8hpp__dep__incl.md5 |    1 +
 .../threadtrigger__runner_8hpp__dep__incl.png |  Bin 0 -> 43916 bytes
 .../html/threadtrigger__runner_8hpp__incl.map |   66 +
 .../html/threadtrigger__runner_8hpp__incl.md5 |    1 +
 .../html/threadtrigger__runner_8hpp__incl.png |  Bin 0 -> 184807 bytes
 .../threadtrigger__runner_8hpp_source.html    |  228 ++
 docs/html/topic__runner_8hpp.html             |  178 ++
 docs/html/topic__runner_8hpp__incl.map        |   69 +
 docs/html/topic__runner_8hpp__incl.md5        |    1 +
 docs/html/topic__runner_8hpp__incl.png        |  Bin 0 -> 201721 bytes
 docs/html/topic__runner_8hpp_source.html      |  233 ++
 docs/html/uuid__generator_8cpp.html           |  109 +
 docs/html/uuid__generator_8cpp__incl.map      |    9 +
 docs/html/uuid__generator_8cpp__incl.md5      |    1 +
 docs/html/uuid__generator_8cpp__incl.png      |  Bin 0 -> 11718 bytes
 docs/html/uuid__generator_8hpp.html           |  177 ++
 docs/html/uuid__generator_8hpp__dep__incl.map |   60 +
 docs/html/uuid__generator_8hpp__dep__incl.md5 |    1 +
 docs/html/uuid__generator_8hpp__dep__incl.png |  Bin 0 -> 184763 bytes
 docs/html/uuid__generator_8hpp__incl.map      |    5 +
 docs/html/uuid__generator_8hpp__incl.md5      |    1 +
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 docs/html/uuid__generator_8hpp_source.html    |  116 +
 docs/latex/Makefile                           |   27 +
 docs/latex/README_8md.tex                     |    2 +
 docs/latex/TODO_8md.tex                       |    2 +
 docs/latex/action__runner_8hpp.tex            |   31 +
 docs/latex/action__runner_8hpp__incl.md5      |    1 +
 docs/latex/action__runner_8hpp__incl.pdf      |  Bin 0 -> 14362 bytes
 docs/latex/action__runner_8hpp_source.tex     |  202 ++
 docs/latex/annotated.tex                      |   52 +
 docs/latex/basic__tutorial_8md.tex            |    2 +
 docs/latex/bond__cache_8hpp.tex               |   32 +
 docs/latex/bond__cache_8hpp__dep__incl.md5    |    1 +
 docs/latex/bond__cache_8hpp__dep__incl.pdf    |  Bin 0 -> 8182 bytes
 docs/latex/bond__cache_8hpp__incl.md5         |    1 +
 docs/latex/bond__cache_8hpp__incl.pdf         |  Bin 0 -> 8139 bytes
 docs/latex/bond__cache_8hpp_source.tex        |  163 ++
 docs/latex/call__establish__bond_8py.tex      |   17 +
 docs/latex/call__get__interfaces_8py.tex      |   17 +
 docs/latex/call__get__providers_8py.tex       |   17 +
 .../call__get__semantic__interfaces_8py.tex   |   17 +
 docs/latex/call__get__specs_8py.tex           |   17 +
 docs/latex/call__register__cap_8py.tex        |   17 +
 .../capabilities2__events_2readme_8md.tex     |    2 +
 .../latex/capabilities2__msgs_2readme_8md.tex |    2 +
 .../capabilities2__runner_2readme_8md.tex     |    2 +
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 create mode 100644 docs/latex/running_8hpp__incl.pdf
 create mode 100644 docs/latex/running_8hpp_source.tex
 create mode 100644 docs/latex/securing-capability-based-robot.png
 create mode 100644 docs/latex/securing__capabilities_8md.tex
 create mode 100644 docs/latex/semantic__interface_8hpp.tex
 create mode 100644 docs/latex/semantic__interface_8hpp__dep__incl.md5
 create mode 100644 docs/latex/semantic__interface_8hpp__dep__incl.pdf
 create mode 100644 docs/latex/semantic__interface_8hpp__incl.md5
 create mode 100644 docs/latex/semantic__interface_8hpp__incl.pdf
 create mode 100644 docs/latex/semantic__interface_8hpp_source.tex
 create mode 100644 docs/latex/semantic__interfaces_8md.tex
 create mode 100644 docs/latex/service__runner_8hpp.tex
 create mode 100644 docs/latex/service__runner_8hpp__dep__incl.md5
 create mode 100644 docs/latex/service__runner_8hpp__dep__incl.pdf
 create mode 100644 docs/latex/service__runner_8hpp__incl.md5
 create mode 100644 docs/latex/service__runner_8hpp__incl.pdf
 create mode 100644 docs/latex/service__runner_8hpp_source.tex
 create mode 100644 docs/latex/setup_8md.tex
 create mode 100644 docs/latex/setup__with__dev_8md.tex
 create mode 100644 docs/latex/sql__safe_8hpp.tex
 create mode 100644 docs/latex/sql__safe_8hpp__dep__incl.md5
 create mode 100644 docs/latex/sql__safe_8hpp__dep__incl.pdf
 create mode 100644 docs/latex/sql__safe_8hpp__incl.md5
 create mode 100644 docs/latex/sql__safe_8hpp__incl.pdf
 create mode 100644 docs/latex/sql__safe_8hpp_source.tex
 create mode 100644 docs/latex/structcapabilities2__events_1_1EventNode_1_1EventPipe.tex
 create mode 100644 docs/latex/structcapabilities2__events_1_1EventParameters.tex
 create mode 100644 docs/latex/structcapabilities2__events_1_1Parameter.tex
 create mode 100644 docs/latex/structcapabilities2__events_1_1event__exception.tex
 create mode 100644 docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__events_1_1event__exception__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__events_1_1event__exception__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__events_1_1options__exception.tex
 create mode 100644 docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__events_1_1options__exception__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__events_1_1options__exception__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__runner_1_1resource.tex
 create mode 100644 docs/latex/structcapabilities2__runner_1_1runner__exception.tex
 create mode 100644 docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__runner_1_1runner__exception__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__runner_1_1runner__exception__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__runner_1_1runner__opts.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1header__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1predicate__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1remapping__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1remappings__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1resource__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1running__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.tex
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.md5
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.pdf
 create mode 100644 docs/latex/structcapabilities2__server_1_1models_1_1specification__model__t.tex
 create mode 100644 docs/latex/system-structure.png
 create mode 100644 docs/latex/system__runners_8cpp.tex
 create mode 100644 docs/latex/system__runners_8cpp__incl.md5
 create mode 100644 docs/latex/system__runners_8cpp__incl.pdf
 create mode 100644 docs/latex/tabu_doxygen.sty
 create mode 100644 docs/latex/terminal__usage_8md.tex
 create mode 100644 docs/latex/test_8cpp.tex
 create mode 100644 docs/latex/test_8cpp__incl.md5
 create mode 100644 docs/latex/test_8cpp__incl.pdf
 create mode 100644 docs/latex/threadtrigger__runner_8hpp.tex
 create mode 100644 docs/latex/threadtrigger__runner_8hpp__dep__incl.md5
 create mode 100644 docs/latex/threadtrigger__runner_8hpp__dep__incl.pdf
 create mode 100644 docs/latex/threadtrigger__runner_8hpp__incl.md5
 create mode 100644 docs/latex/threadtrigger__runner_8hpp__incl.pdf
 create mode 100644 docs/latex/threadtrigger__runner_8hpp_source.tex
 create mode 100644 docs/latex/topic__runner_8hpp.tex
 create mode 100644 docs/latex/topic__runner_8hpp__incl.md5
 create mode 100644 docs/latex/topic__runner_8hpp__incl.pdf
 create mode 100644 docs/latex/topic__runner_8hpp_source.tex
 create mode 100644 docs/latex/uuid__generator_8cpp.tex
 create mode 100644 docs/latex/uuid__generator_8cpp__incl.md5
 create mode 100644 docs/latex/uuid__generator_8cpp__incl.pdf
 create mode 100644 docs/latex/uuid__generator_8hpp.tex
 create mode 100644 docs/latex/uuid__generator_8hpp__dep__incl.md5
 create mode 100644 docs/latex/uuid__generator_8hpp__dep__incl.pdf
 create mode 100644 docs/latex/uuid__generator_8hpp__incl.md5
 create mode 100644 docs/latex/uuid__generator_8hpp__incl.pdf
 create mode 100644 docs/latex/uuid__generator_8hpp_source.tex

diff --git a/.devcontainer/humble/Dockerfile b/.devcontainer/humble/Dockerfile
index a71f968..2c5b6b4 100644
--- a/.devcontainer/humble/Dockerfile
+++ b/.devcontainer/humble/Dockerfile
@@ -14,6 +14,7 @@ RUN apt-get update && apt-get upgrade -y \
     && apt-get install -y \
     sudo \
     git \
+    doxygen \
     && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME
 
diff --git a/.devcontainer/jazzy/Dockerfile b/.devcontainer/jazzy/Dockerfile
index 97163cc..72a2198 100644
--- a/.devcontainer/jazzy/Dockerfile
+++ b/.devcontainer/jazzy/Dockerfile
@@ -14,6 +14,7 @@ RUN apt-get update && apt-get upgrade -y \
     && apt-get install -y \
     sudo \
     git \
+    doxygen \
     && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME
 
diff --git a/.github/workflows/doxygen-pages.yml b/.github/workflows/doxygen-pages.yml
new file mode 100644
index 0000000..32f0222
--- /dev/null
+++ b/.github/workflows/doxygen-pages.yml
@@ -0,0 +1,86 @@
+name: Build and Deploy Docs
+
+on:
+  push:
+    branches:
+      - main
+    paths:
+      - Doxygen
+      - README.md
+      - docs/**
+      - '**/*.md'
+      - '**/*.dox'
+      - '**/*.h'
+      - '**/*.hh'
+      - '**/*.hpp'
+      - '**/*.hxx'
+      - '**/*.c'
+      - '**/*.cc'
+      - '**/*.cpp'
+      - '**/*.cxx'
+      - '**/*.py'
+      - .github/workflows/doxygen-pages.yml
+  pull_request:
+    branches:
+      - main
+    paths:
+      - Doxygen
+      - README.md
+      - docs/**
+      - '**/*.md'
+      - '**/*.dox'
+      - '**/*.h'
+      - '**/*.hh'
+      - '**/*.hpp'
+      - '**/*.hxx'
+      - '**/*.c'
+      - '**/*.cc'
+      - '**/*.cpp'
+      - '**/*.cxx'
+      - '**/*.py'
+      - .github/workflows/doxygen-pages.yml
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pages: write
+  id-token: write
+
+concurrency:
+  group: pages
+  cancel-in-progress: true
+
+jobs:
+  build-docs:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Install Doxygen
+        run: sudo apt-get update && sudo apt-get install -y doxygen
+
+      - name: Build HTML documentation
+        run: |
+          doxygen Doxygen
+          touch docs/html/.nojekyll
+
+      - name: Upload Pages artifact
+        if: github.event_name != 'pull_request'
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: docs/html
+
+  deploy-pages:
+    if: github.event_name != 'pull_request' && github.ref_name == github.event.repository.default_branch
+    needs: build-docs
+    runs-on: ubuntu-latest
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.page_url }}
+
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deployment
+        uses: actions/deploy-pages@v4
\ No newline at end of file
diff --git a/capabilities2_documentation/Doxygen b/Doxygen
similarity index 99%
rename from capabilities2_documentation/Doxygen
rename to Doxygen
index 37e4c5c..1243e04 100644
--- a/capabilities2_documentation/Doxygen
+++ b/Doxygen
@@ -58,7 +58,7 @@ PROJECT_LOGO           =
 # entered, it will be relative to the location where doxygen was started. If
 # left blank the current directory will be used.
 
-OUTPUT_DIRECTORY       =
+OUTPUT_DIRECTORY       = docs
 
 # If the CREATE_SUBDIRS tag is set to YES then doxygen will create 4096 sub-
 # directories (in 2 levels) under the output directory of each output format and
@@ -170,7 +170,7 @@ FULL_PATH_NAMES        = YES
 # will be relative from the directory where doxygen is started.
 # This tag requires that the tag FULL_PATH_NAMES is set to YES.
 
-STRIP_FROM_PATH        =
+STRIP_FROM_PATH        = .
 
 # The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the
 # path mentioned in the documentation of a class, which tells the reader which
@@ -864,7 +864,7 @@ WARN_LOGFILE           =
 # spaces. See also FILE_PATTERNS and EXTENSION_MAPPING
 # Note: If this tag is empty the current directory is searched.
 
-INPUT                  = "../"
+INPUT                  = .
 
 # This tag can be used to specify the character encoding of the source files
 # that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses
@@ -952,7 +952,9 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.
 
-EXCLUDE                =
+EXCLUDE                = ./build \
+                         ./install \
+                         ./log
 
 # The EXCLUDE_SYMLINKS tag can be used to select whether or not files or
 # directories that are symbolic links (a Unix file system feature) are excluded
@@ -1005,8 +1007,8 @@ EXAMPLE_RECURSIVE      = NO
 # that contain images that are to be included in the documentation (see the
 # \image command).
 
-IMAGE_PATH             = "../capabilities2_runner/docs/images" \
-                         "../capabilities2/docs/images"
+IMAGE_PATH             = "capabilities2_runner/docs/images" \
+                         "docs/images"
 
 # The INPUT_FILTER tag can be used to specify a program that doxygen should
 # invoke to filter for each input file. Doxygen will invoke the filter program
@@ -1062,7 +1064,7 @@ FILTER_SOURCE_PATTERNS =
 # (index.html). This can be useful if you have a project on for instance GitHub
 # and want to reuse the introduction page also for the doxygen output.
 
-USE_MDFILE_AS_MAINPAGE = "../readme.md"
+USE_MDFILE_AS_MAINPAGE = "README.md"
 
 #---------------------------------------------------------------------------
 # Configuration options related to source browsing
diff --git a/readme.md b/README.md
similarity index 98%
rename from readme.md
rename to README.md
index a1e22b2..8cb6af5 100644
--- a/readme.md
+++ b/README.md
@@ -46,6 +46,7 @@ ros2 launch capabilities2_server capabilities2_server.launch.py
 
 - [Motivation and Example Use Cases](./docs/motivation_and_examples.md)
 - [Design Information](./docs/design.md)
+- [Generated API and docs site](./docs/readme.md)
 - [Registering a capability](./capabilities2_server/docs/register.md)
 - [Terminal based capability usage](./capabilities2_server/docs/terminal_usage.md)
 - [Running test scripts](./docs/run_test_scripts.md)
diff --git a/docs/html/README_8md.html b/docs/html/README_8md.html
new file mode 100644
index 0000000..07af56f
--- /dev/null
+++ b/docs/html/README_8md.html
@@ -0,0 +1,81 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: README.md File Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">README.md File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/TODO_8md.html b/docs/html/TODO_8md.html
new file mode 100644
index 0000000..445720d
--- /dev/null
+++ b/docs/html/TODO_8md.html
@@ -0,0 +1,81 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: TODO.md File Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<li class="navelem"><a class="el" href="dir_ae9b8f7772f36f75ddf7a4660dc4c659.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="dir_d596d1b13e10115fa0e063d9d8185b97.html">include</a></li><li class="navelem"><a class="el" href="dir_c88f82dd231ae0856530de318d7cb819.html">capabilities2_runner</a></li>  </ul>
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+  <div class="headertitle"><div class="title">action_runner.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="action__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;iostream&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;sstream&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;condition_variable&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;rclcpp_action/rclcpp_action.hpp&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;action_msgs/srv/cancel_goal.hpp&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;<a class="code" href="threadtrigger__runner_8hpp.html">capabilities2_runner/threadtrigger_runner.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="foldopen" id="foldopen00018" data-start="{" data-end="}">
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="namespacecapabilities2__runner.html">   18</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> ActionT&gt;</div>
+<div class="foldopen" id="foldopen00027" data-start="{" data-end="};">
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html">   27</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1ActionRunner.html">ActionRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>{</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a591d542f6f91cfec3aec63eb311b4ac6">   33</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#a591d542f6f91cfec3aec63eb311b4ac6">ActionRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a>()</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  {</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  }</div>
+</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="foldopen" id="foldopen00044" data-start="{" data-end="}">
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#adec17ec301ee0485a10bb5a1caa82ab9">   44</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#adec17ec301ee0485a10bb5a1caa82ab9">init_action</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config, <span class="keyword">const</span> std::string&amp; action_name)</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>  {</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="comment">// initialize the runner base by storing node pointer and run config</span></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(node, run_config);</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="comment">// create an action client</span></div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a> = rclcpp_action::create_client&lt;ActionT&gt;(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>, action_name);</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="comment">// wait for action server</span></div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;waiting for action: %s&quot;</span>, action_name.c_str());</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a>-&gt;wait_for_action_server(std::chrono::seconds(1000)))</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    {</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to connect to action: %s&quot;</span>, action_name.c_str());</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;failed to connect to action server&quot;</span>);</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    }</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;connected with action: %s&quot;</span>, action_name.c_str());</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  }</div>
+</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="foldopen" id="foldopen00068" data-start="{" data-end="}">
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">   68</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="comment">// if the node pointer is empty then throw an error</span></div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="comment">// this means that the runner was not started and is being used out of order</span></div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>)</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner that was not started&quot;</span>);</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="comment">// throw an error if the action client is null</span></div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="comment">// this can happen if the runner is not able to find the action resource</span></div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a>)</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner action that was not started&quot;</span>);</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="comment">// stop runner using action client</span></div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a>)</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    {</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>      {</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keyword">auto</span> cancel_future = <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a>-&gt;async_cancel_goal(</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a>, [<span class="keyword">this</span>, &amp;bond_id, &amp;instance_id](action_msgs::srv::CancelGoal_Response::SharedPtr response) {</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>              <span class="keywordflow">if</span> (response-&gt;return_code != action_msgs::srv::CancelGoal_Response::ERROR_NONE)</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>              {</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>                <span class="comment">// throw runner_exception(&quot;failed to cancel runner&quot;);</span></div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>                RCLCPP_ERROR(node_-&gt;get_logger(), <span class="stringliteral">&quot;Runner cancellation failed.&quot;</span>);</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>              }</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>              <span class="comment">// emit stopped event</span></div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>              <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>());</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            });</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>        <span class="comment">// wait for action to be stopped. hold the thread for 2 seconds to help keep callbacks in scope</span></div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>        <span class="comment">// BUG: the line below does not work in jazzy build, so a workaround is used</span></div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        <span class="keyword">auto</span> timeout = std::chrono::steady_clock::now() + std::chrono::seconds(2);</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        <span class="keywordflow">while</span> (std::chrono::steady_clock::now() &lt; timeout)</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>        {</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>          <span class="comment">// Check if the cancel operation is complete</span></div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>          <span class="keywordflow">if</span> (cancel_future.wait_for(std::chrono::milliseconds(100)) == std::future_status::ready)</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>            <span class="keywordflow">break</span>;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        }</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>      }</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> rclcpp_action::exceptions::UnknownGoalHandleError&amp; e)</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      {</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to cancel goal: %s&quot;</span>, e.what());</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>        <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(e.what());</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>      }</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    }</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;runner cleaned. stopping..&quot;</span>);</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>  }</div>
+</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span><span class="keyword">protected</span>:</div>
+<div class="foldopen" id="foldopen00127" data-start="{" data-end="}">
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">  127</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="comment">// split thread_id to get bond_id and instance_id (format: &quot;bond_id/instance_id&quot;)</span></div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">ThreadTriggerRunner::bond_from_thread_id</a>(thread_id);</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    std::string instance_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">ThreadTriggerRunner::instance_from_thread_id</a>(thread_id);</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span> </div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <span class="comment">// generate a goal from parameters provided</span></div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">goal_msg_</a> = <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">generate_goal</a>(parameters);</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;goal generated for instance %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    std::mutex block_mutex;</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    std::condition_variable cv;</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <span class="keywordtype">bool</span> completed = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    std::unique_lock&lt;std::mutex&gt; lock(block_mutex);</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <span class="comment">// trigger the action client with goal</span></div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>.goal_response_callback =</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        [<span class="keyword">this</span>, &amp;instance_id](<span class="keyword">const</span> <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr&amp; goal_handle) {</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>          <span class="keywordflow">if</span> (goal_handle)</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>          {</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>            RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;goal accepted. Waiting for result for instance %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>          }</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>          <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>          {</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>            RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;goal rejected for instance %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>          }</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span> </div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>          <span class="comment">// store goal handle to be used with stop funtion</span></div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>          <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a> = goal_handle;</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>        };</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>.feedback_callback = [<span class="keyword">this</span>, &amp;instance_id](</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>                                               <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr goal_handle,</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>                                               <span class="keyword">const</span> <span class="keyword">typename</span> ActionT::Feedback::ConstSharedPtr feedback_msg) {</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>      std::string feedback = <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">generate_feedback</a>(feedback_msg);</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>      <span class="keywordflow">if</span> (feedback != <span class="stringliteral">&quot;&quot;</span>)</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>      {</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;received feedback:  %s for instance %s&quot;</span>, feedback.c_str(), instance_id.c_str());</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>      }</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    };</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>.result_callback =</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        [<span class="keyword">this</span>, &amp;instance_id, &amp;completed, &amp;cv,</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>         &amp;bond_id, &amp;instance_id](<span class="keyword">const</span> <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::WrappedResult&amp; wrapped_result) {</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>          RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;received result for instance %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>          <span class="keywordflow">if</span> (wrapped_result.code == rclcpp_action::ResultCode::SUCCEEDED)</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>          {</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>            RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;action succeeded for instance %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>            <span class="comment">// emit success event</span></div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>            <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>());</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>          }</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>          <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>          {</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>            RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;action failed for instance %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span> </div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>            <span class="comment">// emit failed event</span></div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>            <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>());</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>          }</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>          <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">result_</a> = wrapped_result.result;</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>          completed = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>          cv.notify_all();</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        };</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span> </div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">goal_handle_future_</a> = <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a>-&gt;async_send_goal(<a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">goal_msg_</a>, <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>);</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;goal sent. Waiting for acceptance for instance %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="comment">// Conditional wait</span></div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>    cv.wait(lock, [&amp;completed] { <span class="keywordflow">return</span> completed; });</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;action complete. Thread closing for instance %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>  }</div>
+</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span> </div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">  211</a></span>  <span class="keyword">virtual</span> <span class="keyword">typename</span> ActionT::Goal <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">generate_goal</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters) = 0;</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span> </div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">  224</a></span>  <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">generate_feedback</a>(<span class="keyword">const</span> <span class="keyword">typename</span> ActionT::Feedback::ConstSharedPtr msg) = 0;</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span> </div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">  228</a></span>  <span class="keyword">typename</span> rclcpp_action::Client&lt;ActionT&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a>;</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">  232</a></span>  <span class="keyword">typename</span> rclcpp_action::Client&lt;ActionT&gt;::SendGoalOptions <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>;</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span> </div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">  235</a></span>  <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a>;</div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span> </div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a55a723c2c93f6f6842bfd1951d767597">  238</a></span>  <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::WrappedResult <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a55a723c2c93f6f6842bfd1951d767597">wrapped_result_</a>;</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span> </div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">  241</a></span>  <span class="keyword">typename</span> ActionT::Result::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">result_</a>;</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">  244</a></span>  <span class="keyword">typename</span> ActionT::Goal <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">goal_msg_</a>;</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">  247</a></span>  std::shared_future&lt;typename rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">goal_handle_future_</a>;</div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span> </div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a6054145b7cf13f6e9a0e62d85169ab7c">  250</a></span>  std::shared_future&lt;typename rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::WrappedResult&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a6054145b7cf13f6e9a0e62d85169ab7c">result_future_</a>;</div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>};</div>
+</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span> </div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+</div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a></div><div class="ttdoc">action runner base class</div><div class="ttdef"><b>Definition</b> action_runner.hpp:28</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a0417718f4ad7a9318169a14abb182fa5"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">capabilities2_runner::ActionRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> action_runner.hpp:68</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a4fb5c7f11f675e1b4a68de4ee746de6f"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">capabilities2_runner::ActionRunner::action_client_</a></div><div class="ttdeci">rclcpp_action::Client&lt; ActionT &gt;::SharedPtr action_client_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:228</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a55a723c2c93f6f6842bfd1951d767597"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a55a723c2c93f6f6842bfd1951d767597">capabilities2_runner::ActionRunner::wrapped_result_</a></div><div class="ttdeci">rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::WrappedResult wrapped_result_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:238</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a591d542f6f91cfec3aec63eb311b4ac6"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a591d542f6f91cfec3aec63eb311b4ac6">capabilities2_runner::ActionRunner::ActionRunner</a></div><div class="ttdeci">ActionRunner()</div><div class="ttdoc">Constructor which needs to be empty due to plugin semantics.</div><div class="ttdef"><b>Definition</b> action_runner.hpp:33</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a6054145b7cf13f6e9a0e62d85169ab7c"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a6054145b7cf13f6e9a0e62d85169ab7c">capabilities2_runner::ActionRunner::result_future_</a></div><div class="ttdeci">std::shared_future&lt; typename rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::WrappedResult &gt; result_future_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:250</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a620f49036d7996a09c5b804285c854fe"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">capabilities2_runner::ActionRunner::generate_goal</a></div><div class="ttdeci">virtual ActionT::Goal generate_goal(capabilities2_events::EventParameters &amp;parameters)=0</div><div class="ttdoc">Generate a goal from parameters.</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ab849326c650cb28e6b894f069ad9e2ab"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">capabilities2_runner::ActionRunner::goal_msg_</a></div><div class="ttdeci">ActionT::Goal goal_msg_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:244</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ac27423e74d0466bffb6e94a71865a903"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">capabilities2_runner::ActionRunner::goal_handle_</a></div><div class="ttdeci">rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::SharedPtr goal_handle_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:235</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ad4e445a63ba8fbe8421b944eca53dea8"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">capabilities2_runner::ActionRunner::execution</a></div><div class="ttdeci">virtual void execution(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</div><div class="ttdoc">Trigger process to be executed.</div><div class="ttdef"><b>Definition</b> action_runner.hpp:127</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ade3f3629bca55ca92727f28cdf4178f1"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">capabilities2_runner::ActionRunner::send_goal_options_</a></div><div class="ttdeci">rclcpp_action::Client&lt; ActionT &gt;::SendGoalOptions send_goal_options_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:232</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_adec17ec301ee0485a10bb5a1caa82ab9"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#adec17ec301ee0485a10bb5a1caa82ab9">capabilities2_runner::ActionRunner::init_action</a></div><div class="ttdeci">virtual void init_action(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;action_name)</div><div class="ttdoc">Initializer function for initializing the action runner in place of constructor due to plugin semanti...</div><div class="ttdef"><b>Definition</b> action_runner.hpp:44</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ae1a518ed38168b716d8f964b9345c45e"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">capabilities2_runner::ActionRunner::result_</a></div><div class="ttdeci">ActionT::Result::SharedPtr result_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:241</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ae4831885b998d9fd1a3a93e77fc1d7b0"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">capabilities2_runner::ActionRunner::goal_handle_future_</a></div><div class="ttdeci">std::shared_future&lt; typename rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::SharedPtr &gt; goal_handle_future_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:247</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_afbc108c9cb2305848fcf0ada606475e4"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">capabilities2_runner::ActionRunner::generate_feedback</a></div><div class="ttdeci">virtual std::string generate_feedback(const typename ActionT::Feedback::ConstSharedPtr msg)=0</div><div class="ttdoc">Generate a std::string from feedback message.</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a561039712ffa38c2617baf266fc22896"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">capabilities2_runner::RunnerBase::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success()</div><div class="ttdoc">Update on_success event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:271</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5865a398c1ad27e89d4d6947ef9404c2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">capabilities2_runner::RunnerBase::emit_succeeded</a></div><div class="ttdeci">void emit_succeeded(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit SUCCEEDED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:444</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5dcd2ac4205bb7f3cf069e0273ec46b7"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">capabilities2_runner::RunnerBase::emit_failed</a></div><div class="ttdeci">void emit_failed(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit FAILED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:457</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9a5419cab317ef239d2f197714136660"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">capabilities2_runner::RunnerBase::param_on_failure</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_failure()</div><div class="ttdoc">Update on_failure event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:256</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></div><div class="ttdoc">add threaded trigger execution to the runner</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:21</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a10133774ae4ef6f39f9d94ebbed1b58c"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">capabilities2_runner::ThreadTriggerRunner::bond_from_thread_id</a></div><div class="ttdeci">static const std::string bond_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract bond_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:30</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_af750ef563c71182944a9a0ec380f78de"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">capabilities2_runner::ThreadTriggerRunner::instance_from_thread_id</a></div><div class="ttdeci">static const std::string instance_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract instance_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:44</div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a></div><div class="ttdoc">runner exception</div><div class="ttdef"><b>Definition</b> runner_base.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
+<div class="ttc" id="athreadtrigger__runner_8hpp_html"><div class="ttname"><a href="threadtrigger__runner_8hpp.html">threadtrigger_runner.hpp</a></div></div>
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
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+<!-- Generated by Doxygen 1.9.8 -->
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+  <div class="headertitle"><div class="title">Class List</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecapabilities2__events.html" target="_self">capabilities2_events</a></td><td class="desc"></td></tr>
+<tr id="row_0_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1event__exception.html" target="_self">event_exception</a></td><td class="desc">Event exception </td></tr>
+<tr id="row_0_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1EventBase.html" target="_self">EventBase</a></td><td class="desc">Event base class </td></tr>
+<tr id="row_0_2_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_2_" class="arrow" onclick="toggleFolder('0_2_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1EventNode.html" target="_self">EventNode</a></td><td class="desc">Event node is a source of an event </td></tr>
+<tr id="row_0_2_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html" target="_self">EventPipe</a></td><td class="desc">Event pipe structure </td></tr>
+<tr id="row_0_3_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1EventParameters.html" target="_self">EventParameters</a></td><td class="desc">Capability options for a capability runner given by interface and provider </td></tr>
+<tr id="row_0_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1options__exception.html" target="_self">options_exception</a></td><td class="desc"></td></tr>
+<tr id="row_0_5_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1Parameter.html" target="_self">Parameter</a></td><td class="desc">Key value pair for capability options </td></tr>
+<tr id="row_0_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html" target="_self">PublishedEvent</a></td><td class="desc"></td></tr>
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+<tr id="row_1_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_1_" class="arrow" onclick="toggleFolder('1_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecapabilities2__runner.html" target="_self">capabilities2_runner</a></td><td class="desc"></td></tr>
+<tr id="row_1_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html" target="_self">ActionRunner</a></td><td class="desc">Action runner base class </td></tr>
+<tr id="row_1_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html" target="_self">DummyRunner</a></td><td class="desc">Dummy runner </td></tr>
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+<tr id="row_1_4_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html" target="_self">InputMultiplexRunner</a></td><td class="desc"></td></tr>
+<tr id="row_1_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html" target="_self">LaunchRunner</a></td><td class="desc">Launch runner base class </td></tr>
+<tr id="row_1_6_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html" target="_self">MultiplexBaseRunner</a></td><td class="desc"></td></tr>
+<tr id="row_1_7_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html" target="_self">NoTriggerRunner</a></td><td class="desc">No-trigger runner </td></tr>
+<tr id="row_1_8_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__runner_1_1resource.html" target="_self">resource</a></td><td class="desc">Resource definition </td></tr>
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+<tr id="row_1_11_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" target="_self">RunnerBase</a></td><td class="desc">Base class for all runners </td></tr>
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+<tr id="row_1_14_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html" target="_self">TopicRunner</a></td><td class="desc">Topic runner base class </td></tr>
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+<tr id="row_2_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html" target="_self">capability_model_t</a></td><td class="desc"></td></tr>
+<tr id="row_2_0_1_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html" target="_self">defineable_base_t</a></td><td class="desc">Defineable base </td></tr>
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+<tr id="row_2_0_13_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html" target="_self">run_config_model_t</a></td><td class="desc">Run configuration type </td></tr>
+<tr id="row_2_0_14_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1running__model__t.html" target="_self">running_model_t</a></td><td class="desc">Running capability model </td></tr>
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+<tr id="row_2_0_16_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html" target="_self">soft_deleteable_base_t</a></td><td class="desc">Base model for all models that can be soft deleted </td></tr>
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+<tr id="row_2_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html" target="_self">CapabilitiesDB</a></td><td class="desc"></td></tr>
+<tr id="row_2_4_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html" target="_self">CapabilitiesServer</a></td><td class="desc">Capabilities server </td></tr>
+<tr id="row_2_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1DBBase.html" target="_self">DBBase</a></td><td class="desc"></td></tr>
+<tr id="row_2_6_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1RunnerCache.html" target="_self">RunnerCache</a></td><td class="desc">Runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use </td></tr>
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+<tr id="row_3_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html" target="_self">CapabilityRegistrar</a></td><td class="desc"></td></tr>
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+<div class="header">
+  <div class="headertitle"><div class="title">bond_cache.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="bond__cache_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;bondcpp/bond.hpp&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="foldopen" id="foldopen00011" data-start="{" data-end="}">
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html">   11</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
+<div class="foldopen" id="foldopen00022" data-start="{" data-end="};">
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html">   22</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1BondCache.html">BondCache</a></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>{</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00030" data-start="{" data-end="}">
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a48efeffaf9fb7570b52c79487eed3f0f">   30</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a48efeffaf9fb7570b52c79487eed3f0f">BondCache</a>(<span class="keyword">const</span> std::string&amp; bonds_topic = <span class="stringliteral">&quot;/capabilities/bond&quot;</span>) : <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">bonds_topic_</a>(bonds_topic)</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  {</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  }</div>
+</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="foldopen" id="foldopen00040" data-start="{" data-end="}">
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">   40</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">add_bond</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; bond_id)</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>  {</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="comment">// if capability is not in cache, add it</span></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.find(capability) == <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.end())</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    {</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability] = { bond_id };</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    {</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>      <span class="comment">// if capability is in cache, append only new bond id</span></div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>      <span class="keywordflow">if</span> (std::find(<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].begin(), <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].end(), bond_id) ==</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>          <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].end())</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>      {</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].push_back(bond_id);</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>      }</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    }</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>  }</div>
+</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
+<div class="foldopen" id="foldopen00065" data-start="{" data-end="}">
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">   65</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">remove_bond</a>(<span class="keyword">const</span> std::string&amp; bond_id)</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  {</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// remove bond id from all capability entries</span></div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; [capability, bonds] : <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>)</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    {</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <span class="keyword">auto</span> it = std::find(bonds.begin(), bonds.end(), bond_id);</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      <span class="keywordflow">if</span> (it != bonds.end())</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      {</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        bonds.erase(it);</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>      }</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    }</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="comment">// remove empty capability entries</span></div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.begin(); it != <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.end();)</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    {</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>      <span class="keywordflow">if</span> (it-&gt;second.empty())</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>      {</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        it = <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.erase(it);</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      }</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>      <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      {</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        ++it;</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>      }</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    }</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>  }</div>
+</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
+<div class="foldopen" id="foldopen00100" data-start="{" data-end="}">
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#af3825f2898c0ed831a7f89b85d6742c5">  100</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#af3825f2898c0ed831a7f89b85d6742c5">remove_bond</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; bond_id)</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>  {</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="comment">// remove bond id from capability entry</span></div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="keyword">auto</span> it = std::find(<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].begin(), <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].end(), bond_id);</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">if</span> (it != <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].end())</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].erase(it);</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    }</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <span class="comment">// remove capability entry if empty</span></div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].empty())</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    {</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.erase(capability);</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    }</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>  }</div>
+</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>  <span class="comment">// get all capabilities requested by a bond</span></div>
+<div class="foldopen" id="foldopen00118" data-start="{" data-end="}">
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">  118</a></span>  <span class="keyword">const</span> std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">get_capabilities</a>(<span class="keyword">const</span> std::string&amp; bond_id)</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>  {</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    std::vector&lt;std::string&gt; capabilities;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; [capability, bonds] : <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>)</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    {</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>      <span class="keywordflow">if</span> (std::find(bonds.begin(), bonds.end(), bond_id) != bonds.end())</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>      {</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        capabilities.push_back(capability);</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>      }</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    }</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordflow">return</span> capabilities;</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>  }</div>
+</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>  <span class="comment">// get all current bonds for a capability</span></div>
+<div class="foldopen" id="foldopen00133" data-start="{" data-end="}">
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">  133</a></span>  <span class="keyword">const</span> std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">get_bonds</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>  {</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="comment">// if doesn&#39;t exist then throw</span></div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(capability))</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    {</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;capability not found&quot;</span>);</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    }</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability];</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>  }</div>
+</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>  <span class="comment">// capability exists in cache</span></div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>  <span class="comment">// a capability has at least one bond</span></div>
+<div class="foldopen" id="foldopen00146" data-start="{" data-end="}">
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">  146</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>  {</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.find(capability) != <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.end();</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>  }</div>
+</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>  <span class="comment">// bond id exists for a capability</span></div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>  <span class="comment">// this bond id is associated with this capability</span></div>
+<div class="foldopen" id="foldopen00153" data-start="{" data-end="}">
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a7db63a73651b43fa55eb444f49d62b26">  153</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a7db63a73651b43fa55eb444f49d62b26">exists</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; bond_id)</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>  {</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <span class="comment">// capability exists guard</span></div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(capability))</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    {</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    }</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span> </div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="comment">// check if bond id exists for capability</span></div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <span class="keyword">auto</span>&amp; bonds = <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability];</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="keywordflow">return</span> std::find(bonds.begin(), bonds.end(), bond_id) != bonds.end();</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>  }</div>
+</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>  <span class="comment">// start a live bond</span></div>
+<div class="foldopen" id="foldopen00167" data-start="{" data-end="}">
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">  167</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">start</a>(<span class="keyword">const</span> std::string&amp; bond_id, rclcpp::Node::SharedPtr node, std::function&lt;<span class="keywordtype">void</span>(<span class="keywordtype">void</span>)&gt; on_broken,</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>             std::function&lt;<span class="keywordtype">void</span>(<span class="keywordtype">void</span>)&gt; on_formed)</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>  {</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="comment">// create a new bond with event callbacks</span></div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>[bond_id] = std::make_unique&lt;bond::Bond&gt;(<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">bonds_topic_</a>, bond_id, node, on_broken, on_formed);</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    <span class="comment">// start the bond</span></div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>[bond_id]-&gt;setHeartbeatPeriod(0.10);</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>[bond_id]-&gt;setHeartbeatTimeout(10.0);</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>[bond_id]-&gt;start();</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>  }</div>
+</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  <span class="comment">// bonds topic</span></div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">  181</a></span>  std::string <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">bonds_topic_</a>;</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span> </div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>  <span class="comment">// bond cache</span></div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>  <span class="comment">// capability -&gt; bond ids</span></div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">  185</a></span>  std::map&lt;std::string, std::vector&lt;std::string&gt;&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>;</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>  <span class="comment">// live bonds</span></div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>  <span class="comment">// bond id -&gt; bond object</span></div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">  189</a></span>  std::map&lt;std::string, std::unique_ptr&lt;bond::Bond&gt;&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>;</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>};</div>
+</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span> </div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+</div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></div><div class="ttdoc">bond cache class</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:23</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a0cfb5d5535e4a3608593c3093364baaa"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">capabilities2_server::BondCache::exists</a></div><div class="ttdeci">bool exists(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:146</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a19639716efa05b956bff7c9ca583b728"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">capabilities2_server::BondCache::get_bonds</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_bonds(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:133</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a329d242a8477e10bfa914107920ffbc6"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">capabilities2_server::BondCache::live_bonds_</a></div><div class="ttdeci">std::map&lt; std::string, std::unique_ptr&lt; bond::Bond &gt; &gt; live_bonds_</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:189</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a48efeffaf9fb7570b52c79487eed3f0f"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a48efeffaf9fb7570b52c79487eed3f0f">capabilities2_server::BondCache::BondCache</a></div><div class="ttdeci">BondCache(const std::string &amp;bonds_topic=&quot;/capabilities/bond&quot;)</div><div class="ttdoc">Construct a Bond Cache with a specific bond topic.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:30</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a59117ead721f4b608863ef3ce2228a46"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">capabilities2_server::BondCache::remove_bond</a></div><div class="ttdeci">void remove_bond(const std::string &amp;bond_id)</div><div class="ttdoc">Remove a bond id from the cache for all capabilities.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:65</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a7b2a6a067fe9dd8266d44e549f68849e"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">capabilities2_server::BondCache::bond_cache_</a></div><div class="ttdeci">std::map&lt; std::string, std::vector&lt; std::string &gt; &gt; bond_cache_</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:185</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a7db63a73651b43fa55eb444f49d62b26"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a7db63a73651b43fa55eb444f49d62b26">capabilities2_server::BondCache::exists</a></div><div class="ttdeci">bool exists(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:153</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a95f5c2beb3e72240154de125ff0c3555"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">capabilities2_server::BondCache::add_bond</a></div><div class="ttdeci">void add_bond(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Add a bond to the cache.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:40</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_abb808c809ef2a79e4a8695f84bc47266"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">capabilities2_server::BondCache::start</a></div><div class="ttdeci">void start(const std::string &amp;bond_id, rclcpp::Node::SharedPtr node, std::function&lt; void(void)&gt; on_broken, std::function&lt; void(void)&gt; on_formed)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:167</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_ada688394effbf87bed480782d64fe8e5"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">capabilities2_server::BondCache::get_capabilities</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_capabilities(const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:118</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_af3825f2898c0ed831a7f89b85d6742c5"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#af3825f2898c0ed831a7f89b85d6742c5">capabilities2_server::BondCache::remove_bond</a></div><div class="ttdeci">void remove_bond(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Remove a bond id from a specific capability.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:100</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_af926c1948de00a8c475580903f542461"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">capabilities2_server::BondCache::bonds_topic_</a></div><div class="ttdeci">std::string bonds_topic_</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:181</div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
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+  <div class="headertitle"><div class="title">capabilities_api.hpp</div></div>
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+<a href="capabilities__api_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;tinyxml2.h&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;<a class="code" href="db__base_8hpp.html">capabilities2_server/db_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;<a class="code" href="capabilities__db_8hpp.html">capabilities2_server/capabilities_db.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;<a class="code" href="bond__cache_8hpp.html">capabilities2_server/bond_cache.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &lt;<a class="code" href="runner__cache_8hpp.html">capabilities2_server/runner_cache.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="preprocessor">#include &lt;<a class="code" href="uuid__generator_8hpp.html">capabilities2_events/uuid_generator.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &lt;<a class="code" href="event__base_8hpp.html">capabilities2_events/event_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/remapping.hpp&gt;</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_spec.hpp&gt;</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_remappings.hpp&gt;</span></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/running_capability.hpp&gt;</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>{</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="foldopen" id="foldopen00038" data-start="{" data-end="};">
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html">   38</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1CapabilitiesAPI.html">CapabilitiesAPI</a></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>{</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00041" data-start="{" data-end="}">
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">   41</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">CapabilitiesAPI</a>() : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a>(nullptr), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>(nullptr), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>(), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>(), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>(nullptr)</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>  {</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>  }</div>
+</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="foldopen" id="foldopen00051" data-start="{" data-end="}">
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">   51</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">connect</a>(<span class="keyword">const</span> std::string&amp; db_file, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging)</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>  {</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="comment">// set logger</span></div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a> = logging;</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="comment">// connect db</span></div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a> = std::make_unique&lt;CapabilitiesDB&gt;(db_file);</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="comment">// log</span></div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Capabilities API connected to db: %s&quot;</span>, db_file.c_str());</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>  }</div>
+</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="foldopen" id="foldopen00073" data-start="{" data-end="}">
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">   73</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; provider)</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>  {</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// return value</span></div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">bool</span> value = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="comment">// get the running model from the db</span></div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> running = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_running(provider);</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="comment">// start all dependencies</span></div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="comment">// go through the running model and start the necessary dependencies</span></div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; run : running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a>)</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    {</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;found dependency: %s&quot;</span>, run.interface.c_str());</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>      <span class="comment">// make an internal &#39;use&#39; bond for the capability dependency</span></div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">bind_dependency</a>(run.interface);</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>      <span class="comment">// add the runner to the cache</span></div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>      value = value and <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(node, run.interface, run.provider);</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    }</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="comment">// get the provider specification for the capability</span></div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> run_config = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_run_config(provider);</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="comment">// create a new runner, this call implicitly starts the runner</span></div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="comment">// create a runner id which is the cap name to uniquely identify the runner</span></div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">// this means only one runner per capability name</span></div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="comment">//</span></div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="comment">// TODO: consider the logic for multiple runners per capability</span></div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    {</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">add_runner</a>(node, capability, run_config);</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>      <span class="comment">// log</span></div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;started capability: %s with provider: %s&quot;</span>, capability.c_str(),</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>                  provider.c_str());</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      <span class="keywordflow">return</span> value and <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    }</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    {</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>      RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not start runner: %s&quot;</span>, e.<a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>());</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    }</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>  }</div>
+</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
+<div class="foldopen" id="foldopen00125" data-start="{" data-end="}">
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">  125</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>  {</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="comment">// make sure provider exists</span></div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="comment">// this can happen if dependencies fail to resolve in the first place</span></div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    {</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not get provider for: %s&quot;</span>, capability.c_str());</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    }</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="comment">// get the provider from runner</span></div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    std::string provider = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">provider</a>(capability);</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="comment">// get the running model from the db</span></div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> running = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_running(provider);</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="comment">// unbind and stop dependencies</span></div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <span class="comment">// FIXME: this unrolls the dependency tree from the bottom up but should probably be top down</span></div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; run : running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a>)</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    {</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;freeing dependency: %s of : %s&quot;</span>, run.interface.c_str(), capability.c_str());</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>      <span class="comment">// remove the internal &#39;use&#39; bond for the capability dependency</span></div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">unbind_dependency</a>(run.interface);</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>      <span class="comment">// stop the dependency if no more bonds</span></div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>      <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(run.interface))</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>      {</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(run.interface);</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>      }</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    }</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="comment">// remove the runner</span></div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="comment">// this will implicitly stop the runner</span></div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    {</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">remove_runner</a>(capability);</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    }</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    {</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>      RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not stop runner: %s&quot;</span>, e.<a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>());</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    }</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    <span class="comment">// log</span></div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;stopped capability: %s&quot;</span>, capability.c_str());</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>  }</div>
+</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
+<div class="foldopen" id="foldopen00180" data-start="{" data-end="}">
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">  180</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; bond_id)</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>  {</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="comment">// remove bond from cache for capability</span></div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">remove_bond</a>(capability, bond_id);</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    <span class="comment">// stop the capability if no more bonds</span></div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(capability))</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    {</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>      <span class="comment">// stop the capability</span></div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;stopping freed capability: %s&quot;</span>, capability.c_str());</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(capability);</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    }</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>  }</div>
+</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
+<div class="foldopen" id="foldopen00205" data-start="{" data-end="}">
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">  205</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">trigger_capability</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; instance_id,</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>                          <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters)</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>  {</div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    <span class="comment">// validate bond</span></div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(capability, bond_id))</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    {</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;this bond: %s is not using capability: %s&quot;</span>, bond_id.c_str(),</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>                   capability.c_str());</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>    }</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    <span class="comment">// trigger the runner</span></div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>    <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    {</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">trigger_runner</a>(bond_id, capability, instance_id, parameters);</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    }</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    {</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not trigger runner: %s&quot;</span>, e.<a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>());</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>    }</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>  }</div>
+</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span> </div>
+<div class="foldopen" id="foldopen00238" data-start="{" data-end="}">
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">  238</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">use_capability</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; provider,</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>                      <span class="keyword">const</span> std::string&amp; bond_id)</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>  {</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <span class="comment">// add bond to cache for capability</span></div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">add_bond</a>(capability, bond_id);</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span> </div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>    <span class="comment">// start the capability with the provider</span></div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(node, capability, provider);</div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>  }</div>
+</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span> </div>
+<div class="foldopen" id="foldopen00256" data-start="{" data-end="}">
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">  256</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">connect_capability</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> capabilities2_msgs::msg::CapabilityConnection&amp; connection)</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>  {</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    <span class="comment">// TODO: implement connection storage for non-running capabilities</span></div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>    <span class="comment">// could also implicitly increment use counts for capabilities with this bond</span></div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>    <span class="comment">// so that the capabilities are started and then connected</span></div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <span class="comment">// could also increment use either way (running or not), which would allow tracking connections as &#39;uses&#39;</span></div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <span class="comment">// all of this would require freeing capabilities</span></div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span> </div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <span class="comment">// validate bonds</span></div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(connection.source.capability, bond_id) ||</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>        !<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(connection.target.capability, bond_id))</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    {</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;no bond with id: %s exists for these capabilities&quot;</span>, bond_id.c_str());</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>    }</div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span> </div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    <span class="comment">// check if source and target capabilities are running</span></div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(connection.source.capability) || !<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(connection.target.capability))</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>    {</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;both source and target capabilities must be running to connect&quot;</span>);</div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>    }</div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span> </div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>    <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    {</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>      <span class="comment">// create a unique connection id for the connection using the bond_id and instance ids </span></div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>      <span class="comment">//(format: &quot;bond_id/instance_id/target_instance_id&quot;)</span></div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>      <span class="keyword">const</span> std::string connection_id = bond_id + <span class="charliteral">&#39;/&#39;</span> + connection.source.instance_id + <span class="charliteral">&#39;/&#39;</span> + connection.target.instance_id;</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span> </div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>      <span class="comment">// need to pass event emitter to the runner cache so that it can be set in the runner</span></div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>      <span class="comment">// this allows the runner to emit events on state changes</span></div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>      <span class="comment">// default runner behaviour does not use event subsystem</span></div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">add_connection</a>(connection.source.capability, connection_id, connection, <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a>);</div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>      <span class="comment">// log</span></div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;set &#39;type %d&#39; connection for runner: %s with id: %s&quot;</span>, connection.type.code,</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>                  connection.source.capability.c_str(), connection_id.c_str());</div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>    }</div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>    {</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not connect runners: %s&quot;</span>, e.<a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>());</div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>    }</div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>  }</div>
+</div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span> </div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>  <span class="comment">// capability api</span></div>
+<div class="foldopen" id="foldopen00302" data-start="{" data-end="}">
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">  302</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">add_capability</a>(<span class="keyword">const</span> capabilities2_msgs::msg::CapabilitySpec&amp; spec)</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>  {</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>    <span class="comment">// peak at the spec header</span></div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1header__model__t.html">models::header_model_t</a> header;</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>    header.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a>(YAML::Load(spec.content));</div>
+<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>    header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = spec.package + <span class="stringliteral">&quot;/&quot;</span> + header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span> </div>
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>    <span class="comment">// check type and exists, create model and add to db</span></div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>    <span class="keywordflow">if</span> (spec.type == capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_INTERFACE)</div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>    {</div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>      <span class="comment">// exists guard</span></div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>      <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;exists&lt;<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&gt;(header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>))</div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>      {</div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>        RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;interface already exists: %s&quot;</span>, header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>      }</div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span> </div>
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>      <span class="comment">// convert message to model and add to db</span></div>
+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> model;</div>
+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>      <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>      {</div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>        model.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">from_yaml</a>(YAML::Load(spec.content));</div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>      }</div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>      {</div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>        RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to convert spec to model: %s&quot;</span>, e.what());</div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>      }</div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span> </div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>      <span class="comment">// add package to name probably to avoid collisions (this was previous convention)</span></div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>      model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = spec.package + <span class="stringliteral">&quot;/&quot;</span> + model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;insert_interface(model);</div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span> </div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>      <span class="comment">// log</span></div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;interface added to db: %s&quot;</span>, model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>    }</div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span> </div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>    <span class="keywordflow">if</span> (spec.type == capabilities2_msgs::msg::CapabilitySpec::SEMANTIC_CAPABILITY_INTERFACE)</div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>    {</div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>      <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;exists&lt;<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&gt;(header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>))</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>      {</div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>        RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;semantic interface already exists: %s&quot;</span>, header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>      }</div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span> </div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> model;</div>
+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span> </div>
+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>      <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>      {</div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>        model.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a1c82841795835d4359d6bc1fd40b9f26">from_yaml</a>(YAML::Load(spec.content));</div>
+<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>      }</div>
+<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
+<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>      {</div>
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>        RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to convert spec to model: %s&quot;</span>, e.what());</div>
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>      }</div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span> </div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>      model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = spec.package + <span class="stringliteral">&quot;/&quot;</span> + model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;insert_semantic_interface(model);</div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span> </div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>      <span class="comment">// log</span></div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;semantic interface added to db: %s&quot;</span>, model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>    }</div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span> </div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>    <span class="keywordflow">if</span> (spec.type == capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_PROVIDER)</div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>    {</div>
+<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>      <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;exists&lt;<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&gt;(header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>))</div>
+<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>      {</div>
+<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;provider already exists&quot;</span>);</div>
+<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>      }</div>
+<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span> </div>
+<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> model;</div>
+<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span> </div>
+<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>      <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>      {</div>
+<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>        model.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#aeaffd1a45ccb1f72dcbca71425ac57c3">from_yaml</a>(YAML::Load(spec.content));</div>
+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>      }</div>
+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>      {</div>
+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>        RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to convert spec to model: %s&quot;</span>, e.what());</div>
+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>      }</div>
+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span> </div>
+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>      model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = spec.package + <span class="stringliteral">&quot;/&quot;</span> + model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
+<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;insert_provider(model);</div>
+<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span> </div>
+<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>      <span class="comment">// log</span></div>
+<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;provider added to db: %s&quot;</span>, model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
+<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>    }</div>
+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span> </div>
+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>    <span class="comment">// couldn&#39;t parse unknown capability type</span></div>
+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>    RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;unknown capability type: %s&quot;</span>, spec.type.c_str());</div>
+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>    <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>  }</div>
+</div>
+<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span> </div>
+<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>  <span class="comment">// query api</span></div>
+<div class="foldopen" id="foldopen00402" data-start="{" data-end="}">
+<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">  402</a></span>  std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">get_interfaces</a>()</div>
+<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>  {</div>
+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>    std::vector&lt;std::string&gt; interfaces;</div>
+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span> </div>
+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; interface : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_interfaces())</div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>    {</div>
+<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>      interfaces.push_back(interface.header.name);</div>
+<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>    }</div>
+<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span> </div>
+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>    <span class="keywordflow">return</span> interfaces;</div>
+<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>  }</div>
+</div>
+<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span> </div>
+<div class="foldopen" id="foldopen00414" data-start="{" data-end="}">
+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">  414</a></span>  std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">get_semantic_interfaces</a>(<span class="keyword">const</span> std::string&amp; interface)</div>
+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>  {</div>
+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>    std::vector&lt;std::string&gt; semantic_interfaces;</div>
+<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span> </div>
+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; semantic_interface : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_semantic_interfaces_by_interface(interface))</div>
+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>    {</div>
+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>      semantic_interfaces.push_back(semantic_interface.header.name);</div>
+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>    }</div>
+<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span> </div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>    <span class="keywordflow">return</span> semantic_interfaces;</div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>  }</div>
+</div>
+<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span> </div>
+<div class="foldopen" id="foldopen00426" data-start="{" data-end="}">
+<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">  426</a></span>  std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">get_providers</a>(<span class="keyword">const</span> std::string&amp; interface, <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp; include_semantic)</div>
+<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>  {</div>
+<div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>    std::vector&lt;std::string&gt; providers;</div>
+<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span> </div>
+<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; provider : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_providers_by_interface(interface))</div>
+<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>    {</div>
+<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>      providers.push_back(provider.header.name);</div>
+<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>    }</div>
+<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span> </div>
+<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>    <span class="comment">// if not include_semantic, remove providers for semantic interfaces</span></div>
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>    <span class="keywordflow">if</span> (!include_semantic)</div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>    {</div>
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>      <span class="comment">// TODO: implement</span></div>
+<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>    }</div>
+<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span> </div>
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>    <span class="keywordflow">return</span> providers;</div>
+<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>  }</div>
+</div>
+<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span> </div>
+<div class="foldopen" id="foldopen00451" data-start="{" data-end="}">
+<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">  451</a></span>  <span class="keyword">const</span> capabilities2_msgs::msg::CapabilitySpec <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">get_capability_spec</a>(<span class="keyword">const</span> std::string&amp; resource)</div>
+<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>  {</div>
+<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>    capabilities2_msgs::msg::CapabilitySpec msg;</div>
+<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span> </div>
+<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>    <span class="comment">// search db for resource</span></div>
+<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>    <span class="comment">// interfaces</span></div>
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_interface(resource);</div>
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span> </div>
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>    <span class="keywordflow">if</span> (!interface.header.name.empty())</div>
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>    {</div>
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>      <span class="comment">// package name is first part of name separated by /</span></div>
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>      msg.package = interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.substr(0, interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>      msg.type = interface.header.type;</div>
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>      <span class="comment">// get spec convert to yaml then to string</span></div>
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>      YAML::Node spec = interface.to_yaml();</div>
+<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>      <span class="comment">// fix name to remove package name</span></div>
+<div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
+<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>      msg.content = YAML::Dump(spec);</div>
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>    }</div>
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span> </div>
+<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>    <span class="comment">// semantic interfaces</span></div>
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_semantic_interface(resource);</div>
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span> </div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>    <span class="keywordflow">if</span> (!semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>    {</div>
+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>      msg.package = semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.substr(0, semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>      msg.type = semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a>;</div>
+<div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>      YAML::Node spec = semantic_interface.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a27bcd752bad7f0e68baaa7754a6221c5">to_yaml</a>();</div>
+<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
+<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>      msg.content = YAML::Dump(spec);</div>
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>    }</div>
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span> </div>
+<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>    <span class="comment">// providers</span></div>
+<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_provider(resource);</div>
+<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span> </div>
+<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>    <span class="keywordflow">if</span> (!provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
+<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>    {</div>
+<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>      msg.package = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.substr(0, provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
+<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>      msg.type = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a>;</div>
+<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>      YAML::Node spec = provider.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">to_yaml</a>();</div>
+<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
+<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>      msg.content = YAML::Dump(spec);</div>
+<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>    }</div>
+<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span> </div>
+<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>    <span class="keywordflow">return</span> msg;</div>
+<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>  }</div>
+</div>
+<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span> </div>
+<div class="foldopen" id="foldopen00498" data-start="{" data-end="}">
+<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">  498</a></span>  std::vector&lt;capabilities2_msgs::msg::CapabilitySpec&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">get_capability_specs</a>()</div>
+<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>  {</div>
+<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>    <span class="comment">// get all capability specs from db</span></div>
+<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>    std::vector&lt;capabilities2_msgs::msg::CapabilitySpec&gt; specs;</div>
+<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span> </div>
+<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>    <span class="comment">// interfaces</span></div>
+<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; interface : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_interfaces())</div>
+<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>    {</div>
+<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>      capabilities2_msgs::msg::CapabilitySpec msg;</div>
+<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>      msg.package = interface.header.name.substr(0, interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
+<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>      msg.type = interface.header.type;</div>
+<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>      YAML::Node spec = interface.to_yaml();</div>
+<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
+<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>      msg.content = YAML::Dump(spec);</div>
+<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>      specs.push_back(msg);</div>
+<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>    }</div>
+<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span> </div>
+<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>    <span class="comment">// semantic interfaces</span></div>
+<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; semantic_interface : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_semantic_interfaces())</div>
+<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>    {</div>
+<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>      capabilities2_msgs::msg::CapabilitySpec msg;</div>
+<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span>      msg.package = semantic_interface.header.name.substr(0, semantic_interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
+<div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>      msg.type = semantic_interface.header.type;</div>
+<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>      YAML::Node spec = semantic_interface.to_yaml();</div>
+<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(semantic_interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
+<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span>      msg.content = YAML::Dump(spec);</div>
+<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>      specs.push_back(msg);</div>
+<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>    }</div>
+<div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span> </div>
+<div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>    <span class="comment">// providers</span></div>
+<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; provider : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_providers())</div>
+<div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>    {</div>
+<div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>      capabilities2_msgs::msg::CapabilitySpec msg;</div>
+<div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span>      msg.package = provider.header.name.substr(0, provider.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
+<div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span>      msg.type = provider.header.type;</div>
+<div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span>      YAML::Node spec = provider.to_yaml();</div>
+<div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(provider.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
+<div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>      msg.content = YAML::Dump(spec);</div>
+<div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span>      specs.push_back(msg);</div>
+<div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>    }</div>
+<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span> </div>
+<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span>    <span class="keywordflow">return</span> specs;</div>
+<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>  }</div>
+</div>
+<div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span> </div>
+<div class="foldopen" id="foldopen00542" data-start="{" data-end="}">
+<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">  542</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">get_remappings</a>(<span class="keyword">const</span> std::string&amp; capability_spec,</div>
+<div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>                      std::shared_ptr&lt;capabilities2_msgs::srv::GetRemappings::Response&gt; res)</div>
+<div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>  {</div>
+<div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span>    <span class="comment">// get remappings for a capability spec</span></div>
+<div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span> </div>
+<div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>    <span class="comment">// get re-map-able specs from db, these are semantic interfaces and providers</span></div>
+<div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> remappable = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_remappable(capability_spec);</div>
+<div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span> </div>
+<div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>    <span class="comment">// get remappings</span></div>
+<div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; topic : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">topics</a>)</div>
+<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>    {</div>
+<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>      capabilities2_msgs::msg::Remapping msg;</div>
+<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>      msg.key = topic.from;</div>
+<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>      msg.value = topic.to;</div>
+<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>      res-&gt;topics.push_back(msg);</div>
+<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>    }</div>
+<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span> </div>
+<div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; service : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">services</a>)</div>
+<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>    {</div>
+<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>      capabilities2_msgs::msg::Remapping msg;</div>
+<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span>      msg.key = service.from;</div>
+<div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>      msg.value = service.to;</div>
+<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>      res-&gt;services.push_back(msg);</div>
+<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>    }</div>
+<div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span> </div>
+<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; action : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">actions</a>)</div>
+<div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>    {</div>
+<div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>      capabilities2_msgs::msg::Remapping msg;</div>
+<div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>      msg.key = action.from;</div>
+<div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>      msg.value = action.to;</div>
+<div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>      res-&gt;actions.push_back(msg);</div>
+<div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>    }</div>
+<div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span> </div>
+<div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; parameter : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">parameters</a>)</div>
+<div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>    {</div>
+<div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>      capabilities2_msgs::msg::Remapping msg;</div>
+<div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>      msg.key = parameter.from;</div>
+<div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>      msg.value = parameter.to;</div>
+<div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>      res-&gt;parameters.push_back(msg);</div>
+<div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>    }</div>
+<div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span>  }</div>
+</div>
+<div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span> </div>
+<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>  <span class="comment">// runner api</span></div>
+<div class="foldopen" id="foldopen00585" data-start="{" data-end="}">
+<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">  585</a></span>  std::vector&lt;capabilities2_msgs::msg::RunningCapability&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a>()</div>
+<div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>  {</div>
+<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>    <span class="comment">// create message container</span></div>
+<div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>    std::vector&lt;capabilities2_msgs::msg::RunningCapability&gt; running_capabilities;</div>
+<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span> </div>
+<div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span>    <span class="comment">// get a list of running caps</span></div>
+<div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>    std::vector&lt;std::string&gt; caps = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">get_running_capabilities</a>();</div>
+<div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span> </div>
+<div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    <span class="comment">// for each cap get the running model from db</span></div>
+<div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> std::string&amp; cap : caps)</div>
+<div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span>    {</div>
+<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>      <span class="comment">// create a running cap msg</span></div>
+<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>      capabilities2_msgs::msg::RunningCapability rc;</div>
+<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span> </div>
+<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>      <span class="comment">// get cap provider from runner</span></div>
+<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span>      std::string provider = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">provider</a>(cap);</div>
+<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span> </div>
+<div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>      <span class="comment">// get running model for provider</span></div>
+<div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> running = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_running(provider);</div>
+<div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span> </div>
+<div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span>      <span class="comment">// fill running cap msg</span></div>
+<div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>      rc.capability.capability = running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">interface</a>;</div>
+<div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span>      rc.capability.provider = running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">provider</a>;</div>
+<div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>      rc.started_by = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">started_by</a>(cap);</div>
+<div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>      rc.pid = atoi(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">pid</a>(cap).c_str());</div>
+<div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span> </div>
+<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>      <span class="comment">// get dependencies</span></div>
+<div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>      <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; dep : running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a>)</div>
+<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>      {</div>
+<div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span>        capabilities2_msgs::msg::Capability cap_msg;</div>
+<div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span>        cap_msg.capability = dep.interface;</div>
+<div class="line"><a id="l00616" name="l00616"></a><span class="lineno">  616</span>        cap_msg.provider = dep.provider;</div>
+<div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>        rc.dependent_capabilities.push_back(cap_msg);</div>
+<div class="line"><a id="l00618" name="l00618"></a><span class="lineno">  618</span>      }</div>
+<div class="line"><a id="l00619" name="l00619"></a><span class="lineno">  619</span> </div>
+<div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>      <span class="comment">// add running cap msg</span></div>
+<div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span>      running_capabilities.push_back(rc);</div>
+<div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>    }</div>
+<div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span> </div>
+<div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>    <span class="keywordflow">return</span> running_capabilities;</div>
+<div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>  }</div>
+</div>
+<div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span> </div>
+<div class="foldopen" id="foldopen00635" data-start="{" data-end="}">
+<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">  635</a></span>  <span class="keywordtype">int</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">get_pid</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>  {</div>
+<div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span>    <span class="keywordflow">return</span> atoi(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">pid</a>(capability).c_str());</div>
+<div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>  }</div>
+</div>
+<div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span> </div>
+<div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>  <span class="comment">// bond api</span></div>
+<div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>  <span class="comment">// establish bond</span></div>
+<div class="foldopen" id="foldopen00642" data-start="{" data-end="}">
+<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">  642</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">establish_bond</a>(rclcpp::Node::SharedPtr node)</div>
+<div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>  {</div>
+<div class="line"><a id="l00644" name="l00644"></a><span class="lineno">  644</span>    <span class="comment">// create a new unique bond id</span></div>
+<div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator::gen_uuid_str</a>();</div>
+<div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span> </div>
+<div class="line"><a id="l00647" name="l00647"></a><span class="lineno">  647</span>    <span class="comment">// establish a bond and start liveness functions (on_broken, on_formed)</span></div>
+<div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>    <span class="comment">// bind the bond id to the callback functions</span></div>
+<div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">start</a>(bond_id, node, std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">CapabilitiesAPI::on_bond_broken</a>, <span class="keyword">this</span>, bond_id),</div>
+<div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>                      std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">CapabilitiesAPI::on_bond_established</a>, <span class="keyword">this</span>, bond_id));</div>
+<div class="line"><a id="l00651" name="l00651"></a><span class="lineno">  651</span> </div>
+<div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span>    <span class="comment">// return bond id</span></div>
+<div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span>    <span class="keywordflow">return</span> bond_id;</div>
+<div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>  }</div>
+</div>
+<div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span> </div>
+<div class="foldopen" id="foldopen00656" data-start="{" data-end="}">
+<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">  656</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">on_bond_established</a>(<span class="keyword">const</span> std::string&amp; bond_id)</div>
+<div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span>  {</div>
+<div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span>    <span class="comment">// log bond established event</span></div>
+<div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;bond established with id: %s&quot;</span>, bond_id.c_str());</div>
+<div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span>  }</div>
+</div>
+<div class="line"><a id="l00661" name="l00661"></a><span class="lineno">  661</span> </div>
+<div class="foldopen" id="foldopen00662" data-start="{" data-end="}">
+<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">  662</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">on_bond_broken</a>(<span class="keyword">const</span> std::string&amp; bond_id)</div>
+<div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>  {</div>
+<div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>    <span class="comment">// log warning</span></div>
+<div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>    RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;bond broken for id: %s&quot;</span>, bond_id.c_str());</div>
+<div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span> </div>
+<div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>    <span class="comment">// get capabilities requested by the bond</span></div>
+<div class="line"><a id="l00668" name="l00668"></a><span class="lineno">  668</span>    std::vector&lt;std::string&gt; capabilities = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">get_capabilities</a>(bond_id);</div>
+<div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span> </div>
+<div class="line"><a id="l00670" name="l00670"></a><span class="lineno">  670</span>    <span class="comment">// free capabilities</span></div>
+<div class="line"><a id="l00671" name="l00671"></a><span class="lineno">  671</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; capability : capabilities)</div>
+<div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span>    {</div>
+<div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a>(capability, bond_id);</div>
+<div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span>    }</div>
+<div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>  }</div>
+</div>
+<div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span> </div>
+<div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00678" name="l00678"></a><span class="lineno">  678</span>  <span class="comment">// bind a dependency to an internal bond</span></div>
+<div class="line"><a id="l00679" name="l00679"></a><span class="lineno">  679</span>  <span class="comment">// this is a bond without a live external connection</span></div>
+<div class="line"><a id="l00680" name="l00680"></a><span class="lineno">  680</span>  <span class="comment">// this will help keep the capability runners scoped to a reference</span></div>
+<div class="line"><a id="l00681" name="l00681"></a><span class="lineno">  681</span>  <span class="comment">// only when all the bonds (including internal) are broken the capability is freed</span></div>
+<div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span>  <span class="comment">// this is specifically needed for running dependencies of a capability</span></div>
+<div class="foldopen" id="foldopen00683" data-start="{" data-end="}">
+<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">  683</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">bind_dependency</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>  {</div>
+<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>    <span class="comment">// create a new unique bond id</span></div>
+<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>    <span class="comment">// std::string bond_id = CapabilitiesAPI::gen_bond_id(); // DEPRECATED</span></div>
+<div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator::gen_uuid_str</a>();</div>
+<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span> </div>
+<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span>    <span class="comment">// add the bond id to the bond cache</span></div>
+<div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">add_bond</a>(capability, bond_id);</div>
+<div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span> </div>
+<div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span>    <span class="comment">// keep the bond id in the internal bond ids</span></div>
+<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.push_back(bond_id);</div>
+<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span>  }</div>
+</div>
+<div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span> </div>
+<div class="foldopen" id="foldopen00696" data-start="{" data-end="}">
+<div class="line"><a id="l00696" name="l00696"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">  696</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">unbind_dependency</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span>  {</div>
+<div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span>    <span class="comment">// do we have a bond id for this capability</span></div>
+<div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span> </div>
+<div class="line"><a id="l00700" name="l00700"></a><span class="lineno">  700</span>    <span class="comment">// get cap bonds</span></div>
+<div class="line"><a id="l00701" name="l00701"></a><span class="lineno">  701</span>    std::vector&lt;std::string&gt; cap_bonds = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">get_bonds</a>(capability);</div>
+<div class="line"><a id="l00702" name="l00702"></a><span class="lineno">  702</span> </div>
+<div class="line"><a id="l00703" name="l00703"></a><span class="lineno">  703</span>    <span class="comment">// if any internal bonds in cap_bonds</span></div>
+<div class="line"><a id="l00704" name="l00704"></a><span class="lineno">  704</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; bond : cap_bonds)</div>
+<div class="line"><a id="l00705" name="l00705"></a><span class="lineno">  705</span>    {</div>
+<div class="line"><a id="l00706" name="l00706"></a><span class="lineno">  706</span>      <span class="keyword">auto</span> it = std::find(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.begin(), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.end(), bond);</div>
+<div class="line"><a id="l00707" name="l00707"></a><span class="lineno">  707</span>      <span class="keywordflow">if</span> (it != <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.end())</div>
+<div class="line"><a id="l00708" name="l00708"></a><span class="lineno">  708</span>      {</div>
+<div class="line"><a id="l00709" name="l00709"></a><span class="lineno">  709</span>        <span class="comment">// remove just the first bond id found in cap_bonds and internal_bond_ids_</span></div>
+<div class="line"><a id="l00710" name="l00710"></a><span class="lineno">  710</span>        <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">remove_bond</a>(capability, bond);</div>
+<div class="line"><a id="l00711" name="l00711"></a><span class="lineno">  711</span> </div>
+<div class="line"><a id="l00712" name="l00712"></a><span class="lineno">  712</span>        <span class="comment">// delete internal bond</span></div>
+<div class="line"><a id="l00713" name="l00713"></a><span class="lineno">  713</span>        <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.erase(it);</div>
+<div class="line"><a id="l00714" name="l00714"></a><span class="lineno">  714</span> </div>
+<div class="line"><a id="l00715" name="l00715"></a><span class="lineno">  715</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00716" name="l00716"></a><span class="lineno">  716</span>      }</div>
+<div class="line"><a id="l00717" name="l00717"></a><span class="lineno">  717</span>    }</div>
+<div class="line"><a id="l00718" name="l00718"></a><span class="lineno">  718</span>  }</div>
+</div>
+<div class="line"><a id="l00719" name="l00719"></a><span class="lineno">  719</span> </div>
+<div class="line"><a id="l00720" name="l00720"></a><span class="lineno">  720</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00721" name="l00721"></a><span class="lineno">  721</span>  <span class="comment">// event api</span></div>
+<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">  722</a></span>  std::shared_ptr&lt;capabilities2_events::EventBase&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a>;</div>
+<div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span> </div>
+<div class="line"><a id="l00724" name="l00724"></a><span class="lineno">  724</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span>  <span class="comment">// db</span></div>
+<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">  726</a></span>  std::unique_ptr&lt;DBBase&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>;</div>
+<div class="line"><a id="l00727" name="l00727"></a><span class="lineno">  727</span> </div>
+<div class="line"><a id="l00728" name="l00728"></a><span class="lineno">  728</span>  <span class="comment">// for internal logging</span></div>
+<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">  729</a></span>  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>;</div>
+<div class="line"><a id="l00730" name="l00730"></a><span class="lineno">  730</span> </div>
+<div class="line"><a id="l00731" name="l00731"></a><span class="lineno">  731</span>  <span class="comment">// caches</span></div>
+<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">  732</a></span>  <a class="code hl_class" href="classcapabilities2__server_1_1BondCache.html">BondCache</a> <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>;</div>
+<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">  733</a></span>  <a class="code hl_class" href="classcapabilities2__server_1_1RunnerCache.html">RunnerCache</a> <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>;</div>
+<div class="line"><a id="l00734" name="l00734"></a><span class="lineno">  734</span> </div>
+<div class="line"><a id="l00735" name="l00735"></a><span class="lineno">  735</span>  <span class="comment">// internal bindings</span></div>
+<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">  736</a></span>  std::vector&lt;std::string&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>;</div>
+<div class="line"><a id="l00737" name="l00737"></a><span class="lineno">  737</span>};</div>
+</div>
+<div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span> </div>
+<div class="line"><a id="l00739" name="l00739"></a><span class="lineno">  739</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="abond__cache_8hpp_html"><div class="ttname"><a href="bond__cache_8hpp.html">bond_cache.hpp</a></div></div>
+<div class="ttc" id="acapabilities__db_8hpp_html"><div class="ttname"><a href="capabilities__db_8hpp.html">capabilities_db.hpp</a></div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_ad7966c639f088e11a3d19a7410956421"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator::gen_uuid_str</a></div><div class="ttdeci">static const std::string gen_uuid_str()</div><div class="ttdoc">generate a uuid string</div><div class="ttdef"><b>Definition</b> uuid_generator.cpp:11</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></div><div class="ttdoc">bond cache class</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:23</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a0cfb5d5535e4a3608593c3093364baaa"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">capabilities2_server::BondCache::exists</a></div><div class="ttdeci">bool exists(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:146</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a19639716efa05b956bff7c9ca583b728"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">capabilities2_server::BondCache::get_bonds</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_bonds(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:133</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a59117ead721f4b608863ef3ce2228a46"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">capabilities2_server::BondCache::remove_bond</a></div><div class="ttdeci">void remove_bond(const std::string &amp;bond_id)</div><div class="ttdoc">Remove a bond id from the cache for all capabilities.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:65</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a95f5c2beb3e72240154de125ff0c3555"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">capabilities2_server::BondCache::add_bond</a></div><div class="ttdeci">void add_bond(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Add a bond to the cache.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:40</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_abb808c809ef2a79e4a8695f84bc47266"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">capabilities2_server::BondCache::start</a></div><div class="ttdeci">void start(const std::string &amp;bond_id, rclcpp::Node::SharedPtr node, std::function&lt; void(void)&gt; on_broken, std::function&lt; void(void)&gt; on_formed)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:167</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_ada688394effbf87bed480782d64fe8e5"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">capabilities2_server::BondCache::get_capabilities</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_capabilities(const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:118</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></div><div class="ttdoc">capabilities api mapping message based logic of capabilities to database models handles message conve...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:39</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a02d27d28503b5b56cf5aa3556e1a2118"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">capabilities2_server::CapabilitiesAPI::free_capability</a></div><div class="ttdeci">void free_capability(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Free a capability after usage. This will remove the bond and callstop_capability This function can be...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:180</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a0c1bbfe23a34eb6adef90747bba2b34f"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">capabilities2_server::CapabilitiesAPI::get_remappings</a></div><div class="ttdeci">void get_remappings(const std::string &amp;capability_spec, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:542</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1449c47e0248409b93a901b0836ca282"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">capabilities2_server::CapabilitiesAPI::unbind_dependency</a></div><div class="ttdeci">void unbind_dependency(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:696</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1e106040d8bec5321e809c3666601600"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">capabilities2_server::CapabilitiesAPI::stop_capability</a></div><div class="ttdeci">void stop_capability(const std::string &amp;capability)</div><div class="ttdoc">Stop a capability. Internal function only. Do not used this function externally.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:125</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1e3645b59e7641e486143354562ccfc3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">capabilities2_server::CapabilitiesAPI::event_</a></div><div class="ttdeci">std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:722</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a226adbcdbb5b497953a2dd61d418a7de"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">capabilities2_server::CapabilitiesAPI::add_capability</a></div><div class="ttdeci">void add_capability(const capabilities2_msgs::msg::CapabilitySpec &amp;spec)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:302</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a25529ea4994cd0e839500fff111b620c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">capabilities2_server::CapabilitiesAPI::get_pid</a></div><div class="ttdeci">int get_pid(const std::string &amp;capability)</div><div class="ttdoc">get pid of capability</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:635</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a35a9b49bc2b1fdcf0311264905f59514"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">capabilities2_server::CapabilitiesAPI::get_running_capabilities</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::RunningCapability &gt; get_running_capabilities()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:585</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a419ed80ae9a32f0d89518b0750ade73c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">capabilities2_server::CapabilitiesAPI::use_capability</a></div><div class="ttdeci">bool use_capability(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider, const std::string &amp;bond_id)</div><div class="ttdoc">Use a capability. This will create a bond id for the requested instance and call start_capability fun...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:238</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a51bf4e23cd02446a33b25783342f8692"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">capabilities2_server::CapabilitiesAPI::bond_cache_</a></div><div class="ttdeci">BondCache bond_cache_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:732</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a5c6b0cbb72426b457e5469285f7d4451"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">capabilities2_server::CapabilitiesAPI::internal_bond_ids_</a></div><div class="ttdeci">std::vector&lt; std::string &gt; internal_bond_ids_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:736</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a6c1be72e9e6d7c1391e85cf7fe60f002"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">capabilities2_server::CapabilitiesAPI::bind_dependency</a></div><div class="ttdeci">void bind_dependency(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:683</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a7e33013361270175186e7e23fe7342ce"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">capabilities2_server::CapabilitiesAPI::CapabilitiesAPI</a></div><div class="ttdeci">CapabilitiesAPI()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:41</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a84971555f626b74b3236c61bd2bf0ef2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">capabilities2_server::CapabilitiesAPI::connect</a></div><div class="ttdeci">void connect(const std::string &amp;db_file, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging)</div><div class="ttdoc">connect with the database file</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:51</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a89ca5565eac4c99553fb79e7e8c332c8"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">capabilities2_server::CapabilitiesAPI::get_capability_specs</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::CapabilitySpec &gt; get_capability_specs()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:498</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a8af0a6969caee569e51664a7258927ba"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">capabilities2_server::CapabilitiesAPI::on_bond_broken</a></div><div class="ttdeci">void on_bond_broken(const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:662</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a9d25868abf2647c2e77aad620b270c3b"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">capabilities2_server::CapabilitiesAPI::establish_bond</a></div><div class="ttdeci">const std::string establish_bond(rclcpp::Node::SharedPtr node)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:642</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_aa57dd46315cc8b11f23488353c00dc95"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">capabilities2_server::CapabilitiesAPI::cap_db_</a></div><div class="ttdeci">std::unique_ptr&lt; DBBase &gt; cap_db_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:726</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_aaf69b498cc0fcc66267032c8a0a1504c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">capabilities2_server::CapabilitiesAPI::start_capability</a></div><div class="ttdeci">bool start_capability(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider)</div><div class="ttdoc">Start a capability. Internal function only. Do not used this function externally.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:73</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_acd27a3b8a5655712120d8f60e6e21a03"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">capabilities2_server::CapabilitiesAPI::get_interfaces</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_interfaces()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:402</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_acfc34192e7ebdf7bd32bb720eba44953"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">capabilities2_server::CapabilitiesAPI::on_bond_established</a></div><div class="ttdeci">void on_bond_established(const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:656</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ad0323e4febb7e96405a0473e39e58d52"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">capabilities2_server::CapabilitiesAPI::get_semantic_interfaces</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_semantic_interfaces(const std::string &amp;interface)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:414</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ad6f151b6a272325d92aeb7704ded093a"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">capabilities2_server::CapabilitiesAPI::get_providers</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_providers(const std::string &amp;interface, const bool &amp;include_semantic)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:426</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ae6de8e860c63da9acde97c4b5cd7a5a5"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">capabilities2_server::CapabilitiesAPI::trigger_capability</a></div><div class="ttdeci">void trigger_capability(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</div><div class="ttdoc">trigger a capability</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:205</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ae6e049a500dc2554322475a1b4e89c21"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">capabilities2_server::CapabilitiesAPI::connect_capability</a></div><div class="ttdeci">void connect_capability(const std::string &amp;bond_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection)</div><div class="ttdoc">connect RUNNING capabilities together via event type</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:256</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_aed8b4cad33f58aa31b3ed1be0c48f5d2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">capabilities2_server::CapabilitiesAPI::logging_</a></div><div class="ttdeci">rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:729</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_af2ad7408ac8e69d5cf4d8bb503fd37e8"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">capabilities2_server::CapabilitiesAPI::get_capability_spec</a></div><div class="ttdeci">const capabilities2_msgs::msg::CapabilitySpec get_capability_spec(const std::string &amp;resource)</div><div class="ttdoc">Get the capability spec object for a given resource return the spec in yaml string format.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:451</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_af88813815d1201f52e2e2f19b43068d2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">capabilities2_server::CapabilitiesAPI::runner_cache_</a></div><div class="ttdeci">RunnerCache runner_cache_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:733</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></div><div class="ttdoc">runner cache class responsible for caching the currently active runners of capabilities this cache de...</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:32</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a20513c9b45a313ab7bdc6f2d15f490c8"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">capabilities2_server::RunnerCache::provider</a></div><div class="ttdeci">const std::string provider(const std::string &amp;capability)</div><div class="ttdoc">Get provider of capability.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:195</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a245acdb1f0c4b4b81f1ed46906b446cb"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">capabilities2_server::RunnerCache::get_running_capabilities</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_running_capabilities()</div><div class="ttdoc">Get a list of active runners in the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:179</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a278cd90fadd01341151fb48b8c93745e"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">capabilities2_server::RunnerCache::running</a></div><div class="ttdeci">bool running(const std::string &amp;capability)</div><div class="ttdoc">Check if a capability has a runner.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:238</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a38cd41426d0a9dbe36d3842e5ef0310c"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">capabilities2_server::RunnerCache::remove_runner</a></div><div class="ttdeci">void remove_runner(const std::string &amp;capability)</div><div class="ttdoc">Remove a given runner.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:148</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a64a32e4605c82f06baf0902bd0bab746"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">capabilities2_server::RunnerCache::pid</a></div><div class="ttdeci">const std::string pid(const std::string &amp;capability)</div><div class="ttdoc">get pid of capability</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:223</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aa3c38f7a92d055d73e3acb2422094f9a"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">capabilities2_server::RunnerCache::trigger_runner</a></div><div class="ttdeci">void trigger_runner(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</div><div class="ttdoc">Trigger a runner in the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:86</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aba905c19f2ffec5e72028d8a246a3edf"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">capabilities2_server::RunnerCache::add_connection</a></div><div class="ttdeci">void add_connection(const std::string &amp;capability, const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection, std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_emitter=nullptr)</div><div class="ttdoc">Add state change connection between runners via an event.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:111</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_ad07093aa785e7f24ef4e1648e46c7c0f"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">capabilities2_server::RunnerCache::started_by</a></div><div class="ttdeci">const std::string started_by(const std::string &amp;capability)</div><div class="ttdoc">get started_by of capability</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:209</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aefd112af41b8ef36ccdce3cfebb5dd25"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">capabilities2_server::RunnerCache::add_runner</a></div><div class="ttdeci">void add_runner(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const models::run_config_model_t &amp;run_config)</div><div class="ttdoc">Add a runner to the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:45</div></div>
+<div class="ttc" id="adb__base_8hpp_html"><div class="ttname"><a href="db__base_8hpp.html">db_base.hpp</a></div></div>
+<div class="ttc" id="aevent__base_8hpp_html"><div class="ttname"><a href="event__base_8hpp.html">event_base.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="arunner__cache_8hpp_html"><div class="ttname"><a href="runner__cache_8hpp.html">runner_cache.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a></div><div class="ttdoc">runner exception</div><div class="ttdef"><b>Definition</b> runner_base.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html_a5d58c674021b3d7bd0599b73c5617473"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">capabilities2_runner::runner_exception::what</a></div><div class="ttdeci">virtual const char * what() const noexcept override</div><div class="ttdef"><b>Definition</b> runner_base.hpp:31</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a23939963edc32d7a2da5f1552973fecb"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">capabilities2_server::models::capability_model_t::provider</a></div><div class="ttdeci">std::string provider</div><div class="ttdef"><b>Definition</b> running.hpp:15</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a73be59339462fe3f6699bd127e99a918"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">capabilities2_server::models::capability_model_t::interface</a></div><div class="ttdeci">std::string interface</div><div class="ttdef"><b>Definition</b> running.hpp:14</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a184f5969009afde38cf0933b73f58576"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> header.hpp:47</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a3a9a79ce313a985930e2cd97d27ebd5f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">capabilities2_server::models::header_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> header.hpp:42</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac0e94588685ed968c2466ad9860c1284"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">capabilities2_server::models::header_model_t::type</a></div><div class="ttdeci">std::string type</div><div class="ttdef"><b>Definition</b> header.hpp:44</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html">capabilities2_server::models::interface_model_t</a></div><div class="ttdoc">interface model</div><div class="ttdef"><b>Definition</b> interface.hpp:124</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a379d6d70a00d7ed95c279bd2d38cd286"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">capabilities2_server::models::interface_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> interface.hpp:128</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ad4dfd8817581f04f0def9017ca898c64"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">capabilities2_server::models::interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> interface.hpp:125</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html">capabilities2_server::models::provider_model_t</a></div><div class="ttdoc">provider model</div><div class="ttdef"><b>Definition</b> provider.hpp:26</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a0ad3fa187ea591bbcf1f4ab6d312dac0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">capabilities2_server::models::provider_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> provider.hpp:27</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a1a91763b3ebf0fe9fc9d38a0b9315fb9"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">capabilities2_server::models::provider_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> provider.hpp:52</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_aeaffd1a45ccb1f72dcbca71425ac57c3"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#aeaffd1a45ccb1f72dcbca71425ac57c3">capabilities2_server::models::provider_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> provider.hpp:33</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">capabilities2_server::models::remappable_base_t</a></div><div class="ttdoc">remappable base model definition</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:17</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html_a4a19d77530cc86fc3cd798eaaea9a8dd"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">capabilities2_server::models::remappable_base_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:18</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a1570369d1b89a3ba0a9cbff9419422cc"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">capabilities2_server::models::remappings_model_t::parameters</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; parameters</div><div class="ttdef"><b>Definition</b> remapping.hpp:44</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a62e2be32cc2b051f7bdfba15ab17a95d"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">capabilities2_server::models::remappings_model_t::actions</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; actions</div><div class="ttdef"><b>Definition</b> remapping.hpp:47</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a9b83cf9b0b6306e5580f9babb42b8a11"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">capabilities2_server::models::remappings_model_t::topics</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; topics</div><div class="ttdef"><b>Definition</b> remapping.hpp:45</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_aba5002e746519b1ca48238e6d26c2054"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">capabilities2_server::models::remappings_model_t::services</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; services</div><div class="ttdef"><b>Definition</b> remapping.hpp:46</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a></div><div class="ttdoc">run configuration type</div><div class="ttdef"><b>Definition</b> run_config.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html">capabilities2_server::models::running_model_t</a></div><div class="ttdoc">running capability model</div><div class="ttdef"><b>Definition</b> running.hpp:27</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html_af93e104248e91870612dcf3a82e29029"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">capabilities2_server::models::running_model_t::dependencies</a></div><div class="ttdeci">std::vector&lt; capability_model_t &gt; dependencies</div><div class="ttdef"><b>Definition</b> running.hpp:30</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">capabilities2_server::models::semantic_interface_model_t</a></div><div class="ttdoc">semantic interface model</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:25</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a1c82841795835d4359d6bc1fd40b9f26"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a1c82841795835d4359d6bc1fd40b9f26">capabilities2_server::models::semantic_interface_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:31</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a27bcd752bad7f0e68baaa7754a6221c5"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a27bcd752bad7f0e68baaa7754a6221c5">capabilities2_server::models::semantic_interface_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:43</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a8650d24298ea55e6f6f810e507618fec"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">capabilities2_server::models::semantic_interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:26</div></div>
+<div class="ttc" id="auuid__generator_8hpp_html"><div class="ttname"><a href="uuid__generator_8hpp.html">uuid_generator.hpp</a></div></div>
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+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#namespaces">Namespaces</a>  </div>
+  <div class="headertitle"><div class="title">capabilities_db.hpp File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;memory&gt;</code><br />
+<code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;sqlite3.h&gt;</code><br />
+<code>#include &lt;yaml-cpp/yaml.h&gt;</code><br />
+<code>#include &lt;<a class="el" href="db__base_8hpp_source.html">capabilities2_server/db_base.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="interface_8hpp_source.html">capabilities2_server/models/interface.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="semantic__interface_8hpp_source.html">capabilities2_server/models/semantic_interface.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="provider_8hpp_source.html">capabilities2_server/models/provider.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="running_8hpp_source.html">capabilities2_server/models/running.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="run__config_8hpp_source.html">capabilities2_server/models/run_config.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="sql__safe_8hpp_source.html">capabilities2_server/utils/sql_safe.hpp</a>&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for capabilities_db.hpp:</div>
+<div class="dyncontent">
+<div class="center"><img src="capabilities__db_8hpp__incl.png" border="0" usemap="#acapabilities2__server_2include_2capabilities2__server_2capabilities__db_8hpp" alt=""/></div>
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+  <div class="headertitle"><div class="title">capabilities_db.hpp</div></div>
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+<div class="contents">
+<a href="capabilities__db_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;string&gt;</span></div>
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+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;sqlite3.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="db__base_8hpp.html">capabilities2_server/db_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;<a class="code" href="interface_8hpp.html">capabilities2_server/models/interface.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;<a class="code" href="semantic__interface_8hpp.html">capabilities2_server/models/semantic_interface.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;<a class="code" href="provider_8hpp.html">capabilities2_server/models/provider.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;<a class="code" href="running_8hpp.html">capabilities2_server/models/running.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;<a class="code" href="run__config_8hpp.html">capabilities2_server/models/run_config.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;<a class="code" href="sql__safe_8hpp.html">capabilities2_server/utils/sql_safe.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html">   21</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1CapabilitiesDB.html">CapabilitiesDB</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__server_1_1DBBase.html">DBBase</a></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6a06e320c5c1ac224f7879bbe05e6a8e">   24</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6a06e320c5c1ac224f7879bbe05e6a8e">CapabilitiesDB</a>(<span class="keyword">const</span> std::string db_file = <span class="stringliteral">&quot;cache/capabilities.sqlite3&quot;</span>) : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a>(db_file), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>(nullptr)</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  {</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    <span class="comment">// open db</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">open</a>();</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="comment">// create tables if they do not exists</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">create_tables</a>();</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  }</div>
+</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a40951e3346502f6e147865e1ab025e39">   33</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a40951e3346502f6e147865e1ab025e39">~CapabilitiesDB</a>()</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  {</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">close</a>();</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  }</div>
+</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  <span class="comment">/* inserters */</span></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  <span class="comment">// insert interface</span></div>
+<div class="foldopen" id="foldopen00041" data-start="{" data-end="}">
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">   41</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">insert_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&amp; interface)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;INSERT INTO interfaces VALUES (&quot;</span> + interface.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">to_sql_values</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>  }</div>
+</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  <span class="comment">// insert semantic interface</span></div>
+<div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4703582a0735e3a22ed0019164c02ed1">   48</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4703582a0735e3a22ed0019164c02ed1">insert_semantic_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&amp; semantic_interface)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;INSERT INTO semantic_interfaces VALUES (&quot;</span> + semantic_interface.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">to_sql_values</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>  }</div>
+</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  <span class="comment">// insert provider</span></div>
+<div class="foldopen" id="foldopen00055" data-start="{" data-end="}">
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">   55</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">insert_provider</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&amp; provider)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;INSERT INTO providers VALUES (&quot;</span> + provider.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">to_sql_values</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>  }</div>
+</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>  <span class="comment">/* getters */</span></div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  <span class="comment">// get interface</span></div>
+<div class="foldopen" id="foldopen00064" data-start="{" data-end="}">
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">   64</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">get_interface</a>(<span class="keyword">const</span> std::string&amp; name)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    sqlite3_stmt* stmt;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM interfaces WHERE name = &#39;&quot;</span> + name + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    {</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    }</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> interface;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordflow">if</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    {</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      <span class="keyword">interface </span>= to_interface(stmt);</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    }</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordflow">return</span> interface;</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  }</div>
+</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>  <span class="comment">// get interfaces</span></div>
+<div class="foldopen" id="foldopen00086" data-start="{" data-end="}">
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">   86</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::interface_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">get_interfaces</a>()<span class="keyword"> override</span></div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    sqlite3_stmt* stmt;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM interfaces&quot;</span>;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    {</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>      sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    }</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    std::vector&lt;models::interface_model_t&gt; interfaces;</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    {</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= to_interface(stmt);</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>      interfaces.push_back(interface);</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    }</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">return</span> interfaces;</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>  }</div>
+</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>  <span class="comment">// get semantic interface</span></div>
+<div class="foldopen" id="foldopen00109" data-start="{" data-end="}">
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">  109</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">get_semantic_interface</a>(<span class="keyword">const</span> std::string&amp; name)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    sqlite3_stmt* stmt;</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM semantic_interfaces WHERE name = &#39;&quot;</span> + name + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    {</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>      sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    }</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keywordflow">if</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    {</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>      semantic_interface = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(stmt);</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    }</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="keywordflow">return</span> semantic_interface;</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>  }</div>
+</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>  <span class="comment">// get semantic interfaces</span></div>
+<div class="foldopen" id="foldopen00131" data-start="{" data-end="}">
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">  131</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::semantic_interface_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">get_semantic_interfaces</a>()<span class="keyword"> override</span></div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    sqlite3_stmt* stmt;</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM semantic_interfaces&quot;</span>;</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    {</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>      sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    }</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    std::vector&lt;models::semantic_interface_model_t&gt; semantic_interfaces;</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    {</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(stmt);</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>      semantic_interfaces.push_back(semantic_interface);</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    }</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span> </div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="keywordflow">return</span> semantic_interfaces;</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>  }</div>
+</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>  <span class="comment">// get provider</span></div>
+<div class="foldopen" id="foldopen00154" data-start="{" data-end="}">
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">  154</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(<span class="keyword">const</span> std::string&amp; name)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    sqlite3_stmt* stmt;</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM providers WHERE name = &#39;&quot;</span> + name + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    {</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>      sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    }</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider;</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    <span class="keywordflow">if</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    {</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>      provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(stmt);</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    }</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span> </div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <span class="keywordflow">return</span> provider;</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>  }</div>
+</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>  <span class="comment">// get providers</span></div>
+<div class="foldopen" id="foldopen00176" data-start="{" data-end="}">
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">  176</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::provider_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">get_providers</a>()<span class="keyword"> override</span></div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    sqlite3_stmt* stmt;</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM providers&quot;</span>;</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    {</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>      sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    }</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    std::vector&lt;models::provider_model_t&gt; providers;</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    {</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(stmt);</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>      providers.push_back(provider);</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    }</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keywordflow">return</span> providers;</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>  }</div>
+</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span> </div>
+<div class="foldopen" id="foldopen00206" data-start="{" data-end="}">
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">  206</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">get_remappable</a>(<span class="keyword">const</span> std::string&amp; name)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    <span class="comment">// check if it is a semantic interface</span></div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">get_semantic_interface</a>(name);</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    <span class="keywordflow">if</span> (!semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    {</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>      <span class="keywordflow">return</span> semantic_interface;</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>    }</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span> </div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>    <span class="comment">// check if it is a provider</span></div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(name);</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>    <span class="keywordflow">if</span> (!provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    {</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>      <span class="keywordflow">return</span> provider;</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    }</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    <span class="comment">// return empty remappable model</span></div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a>();</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>  }</div>
+</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span> </div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>  <span class="comment">/* updaters */</span></div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span> </div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>  <span class="comment">// update interface</span></div>
+<div class="foldopen" id="foldopen00229" data-start="{" data-end="}">
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">  229</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">update_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&amp; interface)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    <span class="keyword">const</span> std::string query =</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>        <span class="stringliteral">&quot;UPDATE interfaces SET &quot;</span> + interface.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">to_sql_values</a>() + <span class="stringliteral">&quot; WHERE name = &#39;&quot;</span> + interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>  }</div>
+</div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span> </div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>  <span class="comment">// update semantic interface</span></div>
+<div class="foldopen" id="foldopen00237" data-start="{" data-end="}">
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">  237</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">update_semantic_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&amp; semantic_interface)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;UPDATE semantic_interfaces SET &quot;</span> + semantic_interface.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">to_sql_values</a>() +</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>                              <span class="stringliteral">&quot; WHERE name = &#39;&quot;</span> + semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>  }</div>
+</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span> </div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>  <span class="comment">// update provider</span></div>
+<div class="foldopen" id="foldopen00245" data-start="{" data-end="}">
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">  245</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">update_provider</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&amp; provider)</div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>  {</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>    <span class="keyword">const</span> std::string query =</div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>        <span class="stringliteral">&quot;UPDATE providers SET &quot;</span> + provider.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">to_sql_values</a>() + <span class="stringliteral">&quot; WHERE name = &#39;&quot;</span> + provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>  }</div>
+</div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span> </div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>  <span class="comment">/* foreign keys */</span></div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span> </div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>  <span class="comment">// get providers by interface</span></div>
+<div class="foldopen" id="foldopen00255" data-start="{" data-end="}">
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">  255</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::provider_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">get_providers_by_interface</a>(<span class="keyword">const</span> std::string&amp; interface_name)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>    <span class="comment">// could be a semantic interface or an interface</span></div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    sqlite3_stmt* stmt;</div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM providers WHERE implements = &#39;&quot;</span> + interface_name + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    {</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>      sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    }</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span> </div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    std::vector&lt;models::provider_model_t&gt; providers;</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    {</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(stmt);</div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>      providers.push_back(provider);</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    }</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span> </div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>    <span class="keywordflow">return</span> providers;</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>  }</div>
+</div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span> </div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>  <span class="comment">// get semantic interfaces by interface</span></div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>  <span class="keyword">virtual</span> std::vector&lt;models::semantic_interface_model_t&gt;</div>
+<div class="foldopen" id="foldopen00279" data-start="{" data-end="}">
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">  279</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">get_semantic_interfaces_by_interface</a>(<span class="keyword">const</span> std::string&amp; interface_name)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>    sqlite3_stmt* stmt;</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM semantic_interfaces WHERE redefines = &#39;&quot;</span> + interface_name + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>    {</div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>      sqlite3_finalize(stmt);</div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    }</div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>    std::vector&lt;models::semantic_interface_model_t&gt; semantic_interfaces;</div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>    {</div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(stmt);</div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>      semantic_interfaces.push_back(semantic_interface);</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>    }</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span> </div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>    <span class="keywordflow">return</span> semantic_interfaces;</div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>  }</div>
+</div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span> </div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>  <span class="comment">// get running model from provider</span></div>
+<div class="foldopen" id="foldopen00301" data-start="{" data-end="}">
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">  301</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">get_running</a>(<span class="keyword">const</span> std::string&amp; provider_name)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    <span class="comment">// start with provider and work up the chain</span></div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(provider_name);</div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    <span class="keywordflow">if</span> (provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>    {</div>
+<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>      <span class="comment">// return empty running model</span></div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>      <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a>();</div>
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>    }</div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span> </div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> running;</div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>    running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">interface</a> = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a>;</div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>    running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">provider</a> = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>    <span class="comment">// TODO: implement this variable somehow</span></div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>    running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#a0037a0006d89c68a56be1ed1337f7c37">started_by</a> = provider_name;</div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>    running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#a1c0cff01cc7973eb2f1ffa49ae2ad5b9">pid</a> = <span class="stringliteral">&quot;0&quot;</span>;</div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span> </div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>    <span class="comment">// get dependencies from provider depends_on</span></div>
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; [key, value] : provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a>)</div>
+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>    {</div>
+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1capability__model__t.html">models::capability_model_t</a> dependency;</div>
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>      dependency.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">interface</a> = key;</div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>      dependency.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">provider</a> = value;</div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>      running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a>.push_back(dependency);</div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>    }</div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span> </div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>    <span class="comment">// return running model</span></div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>    <span class="keywordflow">return</span> running;</div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>  }</div>
+</div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span> </div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>  <span class="comment">// apply a remapping to a specification model</span></div>
+<div class="foldopen" id="foldopen00332" data-start="{" data-end="}">
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">  332</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">apply_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">models::specification_model_t</a>&amp; spec,</div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>                                <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a>&amp; remappable)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; param : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">parameters</a>)</div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>    {</div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>      spec.parameters[param.from].name = param.to;</div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>    }</div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; topic : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">topics</a>)</div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>    {</div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>      spec.topics[topic.from].name = topic.to;</div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>    }</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; service : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">services</a>)</div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>    {</div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>      spec.services[service.from].name = service.to;</div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>    }</div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; action : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">actions</a>)</div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>    {</div>
+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>      spec.actions[action.from].name = action.to;</div>
+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>    }</div>
+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>  }</div>
+</div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span> </div>
+<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>  <span class="comment">// apply semantics to interface</span></div>
+<div class="foldopen" id="foldopen00354" data-start="{" data-end="}">
+<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a9ce49d71065acc667a5ce863a9e1f2a2">  354</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a9ce49d71065acc667a5ce863a9e1f2a2">apply_semantic_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>    <span class="comment">// get the parent interface model</span></div>
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">get_interface</a>(semantic.redefines);</div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span> </div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a> = semantic.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>;</div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">apply_remappings</a>(interface.interface, semantic);</div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span> </div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>    <span class="keywordflow">return</span> interface;</div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>  }</div>
+</div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span> </div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>  <span class="comment">// apply provider remappings</span></div>
+<div class="foldopen" id="foldopen00366" data-start="{" data-end="}">
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">  366</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">apply_provider_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>    <span class="comment">// get the parent interface model</span></div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>    <span class="comment">// is it semantic</span></div>
+<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">get_semantic_interface</a>(provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a>);</div>
+<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>    <span class="keywordflow">if</span> (!semantic.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
+<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>    {</div>
+<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>      <span class="comment">// apply semantic remappings</span></div>
+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= apply_semantic_remappings(semantic);</div>
+<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span> </div>
+<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>      <span class="comment">// apply provider remappings</span></div>
+<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>      apply_remappings(interface.interface, provider);</div>
+<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span> </div>
+<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>      <span class="keywordflow">return</span> interface;</div>
+<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>    }</div>
+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span> </div>
+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>    <span class="comment">// if not semantic, then it&#39;s an interface</span></div>
+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>    <span class="comment">// get interface</span></div>
+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">get_interface</a>(provider.<span class="keyword">implements</span>);</div>
+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span> </div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>    <span class="comment">// apply provider remappings</span></div>
+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">apply_remappings</a>(interface.interface, provider);</div>
+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span> </div>
+<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>    return interface;</div>
+<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>  }</div>
+</div>
+<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span> </div>
+<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>  <span class="comment">// get run config model</span></div>
+<div class="foldopen" id="foldopen00393" data-start="{" data-end="}">
+<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">  393</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">get_run_config</a>(const std::string&amp; provider_name) override</div>
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>  {</div>
+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(provider_name);</div>
+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>    <span class="keywordflow">if</span> (provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>    {</div>
+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>      <span class="comment">// return empty run config</span></div>
+<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>      <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a>();</div>
+<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>    }</div>
+<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span> </div>
+<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> run_config;</div>
+<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a> = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>;</div>
+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a> = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a>;</div>
+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">started_by</a> = provider_name;</div>
+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">pid</a> = <span class="stringliteral">&quot;0&quot;</span>;</div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span> </div>
+<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>    <span class="comment">// remap resources</span></div>
+<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a> = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">apply_provider_remappings</a>(provider);</div>
+<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span> </div>
+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>    <span class="keywordflow">return</span> run_config;</div>
+<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>  }</div>
+</div>
+<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span> </div>
+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span><span class="keyword">protected</span>:</div>
+<div class="foldopen" id="foldopen00415" data-start="{" data-end="}">
+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">  415</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">open</a>()<span class="keyword"> override</span></div>
+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_open(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a>.c_str(), &amp;<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>);</div>
+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>    {</div>
+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>      sqlite3_close(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>);</div>
+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error opening database: &quot;</span> + <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a> + <span class="stringliteral">&quot; &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>    }</div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span> </div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>    <span class="comment">// enable foreign keys</span></div>
+<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>    sqlite3_exec(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, <span class="stringliteral">&quot;PRAGMA foreign_keys = ON;&quot;</span>, <span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>);</div>
+<div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>  }</div>
+</div>
+<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span> </div>
+<div class="foldopen" id="foldopen00428" data-start="{" data-end="}">
+<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">  428</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">close</a>()<span class="keyword"> override</span></div>
+<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>    <span class="comment">// close if the database is open</span></div>
+<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a> != <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>    {</div>
+<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>      sqlite3_close(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>);</div>
+<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a> = <span class="keyword">nullptr</span>;</div>
+<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>    }</div>
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>  }</div>
+</div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span> </div>
+<div class="foldopen" id="foldopen00438" data-start="{" data-end="}">
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">  438</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(<span class="keyword">const</span> std::string&amp; query)</div>
+<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>  {</div>
+<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>    <span class="keywordtype">char</span>* error_message;</div>
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_exec(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), <span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>, &amp;error_message);</div>
+<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
+<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>    {</div>
+<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>      sqlite3_free(error_message);</div>
+<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error executing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
+<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>    }</div>
+<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>  }</div>
+</div>
+<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span> </div>
+<div class="foldopen" id="foldopen00449" data-start="{" data-end="}">
+<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">  449</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">create_tables</a>()<span class="keyword"> override</span></div>
+<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>    <span class="comment">// create tables if they do not exists</span></div>
+<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>    <span class="keyword">const</span> std::string create_interface_table =</div>
+<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>        <span class="stringliteral">&quot;CREATE TABLE IF NOT EXISTS interfaces (&quot;</span> + <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">models::interface_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
+<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span> </div>
+<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>    <span class="keyword">const</span> std::string create_semantic_interface_table =</div>
+<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>        <span class="stringliteral">&quot;CREATE TABLE IF NOT EXISTS semantic_interfaces (&quot;</span> + <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a189e051f8785603c611c13a71f202fdd">models::semantic_interface_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span> </div>
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>    <span class="keyword">const</span> std::string create_provider_table =</div>
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>        <span class="stringliteral">&quot;CREATE TABLE IF NOT EXISTS providers (&quot;</span> + <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">models::provider_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span> </div>
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>    <span class="comment">// TODO: create meta table</span></div>
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>    <span class="comment">// meta table</span></div>
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>    <span class="keyword">const</span> std::string create_meta_table = <span class="stringliteral">&quot;CREATE TABLE IF NOT EXISTS meta (key TEXT NOT NULL, value TEXT NOT NULL)&quot;</span>;</div>
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span> </div>
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>    <span class="comment">// execute create queries</span></div>
+<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(create_interface_table);</div>
+<div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(create_semantic_interface_table);</div>
+<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(create_provider_table);</div>
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>  }</div>
+</div>
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span> </div>
+<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>  <span class="comment">// model conversion helpers</span></div>
+<div class="foldopen" id="foldopen00473" data-start="{" data-end="}">
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a665a94af8591b998356567340f9155b9">  473</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a665a94af8591b998356567340f9155b9">to_interface</a>(sqlite3_stmt* stmt)</div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>  {</div>
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> interface;</div>
+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 0)));</div>
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> = sqlite3_column_int(stmt, 1);</div>
+<div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 2)));</div>
+<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a> = <a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 3))));</div>
+<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span> </div>
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">models::specification_model_t</a> spec;</div>
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>    spec.from_yaml(YAML::Load(<a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 4))))));</div>
+<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a> = spec;</div>
+<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span> </div>
+<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>    <span class="keywordflow">return</span> interface;</div>
+<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>  }</div>
+</div>
+<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span> </div>
+<div class="foldopen" id="foldopen00488" data-start="{" data-end="}">
+<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">  488</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(sqlite3_stmt* stmt)</div>
+<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>  {</div>
+<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface;</div>
+<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 0)));</div>
+<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> = sqlite3_column_int(stmt, 1);</div>
+<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 2)));</div>
+<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a> = <a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 3))));</div>
+<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">redefines</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 4)));</div>
+<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">global_namespace</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 5)));</div>
+<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">from_yaml</a>(</div>
+<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>        YAML::Load(<a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 6))))));</div>
+<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span> </div>
+<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>    <span class="keywordflow">return</span> semantic_interface;</div>
+<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>  }</div>
+</div>
+<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span> </div>
+<div class="foldopen" id="foldopen00503" data-start="{" data-end="}">
+<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">  503</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(sqlite3_stmt* stmt)</div>
+<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>  {</div>
+<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider;</div>
+<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 0)));</div>
+<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> = sqlite3_column_int(stmt, 1);</div>
+<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 2)));</div>
+<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a> = <a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 3))));</div>
+<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 4)));</div>
+<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a> = YAML::Load(<a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 5)))))</div>
+<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>                              .as&lt;std::map&lt;std::string, std::string&gt;&gt;();</div>
+<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">from_yaml</a>(YAML::Load(<a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 6))))));</div>
+<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 7)));</div>
+<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span> </div>
+<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>    <span class="keywordflow">return</span> provider;</div>
+<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>  }</div>
+</div>
+<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span> </div>
+<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">  520</a></span>  <span class="keyword">const</span> std::string <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a>;</div>
+<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">  521</a></span>  sqlite3* <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>;</div>
+<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>};</div>
+</div>
+<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span> </div>
+<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:22</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a0109b906d50a62d7408271780e9a8707"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">capabilities2_server::CapabilitiesDB::get_provider</a></div><div class="ttdeci">virtual models::provider_model_t get_provider(const std::string &amp;name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:154</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a115b3d1151e5866ff968e96691b541a3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">capabilities2_server::CapabilitiesDB::get_semantic_interface</a></div><div class="ttdeci">virtual models::semantic_interface_model_t get_semantic_interface(const std::string &amp;name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:109</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a23dfb4f5d456df66de81b0dd2b9face1"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">capabilities2_server::CapabilitiesDB::db_</a></div><div class="ttdeci">sqlite3 * db_</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:521</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a2b35eba2ee6659c550ed36dd74f39f73"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">capabilities2_server::CapabilitiesDB::insert_interface</a></div><div class="ttdeci">virtual void insert_interface(const models::interface_model_t &amp;interface) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:41</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a3b40692ba92825e177d8e211369cfb97"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">capabilities2_server::CapabilitiesDB::exec</a></div><div class="ttdeci">void exec(const std::string &amp;query)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:438</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a3c6ed044e3cd0e60b5fcfac889ab0eea"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">capabilities2_server::CapabilitiesDB::apply_provider_remappings</a></div><div class="ttdeci">virtual models::interface_model_t apply_provider_remappings(models::provider_model_t provider) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:366</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a3eb0881736fa825daef5ec83e1d919be"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">capabilities2_server::CapabilitiesDB::to_semantic_interface</a></div><div class="ttdeci">models::semantic_interface_model_t to_semantic_interface(sqlite3_stmt *stmt)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:488</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a40951e3346502f6e147865e1ab025e39"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a40951e3346502f6e147865e1ab025e39">capabilities2_server::CapabilitiesDB::~CapabilitiesDB</a></div><div class="ttdeci">~CapabilitiesDB()</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:33</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a45dde34e7373e6aec64c1f78d673e0cb"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">capabilities2_server::CapabilitiesDB::update_semantic_interface</a></div><div class="ttdeci">virtual void update_semantic_interface(const models::semantic_interface_model_t &amp;semantic_interface) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:237</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a4703582a0735e3a22ed0019164c02ed1"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a4703582a0735e3a22ed0019164c02ed1">capabilities2_server::CapabilitiesDB::insert_semantic_interface</a></div><div class="ttdeci">virtual void insert_semantic_interface(const models::semantic_interface_model_t &amp;semantic_interface) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:48</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a4f577301e5acdf73d56bbdc53ba21e5a"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">capabilities2_server::CapabilitiesDB::get_semantic_interfaces_by_interface</a></div><div class="ttdeci">virtual std::vector&lt; models::semantic_interface_model_t &gt; get_semantic_interfaces_by_interface(const std::string &amp;interface_name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:279</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a5f02b94abb740a6ef0fd43daf4c1e0a0"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">capabilities2_server::CapabilitiesDB::apply_remappings</a></div><div class="ttdeci">virtual void apply_remappings(models::specification_model_t &amp;spec, const models::remappable_base_t &amp;remappable) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:332</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a5f8e47a5091b45fe625723b13528b5ac"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">capabilities2_server::CapabilitiesDB::get_interface</a></div><div class="ttdeci">virtual models::interface_model_t get_interface(const std::string &amp;name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:64</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a64d22db986833f277560784f956e328b"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">capabilities2_server::CapabilitiesDB::get_running</a></div><div class="ttdeci">virtual models::running_model_t get_running(const std::string &amp;provider_name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:301</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a665a94af8591b998356567340f9155b9"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a665a94af8591b998356567340f9155b9">capabilities2_server::CapabilitiesDB::to_interface</a></div><div class="ttdeci">models::interface_model_t to_interface(sqlite3_stmt *stmt)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:473</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a67c5398900d16d720335f8eb4294316d"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">capabilities2_server::CapabilitiesDB::db_file_</a></div><div class="ttdeci">const std::string db_file_</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:520</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a6a06e320c5c1ac224f7879bbe05e6a8e"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a6a06e320c5c1ac224f7879bbe05e6a8e">capabilities2_server::CapabilitiesDB::CapabilitiesDB</a></div><div class="ttdeci">CapabilitiesDB(const std::string db_file=&quot;cache/capabilities.sqlite3&quot;)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:24</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a6b3f7671a717e9fcc3eada08a914dd76"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">capabilities2_server::CapabilitiesDB::get_run_config</a></div><div class="ttdeci">virtual models::run_config_model_t get_run_config(const std::string &amp;provider_name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:393</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a6e9c623ecba7812750ee32864e1ed448"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">capabilities2_server::CapabilitiesDB::insert_provider</a></div><div class="ttdeci">virtual void insert_provider(const models::provider_model_t &amp;provider) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:55</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a7147928b1a095676069664c31f91deae"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">capabilities2_server::CapabilitiesDB::get_remappable</a></div><div class="ttdeci">virtual models::remappable_base_t get_remappable(const std::string &amp;name) override</div><div class="ttdoc">Get remappable model by name.</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:206</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a74033ce662666907c361fa22fa9e80c2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">capabilities2_server::CapabilitiesDB::update_provider</a></div><div class="ttdeci">void update_provider(const models::provider_model_t &amp;provider)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:245</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a969c480de1f0f537f67f4f0db0d1eb67"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">capabilities2_server::CapabilitiesDB::close</a></div><div class="ttdeci">virtual void close() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:428</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a999ce91780aeeb0cd2f449eeb96a749d"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">capabilities2_server::CapabilitiesDB::get_providers_by_interface</a></div><div class="ttdeci">virtual std::vector&lt; models::provider_model_t &gt; get_providers_by_interface(const std::string &amp;interface_name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:255</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a9ce49d71065acc667a5ce863a9e1f2a2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a9ce49d71065acc667a5ce863a9e1f2a2">capabilities2_server::CapabilitiesDB::apply_semantic_remappings</a></div><div class="ttdeci">virtual models::interface_model_t apply_semantic_remappings(models::semantic_interface_model_t semantic) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:354</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_aa10f6716c7eb019bad310fa8e580880b"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">capabilities2_server::CapabilitiesDB::update_interface</a></div><div class="ttdeci">virtual void update_interface(const models::interface_model_t &amp;interface) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:229</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_aba9186d82c6c65188a80f9ac146df1df"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">capabilities2_server::CapabilitiesDB::open</a></div><div class="ttdeci">virtual void open() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:415</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_abcb12877bac9acaa5b55f0517cd83c71"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">capabilities2_server::CapabilitiesDB::get_providers</a></div><div class="ttdeci">virtual std::vector&lt; models::provider_model_t &gt; get_providers() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:176</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_ac6c2407ebde5f7debcf32bc064f8c0bc"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">capabilities2_server::CapabilitiesDB::to_provider</a></div><div class="ttdeci">models::provider_model_t to_provider(sqlite3_stmt *stmt)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:503</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_adc7238b52504f21326ff65d8d68c08f0"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">capabilities2_server::CapabilitiesDB::create_tables</a></div><div class="ttdeci">virtual void create_tables() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:449</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_ae263c0a66dccf6f7cee043f8da2050a9"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">capabilities2_server::CapabilitiesDB::get_interfaces</a></div><div class="ttdeci">virtual std::vector&lt; models::interface_model_t &gt; get_interfaces() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:86</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_ae5f180b570d6c8d57d3b7ed570fa2bc4"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">capabilities2_server::CapabilitiesDB::get_semantic_interfaces</a></div><div class="ttdeci">virtual std::vector&lt; models::semantic_interface_model_t &gt; get_semantic_interfaces() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:131</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></div><div class="ttdef"><b>Definition</b> db_base.hpp:14</div></div>
+<div class="ttc" id="adb__base_8hpp_html"><div class="ttname"><a href="db__base_8hpp.html">db_base.hpp</a></div></div>
+<div class="ttc" id="ainterface_8hpp_html"><div class="ttname"><a href="interface_8hpp.html">interface.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html_a2fefe1de489dfc709310ae4fa1afaa13"><div class="ttname"><a href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">capabilities2_server::from_sql_safe</a></div><div class="ttdeci">std::string from_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a sql safe std::string to a generic std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:35</div></div>
+<div class="ttc" id="aprovider_8hpp_html"><div class="ttname"><a href="provider_8hpp.html">provider.hpp</a></div></div>
+<div class="ttc" id="arun__config_8hpp_html"><div class="ttname"><a href="run__config_8hpp.html">run_config.hpp</a></div></div>
+<div class="ttc" id="arunning_8hpp_html"><div class="ttname"><a href="running_8hpp.html">running.hpp</a></div></div>
+<div class="ttc" id="asemantic__interface_8hpp_html"><div class="ttname"><a href="semantic__interface_8hpp.html">semantic_interface.hpp</a></div></div>
+<div class="ttc" id="asql__safe_8hpp_html"><div class="ttname"><a href="sql__safe_8hpp.html">sql_safe.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html">capabilities2_server::models::capability_model_t</a></div><div class="ttdef"><b>Definition</b> running.hpp:13</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a23939963edc32d7a2da5f1552973fecb"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">capabilities2_server::models::capability_model_t::provider</a></div><div class="ttdeci">std::string provider</div><div class="ttdef"><b>Definition</b> running.hpp:15</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a73be59339462fe3f6699bd127e99a918"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">capabilities2_server::models::capability_model_t::interface</a></div><div class="ttdeci">std::string interface</div><div class="ttdef"><b>Definition</b> running.hpp:14</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a3a9a79ce313a985930e2cd97d27ebd5f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">capabilities2_server::models::header_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> header.hpp:42</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a4dc71e2c184d9c1c87de51f21983df4a"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">capabilities2_server::models::header_model_t::description</a></div><div class="ttdeci">std::string description</div><div class="ttdef"><b>Definition</b> header.hpp:45</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac0e94588685ed968c2466ad9860c1284"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">capabilities2_server::models::header_model_t::type</a></div><div class="ttdeci">std::string type</div><div class="ttdef"><b>Definition</b> header.hpp:44</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac6bf4416ee1f6a0e1781c366eab26acf"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">capabilities2_server::models::header_model_t::version</a></div><div class="ttdeci">std::string version</div><div class="ttdef"><b>Definition</b> header.hpp:43</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html">capabilities2_server::models::interface_model_t</a></div><div class="ttdoc">interface model</div><div class="ttdef"><b>Definition</b> interface.hpp:124</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a3e1b6a0fbb148703a6a2bfab6a4f2003"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">capabilities2_server::models::interface_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> interface.hpp:161</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a7909ec1d2a43ec77d95e22465ae586e5"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">capabilities2_server::models::interface_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> interface.hpp:166</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a9e396d80ed9427c8020057757a605c07"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">capabilities2_server::models::interface_model_t::interface</a></div><div class="ttdeci">specification_model_t interface</div><div class="ttdef"><b>Definition</b> interface.hpp:126</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ad4dfd8817581f04f0def9017ca898c64"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">capabilities2_server::models::interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> interface.hpp:125</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html">capabilities2_server::models::provider_model_t</a></div><div class="ttdoc">provider model</div><div class="ttdef"><b>Definition</b> provider.hpp:26</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a04a6e71a9466c7db0c908b1279e7ef0f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">capabilities2_server::models::provider_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> provider.hpp:77</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a0ad3fa187ea591bbcf1f4ab6d312dac0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">capabilities2_server::models::provider_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> provider.hpp:27</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a1c7dc74c7eaa402394f4d9e8e917d337"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">capabilities2_server::models::provider_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> provider.hpp:71</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a257a04fc106cbb8b5175768d4e68ce26"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">capabilities2_server::models::provider_model_t::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> provider.hpp:31</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a635ca15a93793a2dfb210d8392a07e0d"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">capabilities2_server::models::provider_model_t::implements</a></div><div class="ttdeci">std::string implements</div><div class="ttdef"><b>Definition</b> provider.hpp:28</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a73b1ea916d98d18ee300968381d6824b"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">capabilities2_server::models::provider_model_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> provider.hpp:30</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_ab621238ee4492bc03265cdf0bfb84001"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">capabilities2_server::models::provider_model_t::depends_on</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; depends_on</div><div class="ttdef"><b>Definition</b> provider.hpp:29</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">capabilities2_server::models::remappable_base_t</a></div><div class="ttdoc">remappable base model definition</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:17</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html_a4a19d77530cc86fc3cd798eaaea9a8dd"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">capabilities2_server::models::remappable_base_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:18</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a1570369d1b89a3ba0a9cbff9419422cc"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">capabilities2_server::models::remappings_model_t::parameters</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; parameters</div><div class="ttdef"><b>Definition</b> remapping.hpp:44</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a62e2be32cc2b051f7bdfba15ab17a95d"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">capabilities2_server::models::remappings_model_t::actions</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; actions</div><div class="ttdef"><b>Definition</b> remapping.hpp:47</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a9b83cf9b0b6306e5580f9babb42b8a11"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">capabilities2_server::models::remappings_model_t::topics</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; topics</div><div class="ttdef"><b>Definition</b> remapping.hpp:45</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_aba5002e746519b1ca48238e6d26c2054"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">capabilities2_server::models::remappings_model_t::services</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; services</div><div class="ttdef"><b>Definition</b> remapping.hpp:46</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_afc4a97cb962d255f268dbe6970ac59a8"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">capabilities2_server::models::remappings_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> remapping.hpp:49</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a></div><div class="ttdoc">run configuration type</div><div class="ttdef"><b>Definition</b> run_config.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a2b11f1cbc79ce42856b706df73bb87e3"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">capabilities2_server::models::run_config_model_t::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> run_config.hpp:29</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a49ff00fef777b60efedd894d773d9153"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">capabilities2_server::models::run_config_model_t::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> run_config.hpp:28</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a8edab59f62bc89e5a7dc4a7c1508f79c"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">capabilities2_server::models::run_config_model_t::provider</a></div><div class="ttdeci">header_model_t provider</div><div class="ttdef"><b>Definition</b> run_config.hpp:25</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a9b14481ebe1d875a691437a77a1ce992"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">capabilities2_server::models::run_config_model_t::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> run_config.hpp:30</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_affb0c8921530314028f04b4d1fa19306"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">capabilities2_server::models::run_config_model_t::interface</a></div><div class="ttdeci">interface_model_t interface</div><div class="ttdef"><b>Definition</b> run_config.hpp:26</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html">capabilities2_server::models::running_model_t</a></div><div class="ttdoc">running capability model</div><div class="ttdef"><b>Definition</b> running.hpp:27</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html_a0037a0006d89c68a56be1ed1337f7c37"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html#a0037a0006d89c68a56be1ed1337f7c37">capabilities2_server::models::running_model_t::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> running.hpp:31</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html_a1c0cff01cc7973eb2f1ffa49ae2ad5b9"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html#a1c0cff01cc7973eb2f1ffa49ae2ad5b9">capabilities2_server::models::running_model_t::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> running.hpp:32</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html_af93e104248e91870612dcf3a82e29029"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">capabilities2_server::models::running_model_t::dependencies</a></div><div class="ttdeci">std::vector&lt; capability_model_t &gt; dependencies</div><div class="ttdef"><b>Definition</b> running.hpp:30</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">capabilities2_server::models::semantic_interface_model_t</a></div><div class="ttdoc">semantic interface model</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:25</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a189e051f8785603c611c13a71f202fdd"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a189e051f8785603c611c13a71f202fdd">capabilities2_server::models::semantic_interface_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:52</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a78bbcbe2e8e34c29600a02d20a064366"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">capabilities2_server::models::semantic_interface_model_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:29</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a8650d24298ea55e6f6f810e507618fec"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">capabilities2_server::models::semantic_interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:26</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a8af68a40a89859515ca22b006099a8c7"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">capabilities2_server::models::semantic_interface_model_t::redefines</a></div><div class="ttdeci">std::string redefines</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:27</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a9a47cbad7f378a30f467cb0520213e3b"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">capabilities2_server::models::semantic_interface_model_t::global_namespace</a></div><div class="ttdeci">std::string global_namespace</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:28</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_ac26f0357597dbe2946d9278e5433c8ee"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">capabilities2_server::models::semantic_interface_model_t::to_sql_values</a></div><div class="ttdeci">std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:59</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html">capabilities2_server::models::specification_model_t</a></div><div class="ttdoc">interface specification type the specification model is the computation graph blueprint of a capabili...</div><div class="ttdef"><b>Definition</b> interface.hpp:21</div></div>
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+  <ul>
+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li>  </ul>
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+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#namespaces">Namespaces</a> &#124;
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle"><div class="title">capabilities_server.hpp File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;map&gt;</code><br />
+<code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;memory&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;fstream&gt;</code><br />
+<code>#include &lt;filesystem&gt;</code><br />
+<code>#include &lt;functional&gt;</code><br />
+<code>#include &lt;stdlib.h&gt;</code><br />
+<code>#include &lt;tinyxml2.h&gt;</code><br />
+<code>#include &lt;rclcpp/rclcpp.hpp&gt;</code><br />
+<code>#include &lt;<a class="el" href="capabilities__api_8hpp_source.html">capabilities2_server/capabilities_api.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="published__event_8hpp_source.html">capabilities2_events/published_event.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="event__parameters_8hpp_source.html">capabilities2_events/event_parameters.hpp</a>&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability_spec.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability_event_stamped.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/establish_bond.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/start_capability.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/stop_capability.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/free_capability.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/trigger_capability.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/use_capability.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/register_capability.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/connect_capability.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/get_interfaces.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/get_semantic_interfaces.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/get_providers.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/get_capability_spec.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/get_capability_specs.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/get_remappings.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/srv/get_running_capabilities.hpp&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
+Include dependency graph for capabilities_server.hpp:</div>
+<div class="dyncontent">
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+  <ul>
+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li>  </ul>
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+  <div class="headertitle"><div class="title">capabilities_server.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="capabilities__server_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;fstream&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;filesystem&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;stdlib.h&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;tinyxml2.h&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;<a class="code" href="capabilities__api_8hpp.html">capabilities2_server/capabilities_api.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &lt;<a class="code" href="published__event_8hpp.html">capabilities2_events/published_event.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="preprocessor">#include &lt;<a class="code" href="event__parameters_8hpp.html">capabilities2_events/event_parameters.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_spec.hpp&gt;</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_event_stamped.hpp&gt;</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/establish_bond.hpp&gt;</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/start_capability.hpp&gt;</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/stop_capability.hpp&gt;</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/free_capability.hpp&gt;</span></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/trigger_capability.hpp&gt;</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/use_capability.hpp&gt;</span></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/register_capability.hpp&gt;</span></div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/connect_capability.hpp&gt;</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_interfaces.hpp&gt;</span></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_semantic_interfaces.hpp&gt;</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_providers.hpp&gt;</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_capability_spec.hpp&gt;</span></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_capability_specs.hpp&gt;</span></div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_remappings.hpp&gt;</span></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_running_capabilities.hpp&gt;</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>{</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="foldopen" id="foldopen00042" data-start="{" data-end="}">
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#a17a8e514c6257c5fddf35be0d6194425">   42</a></span>std::string <a class="code hl_function" href="namespacecapabilities2__server.html#a17a8e514c6257c5fddf35be0d6194425">expand_tilde</a>(std::string&amp; path)</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>{</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>  <span class="keywordflow">if</span> (path[0] == <span class="charliteral">&#39;~&#39;</span>)</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>  {</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    path = std::string(std::getenv(<span class="stringliteral">&quot;HOME&quot;</span>)) + path.substr(1);</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  }</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>  <span class="keywordflow">return</span> path;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>}</div>
+</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="foldopen" id="foldopen00058" data-start="{" data-end="};">
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html">   58</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1CapabilitiesServer.html">CapabilitiesServer</a> : <span class="keyword">public</span> rclcpp::Node, <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__server_1_1CapabilitiesAPI.html">CapabilitiesAPI</a></div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>{</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00061" data-start="{" data-end="}">
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aacf69c819dfe2d31895bd6a4b7831aea">   61</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aacf69c819dfe2d31895bd6a4b7831aea">CapabilitiesServer</a>(<span class="keyword">const</span> rclcpp::NodeOptions&amp; options = rclcpp::NodeOptions())</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    : Node(<span class="stringliteral">&quot;capabilities2&quot;</span>, options), <a class="code hl_class" href="classcapabilities2__server_1_1CapabilitiesAPI.html">CapabilitiesAPI</a>()</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  {</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    {</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>      <span class="comment">// Only call setup if this object is already owned by a shared_ptr</span></div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>      <span class="keywordflow">if</span> (shared_from_this())</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>      {</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">initialize</a>();</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      }</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    }</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::bad_weak_ptr&amp;)</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    {</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>      <span class="comment">// Not yet safe — probably standalone without make_shared</span></div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    }</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>  }</div>
+</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
+<div class="foldopen" id="foldopen00082" data-start="{" data-end="}">
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">   82</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">initialize</a>()</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  {</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="comment">// params interface</span></div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <span class="comment">// loop rate</span></div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    declare_parameter(<span class="stringliteral">&quot;loop_rate&quot;</span>, 5.0);</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">loop_hz_</a> = get_parameter(<span class="stringliteral">&quot;loop_rate&quot;</span>).as_double();</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// db file</span></div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    declare_parameter(<span class="stringliteral">&quot;db_file&quot;</span>, <span class="stringliteral">&quot;~/.ros/capabilities/capabilities.sqlite3&quot;</span>);</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    std::string db_file = get_parameter(<span class="stringliteral">&quot;db_file&quot;</span>).as_string();</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="comment">// rebuild db</span></div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    declare_parameter(<span class="stringliteral">&quot;rebuild&quot;</span>, <span class="keyword">false</span>);</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="keywordtype">bool</span> rebuild = get_parameter(<span class="stringliteral">&quot;rebuild&quot;</span>).as_bool();</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="comment">// package path</span></div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    declare_parameter(<span class="stringliteral">&quot;package_paths&quot;</span>, std::vector&lt;std::string&gt;());</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    std::vector&lt;std::string&gt; package_paths = get_parameter(<span class="stringliteral">&quot;package_paths&quot;</span>).as_string_array();</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="comment">// get full path of db file</span></div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    std::filesystem::path db_path = std::filesystem::absolute(<a class="code hl_function" href="namespacecapabilities2__server.html#a17a8e514c6257c5fddf35be0d6194425">expand_tilde</a>(db_file));</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    db_file = db_path.string();</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">if</span> (rebuild)</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      <span class="comment">// remove db file if it exists</span></div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>      RCLCPP_INFO(get_logger(), <span class="stringliteral">&quot;Rebuilding capabilities database&quot;</span>);</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>      <span class="keywordflow">if</span> (std::remove(db_file.c_str()) != 0)</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      {</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;Error deleting file %s&quot;</span>, db_file.c_str());</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>      }</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    }</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="comment">// if db file does not exist</span></div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordflow">if</span> (!std::filesystem::exists(db_path))</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    {</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>      <span class="comment">// create db file path</span></div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>      std::filesystem::create_directories(db_path.parent_path());</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    }</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="comment">// init capabilities api</span></div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">connect</a>(db_file, get_node_logging_interface());</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="comment">// load capabilities from package paths</span></div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; package_path : package_paths)</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    {</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">load_capabilities</a>(package_path);</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    }</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    <span class="comment">// pubs</span></div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">event_pub_</a> = create_publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;(<span class="stringliteral">&quot;~/events&quot;</span>, 10);</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="comment">// event publisher uses event subsystem</span></div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a> = std::make_shared&lt;capabilities2_events::PublishedEvent&gt;(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">event_pub_</a>);</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <span class="comment">// subs</span></div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span> </div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <span class="comment">// services</span></div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <span class="comment">// establish bond</span></div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">establish_bond_srv_</a> = create_service&lt;capabilities2_msgs::srv::EstablishBond&gt;(</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="stringliteral">&quot;~/establish_bond&quot;</span>,</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">CapabilitiesServer::establish_bond_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span> </div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <span class="comment">// start capability</span></div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">start_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::StartCapability&gt;(</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        <span class="stringliteral">&quot;~/start_capability&quot;</span>,</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">CapabilitiesServer::start_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="comment">// stop capability</span></div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">stop_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::StopCapability&gt;(</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        <span class="stringliteral">&quot;~/stop_capability&quot;</span>,</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">CapabilitiesServer::stop_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <span class="comment">// free capability</span></div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">free_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::FreeCapability&gt;(</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>        <span class="stringliteral">&quot;~/free_capability&quot;</span>,</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">CapabilitiesServer::free_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    <span class="comment">// trigger capability</span></div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">trigger_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::TriggerCapability&gt;(</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        <span class="stringliteral">&quot;~/trigger_capability&quot;</span>,</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">CapabilitiesServer::trigger_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    <span class="comment">// use capability</span></div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">use_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::UseCapability&gt;(</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        <span class="stringliteral">&quot;~/use_capability&quot;</span>,</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">CapabilitiesServer::use_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="comment">// connect capabilities to each other</span></div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">connect_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::ConnectCapability&gt;(</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>        <span class="stringliteral">&quot;~/connect_capability&quot;</span>,</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">CapabilitiesServer::connect_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="comment">// register capability</span></div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">register_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::RegisterCapability&gt;(</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <span class="stringliteral">&quot;~/register_capability&quot;</span>,</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">CapabilitiesServer::register_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <span class="comment">// query capabilities</span></div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">get_interfaces_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetInterfaces&gt;(</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>        <span class="stringliteral">&quot;~/get_interfaces&quot;</span>,</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">CapabilitiesServer::get_interfaces_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">get_semantic_interfaces_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetSemanticInterfaces&gt;(</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <span class="stringliteral">&quot;~/get_semantic_interfaces&quot;</span>,</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">CapabilitiesServer::get_semantic_interfaces_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">get_providers_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetProviders&gt;(</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        <span class="stringliteral">&quot;~/get_providers&quot;</span>,</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">CapabilitiesServer::get_providers_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span> </div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">get_capability_spec_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetCapabilitySpec&gt;(</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>        <span class="stringliteral">&quot;~/get_capability_spec&quot;</span>,</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">CapabilitiesServer::get_capability_spec_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span> </div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">get_capability_specs_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetCapabilitySpecs&gt;(</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>        <span class="stringliteral">&quot;~/get_capability_specs&quot;</span>,</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">CapabilitiesServer::get_capability_specs_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span> </div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">get_remappings_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetRemappings&gt;(</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        <span class="stringliteral">&quot;~/get_remappings&quot;</span>,</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">CapabilitiesServer::get_remappings_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
+<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">get_running_capabilities_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetRunningCapabilities&gt;(</div>
+<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>        <span class="stringliteral">&quot;~/get_running_capabilities&quot;</span>, std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">CapabilitiesServer::get_running_capabilities_cb</a>, <span class="keyword">this</span>,</div>
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>                                                std::placeholders::_1, std::placeholders::_2));</div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span> </div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <span class="comment">// log ready</span></div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    RCLCPP_INFO(get_logger(), <span class="stringliteral">&quot;capabilities server started&quot;</span>);</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>    <span class="comment">// fire/publish ready event</span></div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a>-&gt;on_server_ready(<span class="stringliteral">&quot;capabilities server start up complete&quot;</span>);</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>  }</div>
+</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>  <span class="comment">// service callbacks</span></div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>  <span class="comment">// establish bond</span></div>
+<div class="foldopen" id="foldopen00218" data-start="{" data-end="}">
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">  218</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">establish_bond_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::EstablishBond::Request&gt; req,</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>                         std::shared_ptr&lt;capabilities2_msgs::srv::EstablishBond::Response&gt; res)</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>  {</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    <span class="comment">// req is empty</span></div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span> </div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>    <span class="comment">// set bond id to response</span></div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>    res-&gt;bond_id = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">establish_bond</a>(shared_from_this());</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>  }</div>
+</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span> </div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>  <span class="comment">// start capability</span></div>
+<div class="foldopen" id="foldopen00228" data-start="{" data-end="}">
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">  228</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">start_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::StartCapability::Request&gt; req,</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>                           std::shared_ptr&lt;capabilities2_msgs::srv::StartCapability::Response&gt; res)</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>  {</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    <span class="comment">// log warning about using unsafe start service</span></div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>    RCLCPP_WARN(get_logger(), <span class="stringliteral">&quot;start_capability service is unsafe and intended for internal use only. &quot;</span></div>
+<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>                              <span class="stringliteral">&quot;Use use_capability service with established bond instead.&quot;</span>);</div>
+<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span> </div>
+<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>    <span class="comment">// try starting capability</span></div>
+<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>    <span class="comment">// TODO: handle errors</span></div>
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(shared_from_this(), req-&gt;capability, req-&gt;preferred_provider);</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span> </div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="comment">// set response</span></div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>    res-&gt;result = capabilities2_msgs::srv::StartCapability::Response::RESULT_SUCCESS;</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>  }</div>
+</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>  <span class="comment">// stop capability</span></div>
+<div class="foldopen" id="foldopen00244" data-start="{" data-end="}">
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">  244</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">stop_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::StopCapability::Request&gt; req,</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>                          std::shared_ptr&lt;capabilities2_msgs::srv::StopCapability::Response&gt; res)</div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>  {</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>    <span class="comment">// log warning about using unsafe stop service</span></div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>    RCLCPP_WARN(get_logger(), <span class="stringliteral">&quot;stop_capability service is unsafe and intended for internal use only. &quot;</span></div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>                              <span class="stringliteral">&quot;Use free_capability service with established bond instead.&quot;</span>);</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span> </div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>    <span class="comment">// try stopping capability</span></div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>    <span class="comment">// TODO: handle errors</span></div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(req-&gt;capability);</div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span> </div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>    <span class="comment">// set response</span></div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>    res-&gt;successful = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>  }</div>
+</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>  <span class="comment">// trigger capability</span></div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>  <span class="comment">// requires a bond to be established</span></div>
+<div class="foldopen" id="foldopen00261" data-start="{" data-end="}">
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">  261</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">trigger_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::TriggerCapability::Request&gt; req,</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>                             std::shared_ptr&lt;capabilities2_msgs::srv::TriggerCapability::Response&gt; res)</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>  {</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <span class="comment">// make sure capability is not empty</span></div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <span class="keywordflow">if</span> (req-&gt;capability.capability.empty())</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>    {</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;trigger_capability: capability is empty&quot;</span>);</div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    }</div>
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span> </div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>    <span class="comment">// make sure bond id is provided</span></div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    <span class="keywordflow">if</span> (req-&gt;bond_id.empty())</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    {</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;trigger_capability: bond_id is empty&quot;</span>);</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>    }</div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span> </div>
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    <span class="comment">// make sure instance id is provided</span></div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>    <span class="keywordflow">if</span> (req-&gt;capability.instance_id.empty())</div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    {</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;trigger_capability: instance_id is empty&quot;</span>);</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    }</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span> </div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>    <span class="comment">// try triggering capability</span></div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>    <span class="comment">// TODO: handle errors</span></div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">trigger_capability</a>(req-&gt;bond_id, req-&gt;capability.capability, req-&gt;capability.instance_id,</div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>                       <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>(req-&gt;capability));</div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>    <span class="comment">// response is empty</span></div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>  }</div>
+</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span> </div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>  <span class="comment">// free capability</span></div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>  <span class="comment">// requires bond to be established</span></div>
+<div class="foldopen" id="foldopen00295" data-start="{" data-end="}">
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">  295</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">free_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::FreeCapability::Request&gt; req,</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>                          std::shared_ptr&lt;capabilities2_msgs::srv::FreeCapability::Response&gt; res)</div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>  {</div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>    <span class="comment">// guard empty values</span></div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>    <span class="keywordflow">if</span> (req-&gt;capability.empty())</div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>    {</div>
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;free_capability: capability is empty&quot;</span>);</div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    }</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span> </div>
+<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    <span class="keywordflow">if</span> (req-&gt;bond_id.empty())</div>
+<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>    {</div>
+<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;free_capability: bond_id is empty&quot;</span>);</div>
+<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>    }</div>
+<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span> </div>
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>    <span class="comment">// free capability of this bond</span></div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a>(req-&gt;capability, req-&gt;bond_id);</div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span> </div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>    <span class="comment">// response is empty</span></div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>  }</div>
+</div>
+<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span> </div>
+<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>  <span class="comment">// use capability</span></div>
+<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>  <span class="comment">// requires bond to be established</span></div>
+<div class="foldopen" id="foldopen00319" data-start="{" data-end="}">
+<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">  319</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">use_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::UseCapability::Request&gt; req,</div>
+<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>                         std::shared_ptr&lt;capabilities2_msgs::srv::UseCapability::Response&gt; res)</div>
+<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>  {</div>
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>    <span class="comment">// guard empty values</span></div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>    <span class="keywordflow">if</span> (req-&gt;capability.empty())</div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>    {</div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;use_capability: capability is empty&quot;</span>);</div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>    }</div>
+<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span> </div>
+<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>    <span class="keywordflow">if</span> (req-&gt;preferred_provider.empty())</div>
+<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>    {</div>
+<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;use_capability: preferred_provider is empty&quot;</span>);</div>
+<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>    }</div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span> </div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>    <span class="keywordflow">if</span> (req-&gt;bond_id.empty())</div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>    {</div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;use_capability: bond_id is empty&quot;</span>);</div>
+<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>    }</div>
+<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span> </div>
+<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>    <span class="comment">// use capability with this bond</span></div>
+<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">use_capability</a>(shared_from_this(), req-&gt;capability, req-&gt;preferred_provider, req-&gt;bond_id);</div>
+<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span> </div>
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>    <span class="comment">// response is empty</span></div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>  }</div>
+</div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span> </div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>  <span class="comment">// FIXME: repair this to use new event subsystem</span></div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>  <span class="comment">// connect capability</span></div>
+<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>  <span class="comment">// requires bond to be established</span></div>
+<div class="foldopen" id="foldopen00350" data-start="{" data-end="}">
+<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">  350</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">connect_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::ConnectCapability::Request&gt; req,</div>
+<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>                             std::shared_ptr&lt;capabilities2_msgs::srv::ConnectCapability::Response&gt; res)</div>
+<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>  {</div>
+<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>    <span class="comment">// need to have a bond established</span></div>
+<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>    <span class="keywordflow">if</span> (req-&gt;bond_id.empty())</div>
+<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>    {</div>
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;connect_capability: bond_id is empty&quot;</span>);</div>
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>    }</div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span> </div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>    <span class="comment">// need to have a instance id</span></div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>    <span class="keywordflow">if</span> (req-&gt;connection.source.instance_id.empty())</div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>    {</div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;connect_capability: instance_id is empty&quot;</span>);</div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>    }</div>
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span> </div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>    <span class="comment">// need to have a target instance id</span></div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>    <span class="keywordflow">if</span> (req-&gt;connection.target.instance_id.empty())</div>
+<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>    {</div>
+<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;connect_capability: target_instance_id is empty&quot;</span>);</div>
+<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>    }</div>
+<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span> </div>
+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>    <span class="comment">// api connect capability</span></div>
+<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">connect_capability</a>(req-&gt;bond_id, req-&gt;connection);</div>
+<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span> </div>
+<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>    <span class="comment">// response is empty</span></div>
+<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>  }</div>
+</div>
+<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span> </div>
+<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>  <span class="comment">// register capability</span></div>
+<div class="foldopen" id="foldopen00381" data-start="{" data-end="}">
+<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">  381</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">register_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::RegisterCapability::Request&gt; req,</div>
+<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>                              std::shared_ptr&lt;capabilities2_msgs::srv::RegisterCapability::Response&gt; res)</div>
+<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>  {</div>
+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>    <span class="comment">// guard empty values</span></div>
+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>    <span class="keywordflow">if</span> (req-&gt;capability_spec.package.empty() || req-&gt;capability_spec.content.empty())</div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>    {</div>
+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;register_capability: package or content is empty&quot;</span>);</div>
+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>    }</div>
+<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span> </div>
+<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>    <span class="comment">// register capability</span></div>
+<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">add_capability</a>(req-&gt;capability_spec);</div>
+<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span> </div>
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>    <span class="comment">// response is empty</span></div>
+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>  }</div>
+</div>
+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span> </div>
+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>  <span class="comment">// query capabilities</span></div>
+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>  <span class="comment">// get interfaces</span></div>
+<div class="foldopen" id="foldopen00399" data-start="{" data-end="}">
+<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">  399</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">get_interfaces_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetInterfaces::Request&gt; req,</div>
+<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>                         std::shared_ptr&lt;capabilities2_msgs::srv::GetInterfaces::Response&gt; res)</div>
+<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>  {</div>
+<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>    <span class="comment">// req is empty</span></div>
+<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span> </div>
+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>    <span class="comment">// set response</span></div>
+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>    <span class="comment">// get all interfaces</span></div>
+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>    res-&gt;interfaces = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">get_interfaces</a>();</div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>  }</div>
+</div>
+<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span> </div>
+<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>  <span class="comment">// get semantic interfaces</span></div>
+<div class="foldopen" id="foldopen00410" data-start="{" data-end="}">
+<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">  410</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">get_semantic_interfaces_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetSemanticInterfaces::Request&gt; req,</div>
+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>                                  std::shared_ptr&lt;capabilities2_msgs::srv::GetSemanticInterfaces::Response&gt; res)</div>
+<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>  {</div>
+<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>    <span class="comment">// set response</span></div>
+<div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span>    <span class="comment">// get semantic interfaces for given interface</span></div>
+<div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>    res-&gt;semantic_interfaces = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">get_semantic_interfaces</a>(req-&gt;interface);</div>
+<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>  }</div>
+</div>
+<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span> </div>
+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>  <span class="comment">// get providers</span></div>
+<div class="foldopen" id="foldopen00419" data-start="{" data-end="}">
+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">  419</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">get_providers_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetProviders::Request&gt; req,</div>
+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>                        std::shared_ptr&lt;capabilities2_msgs::srv::GetProviders::Response&gt; res)</div>
+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>  {</div>
+<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>    <span class="comment">// set response</span></div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>    <span class="comment">// get providers for given interface</span></div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>    res-&gt;providers = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">get_providers</a>(req-&gt;interface, req-&gt;include_semantic);</div>
+<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>  }</div>
+</div>
+<div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span> </div>
+<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>  <span class="comment">// get capability spec</span></div>
+<div class="foldopen" id="foldopen00428" data-start="{" data-end="}">
+<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">  428</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">get_capability_spec_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetCapabilitySpec::Request&gt; req,</div>
+<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>                              std::shared_ptr&lt;capabilities2_msgs::srv::GetCapabilitySpec::Response&gt; res)</div>
+<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>  {</div>
+<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>    <span class="comment">// get capability spec for given capability resource</span></div>
+<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>    capabilities2_msgs::msg::CapabilitySpec capability_spec = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">get_capability_spec</a>(req-&gt;capability_spec);</div>
+<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span> </div>
+<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>    <span class="comment">// if the spec is not empty set response</span></div>
+<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>    <span class="keywordflow">if</span> (capability_spec.content.empty())</div>
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>    {</div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;capability spec not found for resource: %s&quot;</span>, req-&gt;capability_spec.c_str());</div>
+<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span> </div>
+<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>      <span class="comment">// BUG: throw error causes service to crash, this is a ROS2 bug</span></div>
+<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>      <span class="comment">// std::runtime_error(&quot;capability spec not found for resource: &quot; + req-&gt;capability_spec);</span></div>
+<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>    }</div>
+<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span> </div>
+<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>    <span class="comment">// set response</span></div>
+<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>    res-&gt;capability_spec = capability_spec;</div>
+<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>  }</div>
+</div>
+<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span> </div>
+<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>  <span class="comment">// get capability specs</span></div>
+<div class="foldopen" id="foldopen00449" data-start="{" data-end="}">
+<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">  449</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">get_capability_specs_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetCapabilitySpecs::Request&gt; req,</div>
+<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>                               std::shared_ptr&lt;capabilities2_msgs::srv::GetCapabilitySpecs::Response&gt; res)</div>
+<div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>  {</div>
+<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>    <span class="comment">// req is empty</span></div>
+<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span> </div>
+<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>    <span class="comment">// set response</span></div>
+<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>    <span class="comment">// get capability specs for given capability resources</span></div>
+<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>    res-&gt;capability_specs = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">get_capability_specs</a>();</div>
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>  }</div>
+</div>
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span> </div>
+<div class="foldopen" id="foldopen00459" data-start="{" data-end="}">
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">  459</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">get_remappings_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetRemappings::Request&gt; req,</div>
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>                         std::shared_ptr&lt;capabilities2_msgs::srv::GetRemappings::Response&gt; res)</div>
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>  {</div>
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>    <span class="comment">// set response</span></div>
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>    <span class="comment">// get remappings for given capability</span></div>
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">get_remappings</a>(req-&gt;spec, res);</div>
+<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>  }</div>
+</div>
+<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span> </div>
+<div class="foldopen" id="foldopen00467" data-start="{" data-end="}">
+<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">  467</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">get_running_capabilities_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetRunningCapabilities::Request&gt; req,</div>
+<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>                                   std::shared_ptr&lt;capabilities2_msgs::srv::GetRunningCapabilities::Response&gt; res)</div>
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>  {</div>
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>    <span class="comment">// req is empty</span></div>
+<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span> </div>
+<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>    <span class="comment">// set response</span></div>
+<div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>    <span class="comment">// get running capabilities</span></div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>    res-&gt;running_capabilities = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a>();</div>
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>  }</div>
+</div>
+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span> </div>
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span><span class="keyword">private</span>:</div>
+<div class="foldopen" id="foldopen00478" data-start="{" data-end="}">
+<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">  478</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">load_capabilities</a>(<span class="keyword">const</span> std::string&amp; package_path)</div>
+<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>  {</div>
+<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>    RCLCPP_DEBUG(get_logger(), <span class="stringliteral">&quot;Loading capabilities from package path: %s&quot;</span>, package_path.c_str());</div>
+<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span> </div>
+<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>    <span class="comment">// check if path exists</span></div>
+<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>    <span class="keywordflow">if</span> (!std::filesystem::exists(package_path))</div>
+<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>    {</div>
+<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;package path does not exist: %s&quot;</span>, package_path.c_str());</div>
+<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>    }</div>
+<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span> </div>
+<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>    <span class="comment">// find packages in path</span></div>
+<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>    std::vector&lt;std::string&gt; packages_root, packages_install;</div>
+<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span> </div>
+<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; entry : std::filesystem::directory_iterator(package_path))</div>
+<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>    {</div>
+<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>      <span class="keywordflow">if</span> (entry.is_directory())</div>
+<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>      {</div>
+<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>        std::string name(entry.path().filename());</div>
+<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span> </div>
+<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>        <span class="keywordflow">if</span> (std::filesystem::exists(package_path + <span class="stringliteral">&quot;/&quot;</span> + name + <span class="stringliteral">&quot;/package.xml&quot;</span>))</div>
+<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>        {</div>
+<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>          packages_root.push_back(name);</div>
+<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>        }</div>
+<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (std::filesystem::exists(package_path + <span class="stringliteral">&quot;/&quot;</span> + name + <span class="stringliteral">&quot;/share/&quot;</span> + name + <span class="stringliteral">&quot;/package.xml&quot;</span>))</div>
+<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>        {</div>
+<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>          packages_install.push_back(name);</div>
+<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>        }</div>
+<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>      }</div>
+<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>    }</div>
+<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span> </div>
+<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>    <span class="comment">// load capabilities from packages in /opt/ros/*/share</span></div>
+<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; package : packages_root)</div>
+<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>    {</div>
+<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>      RCLCPP_DEBUG(get_logger(), <span class="stringliteral">&quot;Loading capabilities from package: %s&quot;</span>, package.c_str());</div>
+<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span> </div>
+<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>      <span class="comment">// package.xml exports</span></div>
+<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>      std::string package_xml = package_path + <span class="stringliteral">&quot;/&quot;</span> + <span class="keyword">package </span>+ &quot;/package.xml&quot;;</div>
+<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span> </div>
+<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>      <span class="comment">// check if package.xml exists</span></div>
+<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>      <span class="keywordflow">if</span> (!std::filesystem::exists(package_xml))</div>
+<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span>      {</div>
+<div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;package.xml does not exist: %s&quot;</span>, package_xml.c_str());</div>
+<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>        <span class="keywordflow">continue</span>;</div>
+<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>      }</div>
+<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span> </div>
+<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>      <span class="comment">// parse package.xml</span></div>
+<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>      tinyxml2::XMLDocument doc;</div>
+<div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span> </div>
+<div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>      <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>      {</div>
+<div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>        parse_package_xml(package_xml, doc);</div>
+<div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>      }</div>
+<div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::runtime_error&amp; e)</div>
+<div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span>      {</div>
+<div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;failed to parse package.xml file: %s&quot;</span>, e.what());</div>
+<div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>        <span class="keywordflow">continue</span>;</div>
+<div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>      }</div>
+<div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span> </div>
+<div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>      <span class="comment">// get exports</span></div>
+<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span>      tinyxml2::XMLElement* exports = doc.FirstChildElement(<span class="stringliteral">&quot;package&quot;</span>)-&gt;FirstChildElement(<span class="stringliteral">&quot;export&quot;</span>);</div>
+<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span> </div>
+<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>      <span class="keywordflow">if</span> (exports == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>      {</div>
+<div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;No exports found in package.xml file: %s&quot;</span>, package_xml.c_str());</div>
+<div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>        <span class="keywordflow">continue</span>;</div>
+<div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>      }</div>
+<div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span> </div>
+<div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span>      <span class="comment">// get capability specs of each type using a lambda</span></div>
+<div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>      <span class="keyword">auto</span> get_capability_specs = [&amp;](<span class="keyword">const</span> std::string&amp; spec_type) {</div>
+<div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span>        <span class="comment">// get capability spec</span></div>
+<div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span>        <span class="keywordflow">for</span> (tinyxml2::XMLElement* spec = exports-&gt;FirstChildElement(spec_type.c_str()); spec != <span class="keyword">nullptr</span>;</div>
+<div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>             spec = spec-&gt;NextSiblingElement(spec_type.c_str()))</div>
+<div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>        {</div>
+<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>          <span class="comment">// read spec relative path for spec file from element contents</span></div>
+<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>          std::string spec_path = spec-&gt;GetText();</div>
+<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>          <span class="comment">// clear white spaces</span></div>
+<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>          spec_path.erase(std::remove_if(spec_path.begin(), spec_path.end(), isspace), spec_path.end());</div>
+<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>          <span class="comment">// remove leading slash</span></div>
+<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>          <span class="keywordflow">if</span> (spec_path[0] == <span class="charliteral">&#39;/&#39;</span>)</div>
+<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>          {</div>
+<div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>            spec_path = spec_path.substr(1);</div>
+<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>          }</div>
+<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>          <span class="comment">// create a spec message</span></div>
+<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span>          capabilities2_msgs::msg::CapabilitySpec capability_spec;</div>
+<div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>          <span class="comment">// add package details</span></div>
+<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>          capability_spec.package = package;</div>
+<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>          capability_spec.type = spec_type;</div>
+<div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span>          <span class="comment">// try load spec file</span></div>
+<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>          <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>          {</div>
+<div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>            <span class="comment">// read spec file</span></div>
+<div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>            load_spec_content(package_path + <span class="stringliteral">&quot;/&quot;</span> + package + <span class="stringliteral">&quot;/&quot;</span> + spec_path, capability_spec);</div>
+<div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span> </div>
+<div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>            <span class="comment">// add capability to db</span></div>
+<div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>            RCLCPP_INFO(get_logger(), <span class="stringliteral">&quot;adding capability: %s/%s&quot;</span>, package.c_str(), spec_path.c_str());</div>
+<div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>            add_capability(capability_spec);</div>
+<div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>          }</div>
+<div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>          <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::runtime_error&amp; e)</div>
+<div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>          {</div>
+<div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>            RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;failed to load spec file: %s&quot;</span>, e.what());</div>
+<div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>          }</div>
+<div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>        }</div>
+<div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>      };</div>
+<div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span> </div>
+<div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span>      <span class="comment">// get interface specs</span></div>
+<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_INTERFACE);</div>
+<div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>      <span class="comment">// get semantic interface specs</span></div>
+<div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::SEMANTIC_CAPABILITY_INTERFACE);</div>
+<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>      <span class="comment">// get provider specs</span></div>
+<div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_PROVIDER);</div>
+<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>    }</div>
+<div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span> </div>
+<div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>    <span class="comment">// load capabilities from packages in workspace install folder</span></div>
+<div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; package : packages_install)</div>
+<div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    {</div>
+<div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>      RCLCPP_DEBUG(get_logger(), <span class="stringliteral">&quot;Loading capabilities from package: %s&quot;</span>, package.c_str());</div>
+<div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span> </div>
+<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>      <span class="comment">// package.xml exports</span></div>
+<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>      std::string package_xml = package_path + <span class="stringliteral">&quot;/&quot;</span> + <span class="keyword">package </span>+ &quot;/share/&quot; + package + &quot;/package.xml&quot;;</div>
+<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span> </div>
+<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>      <span class="comment">// check if package.xml exists</span></div>
+<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span>      <span class="keywordflow">if</span> (!std::filesystem::exists(package_xml))</div>
+<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span>      {</div>
+<div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;package.xml does not exist: %s&quot;</span>, package_xml.c_str());</div>
+<div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span>        <span class="keywordflow">continue</span>;</div>
+<div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span>      }</div>
+<div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span> </div>
+<div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>      <span class="comment">// parse package.xml</span></div>
+<div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span>      tinyxml2::XMLDocument doc;</div>
+<div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span> </div>
+<div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>      <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span>      {</div>
+<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>        parse_package_xml(package_xml, doc);</div>
+<div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>      }</div>
+<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::runtime_error&amp; e)</div>
+<div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span>      {</div>
+<div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;failed to parse package.xml file: %s&quot;</span>, e.what());</div>
+<div class="line"><a id="l00616" name="l00616"></a><span class="lineno">  616</span>        <span class="keywordflow">continue</span>;</div>
+<div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>      }</div>
+<div class="line"><a id="l00618" name="l00618"></a><span class="lineno">  618</span> </div>
+<div class="line"><a id="l00619" name="l00619"></a><span class="lineno">  619</span>      <span class="comment">// get exports</span></div>
+<div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>      tinyxml2::XMLElement* exports = doc.FirstChildElement(<span class="stringliteral">&quot;package&quot;</span>)-&gt;FirstChildElement(<span class="stringliteral">&quot;export&quot;</span>);</div>
+<div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span> </div>
+<div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>      <span class="keywordflow">if</span> (exports == <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span>      {</div>
+<div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;No exports found in package.xml file: %s&quot;</span>, package_xml.c_str());</div>
+<div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>        <span class="keywordflow">continue</span>;</div>
+<div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span>      }</div>
+<div class="line"><a id="l00627" name="l00627"></a><span class="lineno">  627</span> </div>
+<div class="line"><a id="l00628" name="l00628"></a><span class="lineno">  628</span>      <span class="comment">// get capability specs of each type using a lambda</span></div>
+<div class="line"><a id="l00629" name="l00629"></a><span class="lineno">  629</span>      <span class="keyword">auto</span> get_capability_specs = [&amp;](<span class="keyword">const</span> std::string&amp; spec_type) {</div>
+<div class="line"><a id="l00630" name="l00630"></a><span class="lineno">  630</span>        <span class="comment">// get capability spec</span></div>
+<div class="line"><a id="l00631" name="l00631"></a><span class="lineno">  631</span>        <span class="keywordflow">for</span> (tinyxml2::XMLElement* spec = exports-&gt;FirstChildElement(spec_type.c_str()); spec != <span class="keyword">nullptr</span>;</div>
+<div class="line"><a id="l00632" name="l00632"></a><span class="lineno">  632</span>             spec = spec-&gt;NextSiblingElement(spec_type.c_str()))</div>
+<div class="line"><a id="l00633" name="l00633"></a><span class="lineno">  633</span>        {</div>
+<div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>          <span class="comment">// read spec relative path for spec file from element contents</span></div>
+<div class="line"><a id="l00635" name="l00635"></a><span class="lineno">  635</span>          std::string spec_path = spec-&gt;GetText();</div>
+<div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>          <span class="comment">// clear white spaces</span></div>
+<div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span>          spec_path.erase(std::remove_if(spec_path.begin(), spec_path.end(), isspace), spec_path.end());</div>
+<div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>          <span class="comment">// remove leading slash</span></div>
+<div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span>          <span class="keywordflow">if</span> (spec_path[0] == <span class="charliteral">&#39;/&#39;</span>)</div>
+<div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>          {</div>
+<div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>            spec_path = spec_path.substr(1);</div>
+<div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span>          }</div>
+<div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>          <span class="comment">// create a spec message</span></div>
+<div class="line"><a id="l00644" name="l00644"></a><span class="lineno">  644</span>          capabilities2_msgs::msg::CapabilitySpec capability_spec;</div>
+<div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>          <span class="comment">// add package details</span></div>
+<div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span>          capability_spec.package = package;</div>
+<div class="line"><a id="l00647" name="l00647"></a><span class="lineno">  647</span>          capability_spec.type = spec_type;</div>
+<div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>          <span class="comment">// try load spec file</span></div>
+<div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span>          <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>          {</div>
+<div class="line"><a id="l00651" name="l00651"></a><span class="lineno">  651</span>            <span class="comment">// read spec file</span></div>
+<div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span>            load_spec_content(package_path + <span class="stringliteral">&quot;/&quot;</span> + package + <span class="stringliteral">&quot;/share/&quot;</span> + package + <span class="stringliteral">&quot;/&quot;</span> + spec_path, capability_spec);</div>
+<div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span> </div>
+<div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>            <span class="comment">// add capability to db</span></div>
+<div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span>            RCLCPP_INFO(get_logger(), <span class="stringliteral">&quot;adding capability: %s/%s&quot;</span>, package.c_str(), spec_path.c_str());</div>
+<div class="line"><a id="l00656" name="l00656"></a><span class="lineno">  656</span> </div>
+<div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span>            add_capability(capability_spec);</div>
+<div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span>          }</div>
+<div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>          <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::runtime_error&amp; e)</div>
+<div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span>          {</div>
+<div class="line"><a id="l00661" name="l00661"></a><span class="lineno">  661</span>            RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;failed to load spec file: %s&quot;</span>, e.what());</div>
+<div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span>          }</div>
+<div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>        }</div>
+<div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>      };</div>
+<div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span> </div>
+<div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span>      <span class="comment">// get interface specs</span></div>
+<div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_INTERFACE);</div>
+<div class="line"><a id="l00668" name="l00668"></a><span class="lineno">  668</span>      <span class="comment">// get semantic interface specs</span></div>
+<div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::SEMANTIC_CAPABILITY_INTERFACE);</div>
+<div class="line"><a id="l00670" name="l00670"></a><span class="lineno">  670</span>      <span class="comment">// get provider specs</span></div>
+<div class="line"><a id="l00671" name="l00671"></a><span class="lineno">  671</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_PROVIDER);</div>
+<div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span>    }</div>
+<div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span>  }</div>
+</div>
+<div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span> </div>
+<div class="foldopen" id="foldopen00681" data-start="{" data-end="}">
+<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a5e0231cf2f4d4c16ec057e5603b0efd1">  681</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a5e0231cf2f4d4c16ec057e5603b0efd1">parse_package_xml</a>(<span class="keyword">const</span> std::string&amp; package_xml, tinyxml2::XMLDocument&amp; doc)</div>
+<div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span>  {</div>
+<div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span>    <span class="comment">// read package.xml</span></div>
+<div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>    std::ifstream package_xml_file(package_xml, std::ifstream::in);</div>
+<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span> </div>
+<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>    <span class="keywordflow">if</span> (!package_xml_file.is_open())</div>
+<div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>    {</div>
+<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;unable to open package.xml file: &quot;</span> + package_xml);</div>
+<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span>    }</div>
+<div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span> </div>
+<div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span>    <span class="comment">// read package.xml file into string</span></div>
+<div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span>    std::string package_xml_string{ std::istreambuf_iterator&lt;char&gt;(package_xml_file),</div>
+<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span>                                    std::istreambuf_iterator&lt;char&gt;() };</div>
+<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span>    package_xml_file.close();</div>
+<div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span> </div>
+<div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span>    <span class="comment">// parse package.xml to xml doc</span></div>
+<div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span>    <span class="keywordflow">if</span> (doc.Parse(package_xml_string.c_str()) != tinyxml2::XML_SUCCESS)</div>
+<div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span>    {</div>
+<div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;failed to parse package.xml file: &quot;</span> + package_xml);</div>
+<div class="line"><a id="l00700" name="l00700"></a><span class="lineno">  700</span>    }</div>
+<div class="line"><a id="l00701" name="l00701"></a><span class="lineno">  701</span>  }</div>
+</div>
+<div class="line"><a id="l00702" name="l00702"></a><span class="lineno">  702</span> </div>
+<div class="foldopen" id="foldopen00709" data-start="{" data-end="}">
+<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a38bec3f55aab20fb4ef4be05ff20ee20">  709</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a38bec3f55aab20fb4ef4be05ff20ee20">load_spec_content</a>(<span class="keyword">const</span> std::string&amp; spec_file, capabilities2_msgs::msg::CapabilitySpec&amp; capability_spec)</div>
+<div class="line"><a id="l00710" name="l00710"></a><span class="lineno">  710</span>  {</div>
+<div class="line"><a id="l00711" name="l00711"></a><span class="lineno">  711</span>    <span class="comment">// read spec file</span></div>
+<div class="line"><a id="l00712" name="l00712"></a><span class="lineno">  712</span>    std::ifstream spec_file_file(spec_file, std::ifstream::in);</div>
+<div class="line"><a id="l00713" name="l00713"></a><span class="lineno">  713</span> </div>
+<div class="line"><a id="l00714" name="l00714"></a><span class="lineno">  714</span>    <span class="comment">// file failed guard</span></div>
+<div class="line"><a id="l00715" name="l00715"></a><span class="lineno">  715</span>    <span class="keywordflow">if</span> (!spec_file_file.is_open())</div>
+<div class="line"><a id="l00716" name="l00716"></a><span class="lineno">  716</span>    {</div>
+<div class="line"><a id="l00717" name="l00717"></a><span class="lineno">  717</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;unable to open capability spec file: &quot;</span> + spec_file);</div>
+<div class="line"><a id="l00718" name="l00718"></a><span class="lineno">  718</span>    }</div>
+<div class="line"><a id="l00719" name="l00719"></a><span class="lineno">  719</span> </div>
+<div class="line"><a id="l00720" name="l00720"></a><span class="lineno">  720</span>    <span class="comment">// load content into msg</span></div>
+<div class="line"><a id="l00721" name="l00721"></a><span class="lineno">  721</span>    std::string content{ std::istreambuf_iterator&lt;char&gt;(spec_file_file), std::istreambuf_iterator&lt;char&gt;() };</div>
+<div class="line"><a id="l00722" name="l00722"></a><span class="lineno">  722</span>    capability_spec.content = content;</div>
+<div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span> </div>
+<div class="line"><a id="l00724" name="l00724"></a><span class="lineno">  724</span>    spec_file_file.close();</div>
+<div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span>  }</div>
+</div>
+<div class="line"><a id="l00726" name="l00726"></a><span class="lineno">  726</span> </div>
+<div class="line"><a id="l00727" name="l00727"></a><span class="lineno">  727</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00728" name="l00728"></a><span class="lineno">  728</span>  <span class="comment">// loop hz</span></div>
+<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">  729</a></span>  <span class="keywordtype">double</span> <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">loop_hz_</a>;</div>
+<div class="line"><a id="l00730" name="l00730"></a><span class="lineno">  730</span> </div>
+<div class="line"><a id="l00731" name="l00731"></a><span class="lineno">  731</span>  <span class="comment">// publishers</span></div>
+<div class="line"><a id="l00732" name="l00732"></a><span class="lineno">  732</span>  <span class="comment">// event publisher</span></div>
+<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">  733</a></span>  rclcpp::Publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">event_pub_</a>;</div>
+<div class="line"><a id="l00734" name="l00734"></a><span class="lineno">  734</span> </div>
+<div class="line"><a id="l00735" name="l00735"></a><span class="lineno">  735</span>  <span class="comment">// services</span></div>
+<div class="line"><a id="l00736" name="l00736"></a><span class="lineno">  736</span>  <span class="comment">// establish bond</span></div>
+<div class="line"><a id="l00737" name="l00737"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">  737</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::EstablishBond&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">establish_bond_srv_</a>;</div>
+<div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span>  <span class="comment">// start capability</span></div>
+<div class="line"><a id="l00739" name="l00739"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">  739</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::StartCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">start_capability_srv_</a>;</div>
+<div class="line"><a id="l00740" name="l00740"></a><span class="lineno">  740</span>  <span class="comment">// stop capability</span></div>
+<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">  741</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::StopCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">stop_capability_srv_</a>;</div>
+<div class="line"><a id="l00742" name="l00742"></a><span class="lineno">  742</span>  <span class="comment">// free capability</span></div>
+<div class="line"><a id="l00743" name="l00743"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">  743</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::FreeCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">free_capability_srv_</a>;</div>
+<div class="line"><a id="l00744" name="l00744"></a><span class="lineno">  744</span>  <span class="comment">// connect capability</span></div>
+<div class="line"><a id="l00745" name="l00745"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">  745</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::ConnectCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">connect_capability_srv_</a>;</div>
+<div class="line"><a id="l00746" name="l00746"></a><span class="lineno">  746</span>  <span class="comment">// trigger capability</span></div>
+<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">  747</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::TriggerCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">trigger_capability_srv_</a>;</div>
+<div class="line"><a id="l00748" name="l00748"></a><span class="lineno">  748</span>  <span class="comment">// use capability</span></div>
+<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">  749</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::UseCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">use_capability_srv_</a>;</div>
+<div class="line"><a id="l00750" name="l00750"></a><span class="lineno">  750</span>  <span class="comment">// register capability</span></div>
+<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">  751</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::RegisterCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">register_capability_srv_</a>;</div>
+<div class="line"><a id="l00752" name="l00752"></a><span class="lineno">  752</span>  <span class="comment">// query capabilities</span></div>
+<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">  753</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetInterfaces&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">get_interfaces_srv_</a>;</div>
+<div class="line"><a id="l00754" name="l00754"></a><span class="lineno">  754</span>  <span class="comment">// get semantic interfaces</span></div>
+<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">  755</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetSemanticInterfaces&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">get_semantic_interfaces_srv_</a>;</div>
+<div class="line"><a id="l00756" name="l00756"></a><span class="lineno">  756</span>  <span class="comment">// get providers</span></div>
+<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">  757</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetProviders&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">get_providers_srv_</a>;</div>
+<div class="line"><a id="l00758" name="l00758"></a><span class="lineno">  758</span>  <span class="comment">// get capability spec</span></div>
+<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">  759</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetCapabilitySpec&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">get_capability_spec_srv_</a>;</div>
+<div class="line"><a id="l00760" name="l00760"></a><span class="lineno">  760</span>  <span class="comment">// get capability specs</span></div>
+<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">  761</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetCapabilitySpecs&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">get_capability_specs_srv_</a>;</div>
+<div class="line"><a id="l00762" name="l00762"></a><span class="lineno">  762</span>  <span class="comment">// get remappings</span></div>
+<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">  763</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetRemappings&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">get_remappings_srv_</a>;</div>
+<div class="line"><a id="l00764" name="l00764"></a><span class="lineno">  764</span>  <span class="comment">// get running capabilities</span></div>
+<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">  765</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetRunningCapabilities&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">get_running_capabilities_srv_</a>;</div>
+<div class="line"><a id="l00766" name="l00766"></a><span class="lineno">  766</span>};</div>
+</div>
+<div class="line"><a id="l00767" name="l00767"></a><span class="lineno">  767</span> </div>
+<div class="line"><a id="l00768" name="l00768"></a><span class="lineno">  768</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="acapabilities__api_8hpp_html"><div class="ttname"><a href="capabilities__api_8hpp.html">capabilities_api.hpp</a></div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></div><div class="ttdoc">capabilities api mapping message based logic of capabilities to database models handles message conve...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:39</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a02d27d28503b5b56cf5aa3556e1a2118"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">capabilities2_server::CapabilitiesAPI::free_capability</a></div><div class="ttdeci">void free_capability(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Free a capability after usage. This will remove the bond and callstop_capability This function can be...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:180</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a0c1bbfe23a34eb6adef90747bba2b34f"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">capabilities2_server::CapabilitiesAPI::get_remappings</a></div><div class="ttdeci">void get_remappings(const std::string &amp;capability_spec, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:542</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1e106040d8bec5321e809c3666601600"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">capabilities2_server::CapabilitiesAPI::stop_capability</a></div><div class="ttdeci">void stop_capability(const std::string &amp;capability)</div><div class="ttdoc">Stop a capability. Internal function only. Do not used this function externally.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:125</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1e3645b59e7641e486143354562ccfc3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">capabilities2_server::CapabilitiesAPI::event_</a></div><div class="ttdeci">std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:722</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a226adbcdbb5b497953a2dd61d418a7de"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">capabilities2_server::CapabilitiesAPI::add_capability</a></div><div class="ttdeci">void add_capability(const capabilities2_msgs::msg::CapabilitySpec &amp;spec)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:302</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a35a9b49bc2b1fdcf0311264905f59514"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">capabilities2_server::CapabilitiesAPI::get_running_capabilities</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::RunningCapability &gt; get_running_capabilities()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:585</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a419ed80ae9a32f0d89518b0750ade73c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">capabilities2_server::CapabilitiesAPI::use_capability</a></div><div class="ttdeci">bool use_capability(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider, const std::string &amp;bond_id)</div><div class="ttdoc">Use a capability. This will create a bond id for the requested instance and call start_capability fun...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:238</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a84971555f626b74b3236c61bd2bf0ef2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">capabilities2_server::CapabilitiesAPI::connect</a></div><div class="ttdeci">void connect(const std::string &amp;db_file, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging)</div><div class="ttdoc">connect with the database file</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:51</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a89ca5565eac4c99553fb79e7e8c332c8"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">capabilities2_server::CapabilitiesAPI::get_capability_specs</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::CapabilitySpec &gt; get_capability_specs()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:498</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a9d25868abf2647c2e77aad620b270c3b"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">capabilities2_server::CapabilitiesAPI::establish_bond</a></div><div class="ttdeci">const std::string establish_bond(rclcpp::Node::SharedPtr node)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:642</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_aaf69b498cc0fcc66267032c8a0a1504c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">capabilities2_server::CapabilitiesAPI::start_capability</a></div><div class="ttdeci">bool start_capability(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider)</div><div class="ttdoc">Start a capability. Internal function only. Do not used this function externally.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:73</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_acd27a3b8a5655712120d8f60e6e21a03"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">capabilities2_server::CapabilitiesAPI::get_interfaces</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_interfaces()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:402</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ad0323e4febb7e96405a0473e39e58d52"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">capabilities2_server::CapabilitiesAPI::get_semantic_interfaces</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_semantic_interfaces(const std::string &amp;interface)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:414</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ad6f151b6a272325d92aeb7704ded093a"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">capabilities2_server::CapabilitiesAPI::get_providers</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_providers(const std::string &amp;interface, const bool &amp;include_semantic)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:426</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ae6de8e860c63da9acde97c4b5cd7a5a5"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">capabilities2_server::CapabilitiesAPI::trigger_capability</a></div><div class="ttdeci">void trigger_capability(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</div><div class="ttdoc">trigger a capability</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:205</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ae6e049a500dc2554322475a1b4e89c21"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">capabilities2_server::CapabilitiesAPI::connect_capability</a></div><div class="ttdeci">void connect_capability(const std::string &amp;bond_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection)</div><div class="ttdoc">connect RUNNING capabilities together via event type</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:256</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_af2ad7408ac8e69d5cf4d8bb503fd37e8"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">capabilities2_server::CapabilitiesAPI::get_capability_spec</a></div><div class="ttdeci">const capabilities2_msgs::msg::CapabilitySpec get_capability_spec(const std::string &amp;resource)</div><div class="ttdoc">Get the capability spec object for a given resource return the spec in yaml string format.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:451</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></div><div class="ttdoc">capabilities server</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:59</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a03500d304d5fef27e356b30b5d23dece"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">capabilities2_server::CapabilitiesServer::connect_capability_cb</a></div><div class="ttdeci">void connect_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:350</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a0e28a32f07cadfecd641727cf7d6df9a"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">capabilities2_server::CapabilitiesServer::free_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::FreeCapability &gt;::SharedPtr free_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:743</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a12ab12a8447c6333dd2383534e2268bb"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">capabilities2_server::CapabilitiesServer::register_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::RegisterCapability &gt;::SharedPtr register_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:751</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a152c07656d903772602e01a23b717c94"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">capabilities2_server::CapabilitiesServer::use_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::UseCapability &gt;::SharedPtr use_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:749</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a1a04b3d8e38c3e738d6dad3e9f90ed32"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">capabilities2_server::CapabilitiesServer::start_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::StartCapability &gt;::SharedPtr start_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:739</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a1eee46a1f8874823530823183406e082"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">capabilities2_server::CapabilitiesServer::get_interfaces_cb</a></div><div class="ttdeci">void get_interfaces_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:399</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a234c5773e90eebb05bd36fe2025f5503"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">capabilities2_server::CapabilitiesServer::connect_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::ConnectCapability &gt;::SharedPtr connect_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:745</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a38bec3f55aab20fb4ef4be05ff20ee20"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a38bec3f55aab20fb4ef4be05ff20ee20">capabilities2_server::CapabilitiesServer::load_spec_content</a></div><div class="ttdeci">void load_spec_content(const std::string &amp;spec_file, capabilities2_msgs::msg::CapabilitySpec &amp;capability_spec)</div><div class="ttdoc">load capability spec content from a file</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:709</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a493ae61330a2da82fd4991055fdc2a2c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">capabilities2_server::CapabilitiesServer::get_remappings_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetRemappings &gt;::SharedPtr get_remappings_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:763</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a4d626b97ce07ce813f045f334e0672bf"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">capabilities2_server::CapabilitiesServer::establish_bond_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::EstablishBond &gt;::SharedPtr establish_bond_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:737</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a58c477d3ba7423b273778842fe156dcc"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">capabilities2_server::CapabilitiesServer::load_capabilities</a></div><div class="ttdeci">void load_capabilities(const std::string &amp;package_path)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:478</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a5e0231cf2f4d4c16ec057e5603b0efd1"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a5e0231cf2f4d4c16ec057e5603b0efd1">capabilities2_server::CapabilitiesServer::parse_package_xml</a></div><div class="ttdeci">void parse_package_xml(const std::string &amp;package_xml, tinyxml2::XMLDocument &amp;doc)</div><div class="ttdoc">parse package.xml file</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:681</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a60a3176ebff35a89d8066a80e533637e"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">capabilities2_server::CapabilitiesServer::start_capability_cb</a></div><div class="ttdeci">void start_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:228</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a6e8b97337893a97daa58e3f0c11bb565"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">capabilities2_server::CapabilitiesServer::loop_hz_</a></div><div class="ttdeci">double loop_hz_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:729</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a71728f43b140a67280d2eec2a18f00e4"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">capabilities2_server::CapabilitiesServer::get_remappings_cb</a></div><div class="ttdeci">void get_remappings_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:459</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a71a42e1eaa2a7b030b8e0b1c90609315"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">capabilities2_server::CapabilitiesServer::register_capability_cb</a></div><div class="ttdeci">void register_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:381</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a755cc7001a6739ae422492a9b6d4f4e3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">capabilities2_server::CapabilitiesServer::get_providers_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetProviders &gt;::SharedPtr get_providers_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:757</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a8286d3d3b6ad3eefef8bb91abcf349a2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">capabilities2_server::CapabilitiesServer::get_capability_spec_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetCapabilitySpec &gt;::SharedPtr get_capability_spec_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:759</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a88e047d3b8f4947f2f89160eac2b34e3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">capabilities2_server::CapabilitiesServer::trigger_capability_cb</a></div><div class="ttdeci">void trigger_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:261</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a8bc0d2808af84412e1696f768366c114"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">capabilities2_server::CapabilitiesServer::get_capability_specs_cb</a></div><div class="ttdeci">void get_capability_specs_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:449</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aa23ec591bffe34a5b29a317de882c61d"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">capabilities2_server::CapabilitiesServer::stop_capability_cb</a></div><div class="ttdeci">void stop_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:244</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aa55cf315d13a4bbbff41439a4acb6eb7"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">capabilities2_server::CapabilitiesServer::establish_bond_cb</a></div><div class="ttdeci">void establish_bond_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:218</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aa7b2bb889301337796e782ea00d788a9"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">capabilities2_server::CapabilitiesServer::get_interfaces_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetInterfaces &gt;::SharedPtr get_interfaces_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:753</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aa850ac5910b408d86b73b7bc04d82134"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">capabilities2_server::CapabilitiesServer::event_pub_</a></div><div class="ttdeci">rclcpp::Publisher&lt; capabilities2_msgs::msg::CapabilityEventStamped &gt;::SharedPtr event_pub_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:733</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aacf69c819dfe2d31895bd6a4b7831aea"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aacf69c819dfe2d31895bd6a4b7831aea">capabilities2_server::CapabilitiesServer::CapabilitiesServer</a></div><div class="ttdeci">CapabilitiesServer(const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions())</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:61</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aad26d9c4b7948bff89e9dfc54dae3b33"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">capabilities2_server::CapabilitiesServer::get_capability_specs_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;::SharedPtr get_capability_specs_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:761</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ab351057325bd9c62bbd25657061505d6"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">capabilities2_server::CapabilitiesServer::use_capability_cb</a></div><div class="ttdeci">void use_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:319</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ab479dbd4ed2028355725f553dca81d4e"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">capabilities2_server::CapabilitiesServer::trigger_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::TriggerCapability &gt;::SharedPtr trigger_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:747</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ac358c10e20544260cb65ad6fd3a31c8d"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">capabilities2_server::CapabilitiesServer::get_running_capabilities_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetRunningCapabilities &gt;::SharedPtr get_running_capabilities_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:765</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ad25368b49818a71d8bb5aefb64975fb5"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">capabilities2_server::CapabilitiesServer::get_running_capabilities_cb</a></div><div class="ttdeci">void get_running_capabilities_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:467</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ae3299cfc91495fdff2fc8eb1513e7804"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">capabilities2_server::CapabilitiesServer::get_semantic_interfaces_cb</a></div><div class="ttdeci">void get_semantic_interfaces_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:410</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ae560f31a113bbf9b1be05ec49c04e04e"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">capabilities2_server::CapabilitiesServer::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdoc">Initializes the capabilities server node.</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:82</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ae855a537f8007233ab225e22fb5eca04"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">capabilities2_server::CapabilitiesServer::free_capability_cb</a></div><div class="ttdeci">void free_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:295</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ae9b834509054095c04cc7f9d1557ec96"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">capabilities2_server::CapabilitiesServer::get_semantic_interfaces_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetSemanticInterfaces &gt;::SharedPtr get_semantic_interfaces_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:755</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aed01fea6038bf10c20f4e23325e7b411"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">capabilities2_server::CapabilitiesServer::get_capability_spec_cb</a></div><div class="ttdeci">void get_capability_spec_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:428</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aee406dd808d0277a3d1babfbaf5d0dee"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">capabilities2_server::CapabilitiesServer::stop_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::StopCapability &gt;::SharedPtr stop_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:741</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_afd5d1ff380148dbc66a57e04e92109e0"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">capabilities2_server::CapabilitiesServer::get_providers_cb</a></div><div class="ttdeci">void get_providers_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:419</div></div>
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+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
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+<div class="ttc" id="apublished__event_8hpp_html"><div class="ttname"><a href="published__event_8hpp.html">published_event.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
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+<div class="textblock"><code>#include &lt;<a class="el" href="capabilities__server_8hpp_source.html">capabilities2_server/capabilities_server.hpp</a>&gt;</code><br />
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+<h2 class="memtitle"><span class="permalink"><a href="#a3c04138a5bfe5d72780bb7e82a18e627">&#9670;&#160;</a></span>main()</h2>
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+          <td class="memname">int main </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>argc</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">char **&#160;</td>
+          <td class="paramname"><em>argv</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
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+  <td id="projectalign">
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+   </div>
+  </td>
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+ </tbody>
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+<!-- end header part -->
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diff --git a/docs/html/classcapabilities2__events_1_1EventBase-members.html b/docs/html/classcapabilities2__events_1_1EventBase-members.html
new file mode 100644
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_events::EventBase Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">emit</a>(const std::string &amp;connection_id, const uint8_t &amp;event_code, const capabilities2_msgs::msg::Capability &amp;source, const capabilities2_msgs::msg::Capability &amp;target, event_callback_t callback)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">EventBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a6deb16537eaa81d11acf71bc47c1a900">on_connected</a>(const std::string &amp;source, const std::string &amp;target)=0</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#ab49fc1628a210ce16cb2c9e79e27f528">on_disconnected</a>(const std::string &amp;source, const std::string &amp;target)=0</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a9a583f7cfb886ba392d2c76e83e30bfb">on_process_launched</a>(const std::string &amp;pid)=0</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a021776e08657b8cf8f1b1f9926201f97">on_process_terminated</a>(const std::string &amp;pid)=0</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#af933897ae9b7098b051cc1fcdb74968f">on_server_ready</a>(const std::string &amp;msg)=0</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#afad67998148a34956d1e68aa93c57ce0">on_triggered</a>(const std::string &amp;trigger_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">parameter_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">~EventBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__events_1_1EventBase.html b/docs/html/classcapabilities2__events_1_1EventBase.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>Capabilities2: capabilities2_events::EventBase Class Reference</title>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+<script type="text/javascript" src="menu.js"></script>
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-types">Public Types</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classcapabilities2__events_1_1EventBase-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_events::EventBase Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>event base class  
+ <a href="classcapabilities2__events_1_1EventBase.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="event__base_8hpp_source.html">event_base.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_events::EventBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__events_1_1EventBase__inherit__graph.png" border="0" usemap="#acapabilities2__events_1_1EventBase_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__events_1_1EventBase_inherit__map" id="acapabilities2__events_1_1EventBase_inherit__map">
+<area shape="rect" title="event base class" alt="" coords="5,5,161,45"/>
+<area shape="rect" href="classcapabilities2__events_1_1PublishedEvent.html" title=" " alt="" coords="5,93,161,133"/>
+<area shape="poly" title=" " alt="" coords="86,59,86,93,81,93,81,59"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
+Public Types</h2></td></tr>
+<tr class="memitem:a62651f0f057c4b561ae19578ba5c5822" id="r_a62651f0f057c4b561ae19578ba5c5822"><td class="memItemLeft" align="right" valign="top">typedef std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a></td></tr>
+<tr class="separator:a62651f0f057c4b561ae19578ba5c5822"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a76b5029a3a39b00c5a322b60c0562c97" id="r_a76b5029a3a39b00c5a322b60c0562c97"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">parameter_t</a></td></tr>
+<tr class="separator:a76b5029a3a39b00c5a322b60c0562c97"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d2aa907ed227b7b6042b698ed0bf77b" id="r_a0d2aa907ed227b7b6042b698ed0bf77b"><td class="memItemLeft" align="right" valign="top">typedef std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a></td></tr>
+<tr class="separator:a0d2aa907ed227b7b6042b698ed0bf77b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ada022c0828aaa8cd023f4cebda9b8209" id="r_ada022c0828aaa8cd023f4cebda9b8209"><td class="memItemLeft" align="right" valign="top">typedef std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a></td></tr>
+<tr class="separator:ada022c0828aaa8cd023f4cebda9b8209"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01f110c6b7c9517f8f8ae134b8b22c8e" id="r_a01f110c6b7c9517f8f8ae134b8b22c8e"><td class="memItemLeft" align="right" valign="top">typedef std::function&lt; void(const <a class="el" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a> &amp;, const <a class="el" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a> &amp;, const <a class="el" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a> &amp;, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">parameter_t</a>)&gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a></td></tr>
+<tr class="separator:a01f110c6b7c9517f8f8ae134b8b22c8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a19f418e37fa9e7c9fe06680b265ceeef" id="r_a19f418e37fa9e7c9fe06680b265ceeef"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">EventBase</a> ()</td></tr>
+<tr class="separator:a19f418e37fa9e7c9fe06680b265ceeef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01410f9659983468b791d4aaf0c563f7" id="r_a01410f9659983468b791d4aaf0c563f7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">~EventBase</a> ()=default</td></tr>
+<tr class="separator:a01410f9659983468b791d4aaf0c563f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0fadc2464ce9a54a913aa55e806b7d8c" id="r_a0fadc2464ce9a54a913aa55e806b7d8c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">emit</a> (const std::string &amp;connection_id, const uint8_t &amp;event_code, const capabilities2_msgs::msg::Capability &amp;source, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a> callback)</td></tr>
+<tr class="memdesc:a0fadc2464ce9a54a913aa55e806b7d8c"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit an event  <br /></td></tr>
+<tr class="separator:a0fadc2464ce9a54a913aa55e806b7d8c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af933897ae9b7098b051cc1fcdb74968f" id="r_af933897ae9b7098b051cc1fcdb74968f"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#af933897ae9b7098b051cc1fcdb74968f">on_server_ready</a> (const std::string &amp;msg)=0</td></tr>
+<tr class="memdesc:af933897ae9b7098b051cc1fcdb74968f"><td class="mdescLeft">&#160;</td><td class="mdescRight">on server ready event  <br /></td></tr>
+<tr class="separator:af933897ae9b7098b051cc1fcdb74968f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9a583f7cfb886ba392d2c76e83e30bfb" id="r_a9a583f7cfb886ba392d2c76e83e30bfb"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a9a583f7cfb886ba392d2c76e83e30bfb">on_process_launched</a> (const std::string &amp;pid)=0</td></tr>
+<tr class="memdesc:a9a583f7cfb886ba392d2c76e83e30bfb"><td class="mdescLeft">&#160;</td><td class="mdescRight">on process launched event  <br /></td></tr>
+<tr class="separator:a9a583f7cfb886ba392d2c76e83e30bfb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a021776e08657b8cf8f1b1f9926201f97" id="r_a021776e08657b8cf8f1b1f9926201f97"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a021776e08657b8cf8f1b1f9926201f97">on_process_terminated</a> (const std::string &amp;pid)=0</td></tr>
+<tr class="memdesc:a021776e08657b8cf8f1b1f9926201f97"><td class="mdescLeft">&#160;</td><td class="mdescRight">on process terminated event  <br /></td></tr>
+<tr class="separator:a021776e08657b8cf8f1b1f9926201f97"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afad67998148a34956d1e68aa93c57ce0" id="r_afad67998148a34956d1e68aa93c57ce0"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#afad67998148a34956d1e68aa93c57ce0">on_triggered</a> (const std::string &amp;trigger_id)=0</td></tr>
+<tr class="memdesc:afad67998148a34956d1e68aa93c57ce0"><td class="mdescLeft">&#160;</td><td class="mdescRight">on triggered event from server  <br /></td></tr>
+<tr class="separator:afad67998148a34956d1e68aa93c57ce0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6deb16537eaa81d11acf71bc47c1a900" id="r_a6deb16537eaa81d11acf71bc47c1a900"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a6deb16537eaa81d11acf71bc47c1a900">on_connected</a> (const std::string &amp;source, const std::string &amp;target)=0</td></tr>
+<tr class="memdesc:a6deb16537eaa81d11acf71bc47c1a900"><td class="mdescLeft">&#160;</td><td class="mdescRight">on connected event from server  <br /></td></tr>
+<tr class="separator:a6deb16537eaa81d11acf71bc47c1a900"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab49fc1628a210ce16cb2c9e79e27f528" id="r_ab49fc1628a210ce16cb2c9e79e27f528"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#ab49fc1628a210ce16cb2c9e79e27f528">on_disconnected</a> (const std::string &amp;source, const std::string &amp;target)=0</td></tr>
+<tr class="memdesc:ab49fc1628a210ce16cb2c9e79e27f528"><td class="mdescLeft">&#160;</td><td class="mdescRight">on disconnected event from server  <br /></td></tr>
+<tr class="separator:ab49fc1628a210ce16cb2c9e79e27f528"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>event base class </p>
+<p>Represents an event in the capabilities framework. An event can be triggered to notify other components about changes in running capability (runners) states. </p>
+</div><h2 class="groupheader">Member Typedef Documentation</h2>
+<a id="a0d2aa907ed227b7b6042b698ed0bf77b" name="a0d2aa907ed227b7b6042b698ed0bf77b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0d2aa907ed227b7b6042b698ed0bf77b">&#9670;&#160;</a></span>access_id_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef std::string <a class="el" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">capabilities2_events::EventBase::access_id_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a62651f0f057c4b561ae19578ba5c5822" name="a62651f0f057c4b561ae19578ba5c5822"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62651f0f057c4b561ae19578ba5c5822">&#9670;&#160;</a></span>capability_str_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef std::string <a class="el" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capabilities2_events::EventBase::capability_str_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a01f110c6b7c9517f8f8ae134b8b22c8e" name="a01f110c6b7c9517f8f8ae134b8b22c8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a01f110c6b7c9517f8f8ae134b8b22c8e">&#9670;&#160;</a></span>event_callback_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef std::function&lt;void(const <a class="el" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a>&amp;, const <a class="el" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a>&amp;, const <a class="el" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a>&amp;, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">parameter_t</a>)&gt; <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">capabilities2_events::EventBase::event_callback_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a76b5029a3a39b00c5a322b60c0562c97" name="a76b5029a3a39b00c5a322b60c0562c97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a76b5029a3a39b00c5a322b60c0562c97">&#9670;&#160;</a></span>parameter_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="el" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">capabilities2_events::EventBase::parameter_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ada022c0828aaa8cd023f4cebda9b8209" name="ada022c0828aaa8cd023f4cebda9b8209"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada022c0828aaa8cd023f4cebda9b8209">&#9670;&#160;</a></span>target_instance_id_t</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">typedef std::string <a class="el" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">capabilities2_events::EventBase::target_instance_id_t</a></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a19f418e37fa9e7c9fe06680b265ceeef" name="a19f418e37fa9e7c9fe06680b265ceeef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19f418e37fa9e7c9fe06680b265ceeef">&#9670;&#160;</a></span>EventBase()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::EventBase::EventBase </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a01410f9659983468b791d4aaf0c563f7" name="a01410f9659983468b791d4aaf0c563f7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a01410f9659983468b791d4aaf0c563f7">&#9670;&#160;</a></span>~EventBase()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::EventBase::~EventBase </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a0fadc2464ce9a54a913aa55e806b7d8c" name="a0fadc2464ce9a54a913aa55e806b7d8c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0fadc2464ce9a54a913aa55e806b7d8c">&#9670;&#160;</a></span>emit()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_events::EventBase::emit </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>connection_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const uint8_t &amp;&#160;</td>
+          <td class="paramname"><em>event_code</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a>&#160;</td>
+          <td class="paramname"><em>callback</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>emit an event </p>
+<p>an event emission uses a parameterised callback which lets loosely-coupled capabilities propogate state changes when a source capability emits an event to a target capability</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">connection_id</td><td>connection identifier (format: "bond_id/trigger_id") </td></tr>
+    <tr><td class="paramname">event_code</td><td>type of event being emitted </td></tr>
+    <tr><td class="paramname">source</td><td>source capability emitting the event </td></tr>
+    <tr><td class="paramname">target</td><td>target capability receiving the event </td></tr>
+    <tr><td class="paramname">callback</td><td>function to trigger target capability with (capability, parameters, bond_id, target_instance_id) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Reimplemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a53e7f3937b84b488db674020a2b90b5a">capabilities2_events::PublishedEvent</a>.</p>
+
+</div>
+</div>
+<a id="a6deb16537eaa81d11acf71bc47c1a900" name="a6deb16537eaa81d11acf71bc47c1a900"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6deb16537eaa81d11acf71bc47c1a900">&#9670;&#160;</a></span>on_connected()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_events::EventBase::on_connected </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>target</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on connected event from server </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">source</td><td></td></tr>
+    <tr><td class="paramname">target</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#ae8bacbe30ab75a4703dda81b102b3a13">capabilities2_events::PublishedEvent</a>.</p>
+
+</div>
+</div>
+<a id="ab49fc1628a210ce16cb2c9e79e27f528" name="ab49fc1628a210ce16cb2c9e79e27f528"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab49fc1628a210ce16cb2c9e79e27f528">&#9670;&#160;</a></span>on_disconnected()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_events::EventBase::on_disconnected </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>target</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on disconnected event from server </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">source</td><td></td></tr>
+    <tr><td class="paramname">target</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a32cfbac8d0facda1f52cebba043d46de">capabilities2_events::PublishedEvent</a>.</p>
+
+</div>
+</div>
+<a id="a9a583f7cfb886ba392d2c76e83e30bfb" name="a9a583f7cfb886ba392d2c76e83e30bfb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a583f7cfb886ba392d2c76e83e30bfb">&#9670;&#160;</a></span>on_process_launched()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_events::EventBase::on_process_launched </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>pid</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on process launched event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pid</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">capabilities2_events::PublishedEvent</a>.</p>
+
+</div>
+</div>
+<a id="a021776e08657b8cf8f1b1f9926201f97" name="a021776e08657b8cf8f1b1f9926201f97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a021776e08657b8cf8f1b1f9926201f97">&#9670;&#160;</a></span>on_process_terminated()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_events::EventBase::on_process_terminated </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>pid</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on process terminated event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pid</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a91694a1cf354c72670fd65207986955a">capabilities2_events::PublishedEvent</a>.</p>
+
+</div>
+</div>
+<a id="af933897ae9b7098b051cc1fcdb74968f" name="af933897ae9b7098b051cc1fcdb74968f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af933897ae9b7098b051cc1fcdb74968f">&#9670;&#160;</a></span>on_server_ready()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_events::EventBase::on_server_ready </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on server ready event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#aa27e427c12928212ca6b0d9073808787">capabilities2_events::PublishedEvent</a>.</p>
+
+</div>
+</div>
+<a id="afad67998148a34956d1e68aa93c57ce0" name="afad67998148a34956d1e68aa93c57ce0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afad67998148a34956d1e68aa93c57ce0">&#9670;&#160;</a></span>on_triggered()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_events::EventBase::on_triggered </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>trigger_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on triggered event from server </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">trigger_id</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a5d840357942cab6bcd4a214d7b03b774">capabilities2_events::PublishedEvent</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_events/include/capabilities2_events/<a class="el" href="event__base_8hpp_source.html">event_base.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/classcapabilities2__events_1_1EventBase__inherit__graph.map b/docs/html/classcapabilities2__events_1_1EventBase__inherit__graph.map
new file mode 100644
index 0000000..b00c2b3
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+++ b/docs/html/classcapabilities2__events_1_1EventBase__inherit__graph.map
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+<map id="capabilities2_events::EventBase" name="capabilities2_events::EventBase">
+<area shape="rect" id="Node000001" title="event base class" alt="" coords="5,5,161,45"/>
+<area shape="rect" id="Node000002" href="$classcapabilities2__events_1_1PublishedEvent.html" title=" " alt="" coords="5,93,161,133"/>
+<area shape="poly" id="edge1_Node000001_Node000002" title=" " alt="" coords="86,59,86,93,81,93,81,59"/>
+</map>
diff --git a/docs/html/classcapabilities2__events_1_1EventBase__inherit__graph.md5 b/docs/html/classcapabilities2__events_1_1EventBase__inherit__graph.md5
new file mode 100644
index 0000000..30b9922
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+ <tr id="projectrow">
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+</table>
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+<!-- Generated by Doxygen 1.9.8 -->
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+</div>
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+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1EventNode.html">EventNode</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_events::EventNode Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__events_1_1EventNode.html b/docs/html/classcapabilities2__events_1_1EventNode.html
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+<title>Capabilities2: capabilities2_events::EventNode Class Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1EventNode.html">EventNode</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#nested-classes">Classes</a> &#124;
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classcapabilities2__events_1_1EventNode-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_events::EventNode Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>an event node is a source of an event  
+ <a href="classcapabilities2__events_1_1EventNode.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="event__node_8hpp_source.html">event_node.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_events::EventNode:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__events_1_1EventNode__inherit__graph.png" border="0" usemap="#acapabilities2__events_1_1EventNode_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__events_1_1EventNode_inherit__map" id="acapabilities2__events_1_1EventNode_inherit__map">
+<area shape="rect" title="an event node is a source of an event" alt="" coords="5,101,161,141"/>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">EventPipe</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">event pipe structure  <a href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a3cd9380c3e2739278c1601d844aa5fc9" id="r_a3cd9380c3e2739278c1601d844aa5fc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter=nullptr)</td></tr>
+<tr class="separator:a3cd9380c3e2739278c1601d844aa5fc9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0e58130ead683f82e421ea373f670fd0" id="r_a0e58130ead683f82e421ea373f670fd0"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a> ()=default</td></tr>
+<tr class="separator:a0e58130ead683f82e421ea373f670fd0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1b79fbe33fd75339bcaa77417240e57" id="r_ad1b79fbe33fd75339bcaa77417240e57"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ad1b79fbe33fd75339bcaa77417240e57"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit an event from this event node to all matching connections  <br /></td></tr>
+<tr class="separator:ad1b79fbe33fd75339bcaa77417240e57"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
+<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
+<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ae8d0a9622e781f9d8891018c5239a8" id="r_a1ae8d0a9622e781f9d8891018c5239a8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a> () const</td></tr>
+<tr class="memdesc:a1ae8d0a9622e781f9d8891018c5239a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">List all connections from this event node.  <br /></td></tr>
+<tr class="separator:a1ae8d0a9622e781f9d8891018c5239a8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
+<tr class="memdesc:a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a connection exists.  <br /></td></tr>
+<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
+<tr class="memdesc:a40118ab94ad06cf3759f4833c53ee575"><td class="mdescLeft">&#160;</td><td class="mdescRight">current connection count  <br /></td></tr>
+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
+<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
+<tr class="separator:a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a39d451da5c7fac76f125307884baf4b4" id="r_a39d451da5c7fac76f125307884baf4b4"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td></tr>
+<tr class="separator:a39d451da5c7fac76f125307884baf4b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a749cc5b8b86f3ac4d82ecc2b124d46ce" id="r_a749cc5b8b86f3ac4d82ecc2b124d46ce"><td class="memItemLeft" align="right" valign="top">capabilities2_msgs::msg::Capability&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td></tr>
+<tr class="separator:a749cc5b8b86f3ac4d82ecc2b124d46ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0aff474ac782cae10ca79d37c1f17a44" id="r_a0aff474ac782cae10ca79d37c1f17a44"><td class="memItemLeft" align="right" valign="top">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td></tr>
+<tr class="separator:a0aff474ac782cae10ca79d37c1f17a44"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac4adaeea856545dfc84174082f6ed856" id="r_ac4adaeea856545dfc84174082f6ed856"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, <a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">EventPipe</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td></tr>
+<tr class="separator:ac4adaeea856545dfc84174082f6ed856"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>an event node is a source of an event </p>
+<p>events when emitted will trigger interactions with connected nodes </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3cd9380c3e2739278c1601d844aa5fc9" name="a3cd9380c3e2739278c1601d844aa5fc9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3cd9380c3e2739278c1601d844aa5fc9">&#9670;&#160;</a></span>EventNode()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::EventNode::EventNode </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt;&#160;</td>
+          <td class="paramname"><em>event_emitter</em> = <code>nullptr</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0e58130ead683f82e421ea373f670fd0" name="a0e58130ead683f82e421ea373f670fd0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e58130ead683f82e421ea373f670fd0">&#9670;&#160;</a></span>~EventNode()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual capabilities2_events::EventNode::~EventNode </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a54192391a09d30e778b5ef73a07e5476" name="a54192391a09d30e778b5ef73a07e5476"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54192391a09d30e778b5ef73a07e5476">&#9670;&#160;</a></span>add_connection()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::EventNode::add_connection </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>connection_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::CapabilityEventCode &amp;&#160;</td>
+          <td class="paramname"><em>type</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a>&#160;</td>
+          <td class="paramname"><em>event_cb</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api. </p>
+<p>add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is: "bond_id/trigger_id" which allows event emission to extract bond_id for access control</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">connection_id</td><td>unique identifier for the connection (format: "bond_id/trigger_id") </td></tr>
+    <tr><td class="paramname">type</td><td>type of event to connect to </td></tr>
+    <tr><td class="paramname">target</td><td>target capability to connect to </td></tr>
+    <tr><td class="paramname">event_cb</td><td>callback to trigger target capability with (capability, parameters, bond_id, target_instance_id)</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structcapabilities2__events_1_1event__exception.html" title="event exception">event_exception</a></td><td>if connection with given id already exists </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1ee75f7c81c01519c250045ade85eaf7" name="a1ee75f7c81c01519c250045ade85eaf7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ee75f7c81c01519c250045ade85eaf7">&#9670;&#160;</a></span>clear_connections()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::EventNode::clear_connections </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>clear all connections from this event node </p>
+
+</div>
+</div>
+<a id="a40118ab94ad06cf3759f4833c53ee575" name="a40118ab94ad06cf3759f4833c53ee575"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40118ab94ad06cf3759f4833c53ee575">&#9670;&#160;</a></span>connection_count()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">size_t capabilities2_events::EventNode::connection_count </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>current connection count </p>
+<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
+
+</div>
+</div>
+<a id="ad1b79fbe33fd75339bcaa77417240e57" name="ad1b79fbe33fd75339bcaa77417240e57"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad1b79fbe33fd75339bcaa77417240e57">&#9670;&#160;</a></span>emit_event()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::EventNode::emit_event </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const uint8_t &amp;&#160;</td>
+          <td class="paramname"><em>event_type</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em> = <code><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>emit an event from this event node to all matching connections </p>
+<p>event handling </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">bond_id</td><td>the bond_id to match connections with (extracted from connection_id) for access control </td></tr>
+    <tr><td class="paramname">event_type</td><td>the type of event being emitted </td></tr>
+    <tr><td class="paramname">msg_parameters</td><td>the new parameters to emit with the event </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a17cab4cfcc38f312fb7f37698c43d6b1" name="a17cab4cfcc38f312fb7f37698c43d6b1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17cab4cfcc38f312fb7f37698c43d6b1">&#9670;&#160;</a></span>get_id()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string &amp; capabilities2_events::EventNode::get_id </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>unique id of this event node </p>
+<dl class="section return"><dt>Returns</dt><dd>const std::string&amp; </dd></dl>
+
+</div>
+</div>
+<a id="a0af021d2aadac8d3b930fcdfc7b69da8" name="a0af021d2aadac8d3b930fcdfc7b69da8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0af021d2aadac8d3b930fcdfc7b69da8">&#9670;&#160;</a></span>get_source()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const capabilities2_msgs::msg::Capability &amp; capabilities2_events::EventNode::get_source </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>source capability of this event node </p>
+<dl class="section return"><dt>Returns</dt><dd>const capabilities2_msgs::msg::Capability&amp; </dd></dl>
+
+</div>
+</div>
+<a id="a53f3a0dad63b42456ad2a6dd4bddc7ab" name="a53f3a0dad63b42456ad2a6dd4bddc7ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53f3a0dad63b42456ad2a6dd4bddc7ab">&#9670;&#160;</a></span>has_connection()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_events::EventNode::has_connection </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>connection_id</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Check if a connection exists. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">connection_id</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true </dd>
+<dd>
+false </dd></dl>
+
+</div>
+</div>
+<a id="aa66f138bc8fa897c84d8ffd529396002" name="aa66f138bc8fa897c84d8ffd529396002"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa66f138bc8fa897c84d8ffd529396002">&#9670;&#160;</a></span>is_event_emitter_set()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_events::EventNode::is_event_emitter_set </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>event emitter is set on this node </p>
+
+</div>
+</div>
+<a id="a1ae8d0a9622e781f9d8891018c5239a8" name="a1ae8d0a9622e781f9d8891018c5239a8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ae8d0a9622e781f9d8891018c5239a8">&#9670;&#160;</a></span>list_connections()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt; capabilities2_events::EventNode::list_connections </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>List all connections from this event node. </p>
+<dl class="section return"><dt>Returns</dt><dd>std::vector&lt;capabilities2_msgs::msg::CapabilityConnection&gt; </dd></dl>
+
+</div>
+</div>
+<a id="a1aefc3465612e5a4662190ae251f9ded" name="a1aefc3465612e5a4662190ae251f9ded"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1aefc3465612e5a4662190ae251f9ded">&#9670;&#160;</a></span>remove_connection()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::EventNode::remove_connection </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>connection_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Remove a connection by its id. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">connection_id</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a41dc0f4b8ad35d358181f25d646f396e" name="a41dc0f4b8ad35d358181f25d646f396e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a41dc0f4b8ad35d358181f25d646f396e">&#9670;&#160;</a></span>set_event_emitter()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::EventNode::set_event_emitter </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt;&#160;</td>
+          <td class="paramname"><em>event_emitter</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>event emitter for this event node </p>
+<p>allows late binding of event emitter (when a node is initialized)</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">event_emitter</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a10f7d884696c76f58fa43a03d69369f4" name="a10f7d884696c76f58fa43a03d69369f4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a10f7d884696c76f58fa43a03d69369f4">&#9670;&#160;</a></span>set_source()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::EventNode::set_source </td>
+          <td>(</td>
+          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
+          <td class="paramname"><em>src</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set the source object. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">src</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ac4adaeea856545dfc84174082f6ed856" name="ac4adaeea856545dfc84174082f6ed856"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac4adaeea856545dfc84174082f6ed856">&#9670;&#160;</a></span>connections_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, <a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">EventPipe</a>&gt; capabilities2_events::EventNode::connections_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0aff474ac782cae10ca79d37c1f17a44" name="a0aff474ac782cae10ca79d37c1f17a44"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0aff474ac782cae10ca79d37c1f17a44">&#9670;&#160;</a></span>event_emitter_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::shared_ptr&lt;<a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a>&gt; capabilities2_events::EventNode::event_emitter_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a39d451da5c7fac76f125307884baf4b4" name="a39d451da5c7fac76f125307884baf4b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a39d451da5c7fac76f125307884baf4b4">&#9670;&#160;</a></span>id_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_events::EventNode::id_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a749cc5b8b86f3ac4d82ecc2b124d46ce" name="a749cc5b8b86f3ac4d82ecc2b124d46ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a749cc5b8b86f3ac4d82ecc2b124d46ce">&#9670;&#160;</a></span>source_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_msgs::msg::Capability capabilities2_events::EventNode::source_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_events/include/capabilities2_events/<a class="el" href="event__node_8hpp_source.html">event_node.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">PublishedEvent</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_events::PublishedEvent Member List</div></div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a53e7f3937b84b488db674020a2b90b5a">emit</a>(const std::string &amp;connection_id, const uint8_t &amp;event_code, const capabilities2_msgs::msg::Capability &amp;source, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t callback) override</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">EventBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#ae8bacbe30ab75a4703dda81b102b3a13">on_connected</a>(const std::string &amp;source, const std::string &amp;target)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a32cfbac8d0facda1f52cebba043d46de">on_disconnected</a>(const std::string &amp;source, const std::string &amp;target)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">on_process_launched</a>(const std::string &amp;pid)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a91694a1cf354c72670fd65207986955a">on_process_terminated</a>(const std::string &amp;pid)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#aa27e427c12928212ca6b0d9073808787">on_server_ready</a>(const std::string &amp;msg)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a5d840357942cab6bcd4a214d7b03b774">on_triggered</a>(const std::string &amp;trigger_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">parameter_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a171a4a05b8abbd64093cb19cf2935f1d">PublishedEvent</a>(rclcpp::Publisher&lt; capabilities2_msgs::msg::CapabilityEventStamped &gt;::SharedPtr event_pub)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a> typedef</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">~EventBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a6ab23da65edf53a46acb69d5c0e961cc">~PublishedEvent</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__events_1_1PublishedEvent.html b/docs/html/classcapabilities2__events_1_1PublishedEvent.html
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+<title>Capabilities2: capabilities2_events::PublishedEvent Class Reference</title>
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">PublishedEvent</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classcapabilities2__events_1_1PublishedEvent-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_events::PublishedEvent Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &quot;<a class="el" href="published__event_8hpp_source.html">published_event.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_events::PublishedEvent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__events_1_1PublishedEvent__inherit__graph.png" border="0" usemap="#acapabilities2__events_1_1PublishedEvent_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="rect" title=" " alt="" coords="5,93,161,133"/>
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+<div class="dynheader">
+Collaboration diagram for capabilities2_events::PublishedEvent:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__events_1_1PublishedEvent__coll__graph.png" border="0" usemap="#acapabilities2__events_1_1PublishedEvent_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title=" " alt="" coords="5,93,161,133"/>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a171a4a05b8abbd64093cb19cf2935f1d" id="r_a171a4a05b8abbd64093cb19cf2935f1d"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a171a4a05b8abbd64093cb19cf2935f1d">PublishedEvent</a> (rclcpp::Publisher&lt; capabilities2_msgs::msg::CapabilityEventStamped &gt;::SharedPtr event_pub)</td></tr>
+<tr class="separator:a171a4a05b8abbd64093cb19cf2935f1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6ab23da65edf53a46acb69d5c0e961cc"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a53e7f3937b84b488db674020a2b90b5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">see <a class="el" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c" title="emit an event">EventBase::emit</a>, specialised to publish events  <br /></td></tr>
+<tr class="separator:a53e7f3937b84b488db674020a2b90b5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa27e427c12928212ca6b0d9073808787" id="r_aa27e427c12928212ca6b0d9073808787"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#aa27e427c12928212ca6b0d9073808787">on_server_ready</a> (const std::string &amp;msg)</td></tr>
+<tr class="memdesc:aa27e427c12928212ca6b0d9073808787"><td class="mdescLeft">&#160;</td><td class="mdescRight">on server ready event  <br /></td></tr>
+<tr class="separator:aa27e427c12928212ca6b0d9073808787"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7877d7f7f5112f7505286366eb1d20c4" id="r_a7877d7f7f5112f7505286366eb1d20c4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">on_process_launched</a> (const std::string &amp;pid)</td></tr>
+<tr class="memdesc:a7877d7f7f5112f7505286366eb1d20c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">on process launched event  <br /></td></tr>
+<tr class="separator:a7877d7f7f5112f7505286366eb1d20c4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a91694a1cf354c72670fd65207986955a"><td class="mdescLeft">&#160;</td><td class="mdescRight">on process terminated event  <br /></td></tr>
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+<tr class="memdesc:a5d840357942cab6bcd4a214d7b03b774"><td class="mdescLeft">&#160;</td><td class="mdescRight">on triggered event from server  <br /></td></tr>
+<tr class="separator:a5d840357942cab6bcd4a214d7b03b774"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ae8bacbe30ab75a4703dda81b102b3a13"><td class="mdescLeft">&#160;</td><td class="mdescRight">on connected event from server  <br /></td></tr>
+<tr class="separator:ae8bacbe30ab75a4703dda81b102b3a13"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a32cfbac8d0facda1f52cebba043d46de"><td class="mdescLeft">&#160;</td><td class="mdescRight">on disconnected event from server  <br /></td></tr>
+<tr class="separator:a32cfbac8d0facda1f52cebba043d46de"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td></tr>
+<tr class="memitem:a19f418e37fa9e7c9fe06680b265ceeef inherit pub_methods_classcapabilities2__events_1_1EventBase" id="r_a19f418e37fa9e7c9fe06680b265ceeef"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">EventBase</a> ()</td></tr>
+<tr class="separator:a19f418e37fa9e7c9fe06680b265ceeef inherit pub_methods_classcapabilities2__events_1_1EventBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a01410f9659983468b791d4aaf0c563f7 inherit pub_methods_classcapabilities2__events_1_1EventBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a9512517a8907ce9986c103dd45b4f453" id="r_a9512517a8907ce9986c103dd45b4f453"><td class="memItemLeft" align="right" valign="top">rclcpp::Publisher&lt; capabilities2_msgs::msg::CapabilityEventStamped &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a></td></tr>
+<tr class="separator:a9512517a8907ce9986c103dd45b4f453"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_types_classcapabilities2__events_1_1EventBase"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classcapabilities2__events_1_1EventBase')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td></tr>
+<tr class="memitem:a62651f0f057c4b561ae19578ba5c5822 inherit pub_types_classcapabilities2__events_1_1EventBase" id="r_a62651f0f057c4b561ae19578ba5c5822"><td class="memItemLeft" align="right" valign="top">typedef std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a></td></tr>
+<tr class="separator:a62651f0f057c4b561ae19578ba5c5822 inherit pub_types_classcapabilities2__events_1_1EventBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a76b5029a3a39b00c5a322b60c0562c97 inherit pub_types_classcapabilities2__events_1_1EventBase" id="r_a76b5029a3a39b00c5a322b60c0562c97"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">parameter_t</a></td></tr>
+<tr class="separator:a76b5029a3a39b00c5a322b60c0562c97 inherit pub_types_classcapabilities2__events_1_1EventBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0d2aa907ed227b7b6042b698ed0bf77b inherit pub_types_classcapabilities2__events_1_1EventBase" id="r_a0d2aa907ed227b7b6042b698ed0bf77b"><td class="memItemLeft" align="right" valign="top">typedef std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a></td></tr>
+<tr class="separator:a0d2aa907ed227b7b6042b698ed0bf77b inherit pub_types_classcapabilities2__events_1_1EventBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ada022c0828aaa8cd023f4cebda9b8209 inherit pub_types_classcapabilities2__events_1_1EventBase" id="r_ada022c0828aaa8cd023f4cebda9b8209"><td class="memItemLeft" align="right" valign="top">typedef std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a></td></tr>
+<tr class="separator:ada022c0828aaa8cd023f4cebda9b8209 inherit pub_types_classcapabilities2__events_1_1EventBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a01f110c6b7c9517f8f8ae134b8b22c8e inherit pub_types_classcapabilities2__events_1_1EventBase" id="r_a01f110c6b7c9517f8f8ae134b8b22c8e"><td class="memItemLeft" align="right" valign="top">typedef std::function&lt; void(const <a class="el" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a> &amp;, const <a class="el" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a> &amp;, const <a class="el" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a> &amp;, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">parameter_t</a>)&gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a></td></tr>
+<tr class="separator:a01f110c6b7c9517f8f8ae134b8b22c8e inherit pub_types_classcapabilities2__events_1_1EventBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a171a4a05b8abbd64093cb19cf2935f1d" name="a171a4a05b8abbd64093cb19cf2935f1d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a171a4a05b8abbd64093cb19cf2935f1d">&#9670;&#160;</a></span>PublishedEvent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::PublishedEvent::PublishedEvent </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Publisher&lt; capabilities2_msgs::msg::CapabilityEventStamped &gt;::SharedPtr&#160;</td>
+          <td class="paramname"><em>event_pub</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6ab23da65edf53a46acb69d5c0e961cc" name="a6ab23da65edf53a46acb69d5c0e961cc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ab23da65edf53a46acb69d5c0e961cc">&#9670;&#160;</a></span>~PublishedEvent()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::PublishedEvent::~PublishedEvent </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a53e7f3937b84b488db674020a2b90b5a" name="a53e7f3937b84b488db674020a2b90b5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53e7f3937b84b488db674020a2b90b5a">&#9670;&#160;</a></span>emit()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::PublishedEvent::emit </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>connection_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const uint8_t &amp;&#160;</td>
+          <td class="paramname"><em>event_code</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a>&#160;</td>
+          <td class="paramname"><em>callback</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>see <a class="el" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c" title="emit an event">EventBase::emit</a>, specialised to publish events </p>
+
+<p>Reimplemented from <a class="el" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">capabilities2_events::EventBase</a>.</p>
+
+</div>
+</div>
+<a id="ae8bacbe30ab75a4703dda81b102b3a13" name="ae8bacbe30ab75a4703dda81b102b3a13"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae8bacbe30ab75a4703dda81b102b3a13">&#9670;&#160;</a></span>on_connected()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::PublishedEvent::on_connected </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>target</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on connected event from server </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">source</td><td></td></tr>
+    <tr><td class="paramname">target</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__events_1_1EventBase.html#a6deb16537eaa81d11acf71bc47c1a900">capabilities2_events::EventBase</a>.</p>
+
+</div>
+</div>
+<a id="a32cfbac8d0facda1f52cebba043d46de" name="a32cfbac8d0facda1f52cebba043d46de"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a32cfbac8d0facda1f52cebba043d46de">&#9670;&#160;</a></span>on_disconnected()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::PublishedEvent::on_disconnected </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>source</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>target</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on disconnected event from server </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">source</td><td></td></tr>
+    <tr><td class="paramname">target</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__events_1_1EventBase.html#ab49fc1628a210ce16cb2c9e79e27f528">capabilities2_events::EventBase</a>.</p>
+
+</div>
+</div>
+<a id="a7877d7f7f5112f7505286366eb1d20c4" name="a7877d7f7f5112f7505286366eb1d20c4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7877d7f7f5112f7505286366eb1d20c4">&#9670;&#160;</a></span>on_process_launched()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::PublishedEvent::on_process_launched </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>pid</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on process launched event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pid</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__events_1_1EventBase.html#a9a583f7cfb886ba392d2c76e83e30bfb">capabilities2_events::EventBase</a>.</p>
+
+</div>
+</div>
+<a id="a91694a1cf354c72670fd65207986955a" name="a91694a1cf354c72670fd65207986955a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a91694a1cf354c72670fd65207986955a">&#9670;&#160;</a></span>on_process_terminated()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::PublishedEvent::on_process_terminated </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>pid</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on process terminated event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">pid</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__events_1_1EventBase.html#a021776e08657b8cf8f1b1f9926201f97">capabilities2_events::EventBase</a>.</p>
+
+</div>
+</div>
+<a id="aa27e427c12928212ca6b0d9073808787" name="aa27e427c12928212ca6b0d9073808787"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa27e427c12928212ca6b0d9073808787">&#9670;&#160;</a></span>on_server_ready()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::PublishedEvent::on_server_ready </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on server ready event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__events_1_1EventBase.html#af933897ae9b7098b051cc1fcdb74968f">capabilities2_events::EventBase</a>.</p>
+
+</div>
+</div>
+<a id="a5d840357942cab6bcd4a214d7b03b774" name="a5d840357942cab6bcd4a214d7b03b774"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d840357942cab6bcd4a214d7b03b774">&#9670;&#160;</a></span>on_triggered()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::PublishedEvent::on_triggered </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>trigger_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>on triggered event from server </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">trigger_id</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__events_1_1EventBase.html#afad67998148a34956d1e68aa93c57ce0">capabilities2_events::EventBase</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9512517a8907ce9986c103dd45b4f453" name="a9512517a8907ce9986c103dd45b4f453"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9512517a8907ce9986c103dd45b4f453">&#9670;&#160;</a></span>event_pub_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rclcpp::Publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;::SharedPtr capabilities2_events::PublishedEvent::event_pub_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_events/include/capabilities2_events/<a class="el" href="published__event_8hpp_source.html">published_event.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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new file mode 100644
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new file mode 100644
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+<title>Capabilities2: Member List</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_events::UUIDGenerator Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">capabilities2_events::UUIDGenerator</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">gen_uuid_str</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">capabilities2_events::UUIDGenerator</a></td><td class="entry"><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#a9a621130c12a95d1e1311a456a4c8a35">operator=</a>(const UUIDGenerator &amp;)=delete</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">capabilities2_events::UUIDGenerator</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#ac16e657db07c4d6368089cb8b846e434">UUIDGenerator</a>()=delete</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">capabilities2_events::UUIDGenerator</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#a7b54cb7556182732e476d7b6734acbe7">UUIDGenerator</a>(const UUIDGenerator &amp;)=delete</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">capabilities2_events::UUIDGenerator</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: capabilities2_events::UUIDGenerator Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pri-methods">Private Member Functions</a> &#124;
+<a href="classcapabilities2__events_1_1UUIDGenerator-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_events::UUIDGenerator Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &quot;<a class="el" href="uuid__generator_8hpp_source.html">uuid_generator.hpp</a>&quot;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:ad7966c639f088e11a3d19a7410956421" id="r_ad7966c639f088e11a3d19a7410956421"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">gen_uuid_str</a> ()</td></tr>
+<tr class="memdesc:ad7966c639f088e11a3d19a7410956421"><td class="mdescLeft">&#160;</td><td class="mdescRight">generate a uuid string  <br /></td></tr>
+<tr class="separator:ad7966c639f088e11a3d19a7410956421"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-methods" name="pri-methods"></a>
+Private Member Functions</h2></td></tr>
+<tr class="memitem:ac16e657db07c4d6368089cb8b846e434" id="r_ac16e657db07c4d6368089cb8b846e434"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#ac16e657db07c4d6368089cb8b846e434">UUIDGenerator</a> ()=delete</td></tr>
+<tr class="separator:ac16e657db07c4d6368089cb8b846e434"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7b54cb7556182732e476d7b6734acbe7" id="r_a7b54cb7556182732e476d7b6734acbe7"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#a7b54cb7556182732e476d7b6734acbe7">UUIDGenerator</a> (const <a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a> &amp;)=delete</td></tr>
+<tr class="separator:a7b54cb7556182732e476d7b6734acbe7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9a621130c12a95d1e1311a456a4c8a35" id="r_a9a621130c12a95d1e1311a456a4c8a35"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#a9a621130c12a95d1e1311a456a4c8a35">operator=</a> (const <a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a> &amp;)=delete</td></tr>
+<tr class="separator:a9a621130c12a95d1e1311a456a4c8a35"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac16e657db07c4d6368089cb8b846e434" name="ac16e657db07c4d6368089cb8b846e434"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac16e657db07c4d6368089cb8b846e434">&#9670;&#160;</a></span>UUIDGenerator() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::UUIDGenerator::UUIDGenerator </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span><span class="mlabel">delete</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7b54cb7556182732e476d7b6734acbe7" name="a7b54cb7556182732e476d7b6734acbe7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b54cb7556182732e476d7b6734acbe7">&#9670;&#160;</a></span>UUIDGenerator() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::UUIDGenerator::UUIDGenerator </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a> &amp;&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span><span class="mlabel">delete</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad7966c639f088e11a3d19a7410956421" name="ad7966c639f088e11a3d19a7410956421"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad7966c639f088e11a3d19a7410956421">&#9670;&#160;</a></span>gen_uuid_str()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_events::UUIDGenerator::gen_uuid_str </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>generate a uuid string </p>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="a9a621130c12a95d1e1311a456a4c8a35" name="a9a621130c12a95d1e1311a456a4c8a35"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a621130c12a95d1e1311a456a4c8a35">&#9670;&#160;</a></span>operator=()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a> &amp; capabilities2_events::UUIDGenerator::operator= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a> &amp;&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span><span class="mlabel">delete</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following files:<ul>
+<li>capabilities2_events/include/capabilities2_events/<a class="el" href="uuid__generator_8hpp_source.html">uuid_generator.hpp</a></li>
+<li>capabilities2_events/src/<a class="el" href="uuid__generator_8cpp.html">uuid_generator.cpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/classcapabilities2__runner_1_1ActionRunner-members.html b/docs/html/classcapabilities2__runner_1_1ActionRunner-members.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
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+/* @license-end */
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+/* @license-end */
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
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+<div id="SRIndex">
+<div id="SRResults"></div>
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">ActionRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::ActionRunner&lt; ActionT &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a591d542f6f91cfec3aec63eb311b4ac6">ActionRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">generate_feedback</a>(const typename ActionT::Feedback::ConstSharedPtr msg)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">generate_goal</a>(capabilities2_events::EventParameters &amp;parameters)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">goal_handle_future_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">goal_msg_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#adec17ec301ee0485a10bb5a1caa82ab9">init_action</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;action_name)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">result_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a6054145b7cf13f6e9a0e62d85169ab7c">result_future_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a55a723c2c93f6f6842bfd1951d767597">wrapped_result_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__runner_1_1ActionRunner.html b/docs/html/classcapabilities2__runner_1_1ActionRunner.html
new file mode 100644
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+<title>Capabilities2: capabilities2_runner::ActionRunner&lt; ActionT &gt; Class Template Reference</title>
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">ActionRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classcapabilities2__runner_1_1ActionRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::ActionRunner&lt; ActionT &gt; Class Template Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>action runner base class  
+ <a href="classcapabilities2__runner_1_1ActionRunner.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="action__runner_8hpp_source.html">action_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::ActionRunner&lt; ActionT &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1ActionRunner__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1ActionRunner_3_01ActionT_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__runner_1_1ActionRunner_3_01ActionT_01_4_inherit__map" id="acapabilities2__runner_1_1ActionRunner_3_01ActionT_01_4_inherit__map">
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::ActionRunner&lt; ActionT &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1ActionRunner__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1ActionRunner_3_01ActionT_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="acapabilities2__runner_1_1ActionRunner_3_01ActionT_01_4_coll__map" id="acapabilities2__runner_1_1ActionRunner_3_01ActionT_01_4_coll__map">
+<area shape="rect" title="action runner base class" alt="" coords="75,287,271,327"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a591d542f6f91cfec3aec63eb311b4ac6" id="r_a591d542f6f91cfec3aec63eb311b4ac6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a591d542f6f91cfec3aec63eb311b4ac6">ActionRunner</a> ()</td></tr>
+<tr class="memdesc:a591d542f6f91cfec3aec63eb311b4ac6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor which needs to be empty due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a591d542f6f91cfec3aec63eb311b4ac6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:adec17ec301ee0485a10bb5a1caa82ab9" id="r_adec17ec301ee0485a10bb5a1caa82ab9"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#adec17ec301ee0485a10bb5a1caa82ab9">init_action</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;action_name)</td></tr>
+<tr class="memdesc:adec17ec301ee0485a10bb5a1caa82ab9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the action runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:adec17ec301ee0485a10bb5a1caa82ab9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0417718f4ad7a9318169a14abb182fa5" id="r_a0417718f4ad7a9318169a14abb182fa5"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">stop</a> (const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td></tr>
+<tr class="memdesc:a0417718f4ad7a9318169a14abb182fa5"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop function to cease functionality and shutdown  <br /></td></tr>
+<tr class="separator:a0417718f4ad7a9318169a14abb182fa5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:a88e489fd1a04dd9f308e2fd7f792035c inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a88e489fd1a04dd9f308e2fd7f792035c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a88e489fd1a04dd9f308e2fd7f792035c inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a990e91bdda8c272274eb4120bd62293f inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a990e91bdda8c272274eb4120bd62293f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a990e91bdda8c272274eb4120bd62293f inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_aae61a479d081029f9203e842dfa9884d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td></tr>
+<tr class="memdesc:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
+<tr class="separator:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
+<tr class="separator:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_afaf475264dc30c93758087ffca3754e6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a> ()=default</td></tr>
+<tr class="separator:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af253678258e86285dc2a12ecb5c1db84"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;bond_id)=0</td></tr>
+<tr class="memdesc:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the runner  <br /></td></tr>
+<tr class="separator:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a737681af5f4227037a06390bf0bca3e0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config)</td></tr>
+<tr class="memdesc:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the base runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aaa8cf2feec5aa8c1b10dcd49f0cc114a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt; events)</td></tr>
+<tr class="memdesc:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">enable events system for this runner  <br /></td></tr>
+<tr class="separator:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a7a66fa34cdf7a2868dfb9f1d8f8d65ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt; callback)</td></tr>
+<tr class="memdesc:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">make EventNode::add_connection public method on runner api.  <br /></td></tr>
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+<tr class="inherit_header pro_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a68a4f300a106474d09ccda51efc57a5a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a> ()</td></tr>
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+<tr class="memitem:a93d5da8c0c64d0154911a9b3ff143fff inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a93d5da8c0c64d0154911a9b3ff143fff"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a> ()</td></tr>
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+<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
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+<tr class="separator:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
+<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
+<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
+<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
+<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
+<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
+<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ae8d0a9622e781f9d8891018c5239a8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a> () const</td></tr>
+<tr class="memdesc:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">List all connections from this event node.  <br /></td></tr>
+<tr class="separator:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
+<tr class="memdesc:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a connection exists.  <br /></td></tr>
+<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
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+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
+<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
+<tr class="separator:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
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+<tr class="memitem:a4fb5c7f11f675e1b4a68de4ee746de6f" id="r_a4fb5c7f11f675e1b4a68de4ee746de6f"><td class="memItemLeft" align="right" valign="top">rclcpp_action::Client&lt; ActionT &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a></td></tr>
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+<tr class="separator:ade3f3629bca55ca92727f28cdf4178f1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac27423e74d0466bffb6e94a71865a903" id="r_ac27423e74d0466bffb6e94a71865a903"><td class="memItemLeft" align="right" valign="top">rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a></td></tr>
+<tr class="separator:ac27423e74d0466bffb6e94a71865a903"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a55a723c2c93f6f6842bfd1951d767597" id="r_a55a723c2c93f6f6842bfd1951d767597"><td class="memItemLeft" align="right" valign="top">rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::WrappedResult&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a55a723c2c93f6f6842bfd1951d767597">wrapped_result_</a></td></tr>
+<tr class="separator:a55a723c2c93f6f6842bfd1951d767597"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae1a518ed38168b716d8f964b9345c45e" id="r_ae1a518ed38168b716d8f964b9345c45e"><td class="memItemLeft" align="right" valign="top">ActionT::Result::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">result_</a></td></tr>
+<tr class="separator:ae1a518ed38168b716d8f964b9345c45e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab849326c650cb28e6b894f069ad9e2ab" id="r_ab849326c650cb28e6b894f069ad9e2ab"><td class="memItemLeft" align="right" valign="top">ActionT::Goal&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">goal_msg_</a></td></tr>
+<tr class="separator:ab849326c650cb28e6b894f069ad9e2ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae4831885b998d9fd1a3a93e77fc1d7b0" id="r_ae4831885b998d9fd1a3a93e77fc1d7b0"><td class="memItemLeft" align="right" valign="top">std::shared_future&lt; typename rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::SharedPtr &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">goal_handle_future_</a></td></tr>
+<tr class="separator:ae4831885b998d9fd1a3a93e77fc1d7b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6054145b7cf13f6e9a0e62d85169ab7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ac20f6188631fe57af28627273fe86e64"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, std::thread &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td></tr>
+<tr class="memdesc:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">dictionary of threads that executes the execute function  <br /></td></tr>
+<tr class="separator:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ae5b5363dde31c25ddc3c324ef6d3f08e"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td></tr>
+<tr class="memdesc:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">mutex for threadpool synchronisation.  <br /></td></tr>
+<tr class="separator:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_abb0aca7529033b5c7f5e36a72253e552"><td class="memItemLeft" align="right" valign="top">std::atomic&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td></tr>
+<tr class="memdesc:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">flag to signal execution threads to stop.  <br /></td></tr>
+<tr class="separator:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
+<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
+<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
+<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
+<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a10133774ae4ef6f39f9d94ebbed1b58c"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract bond_id from thread_id  <br /></td></tr>
+<tr class="separator:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_af750ef563c71182944a9a0ec380f78de"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract instance_id from thread_id  <br /></td></tr>
+<tr class="separator:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename ActionT&gt;<br />
+class capabilities2_runner::ActionRunner&lt; ActionT &gt;</div><p>action runner base class </p>
+<p>Create an action client to run an action based capability </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a591d542f6f91cfec3aec63eb311b4ac6" name="a591d542f6f91cfec3aec63eb311b4ac6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a591d542f6f91cfec3aec63eb311b4ac6">&#9670;&#160;</a></span>ActionRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::ActionRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor which needs to be empty due to plugin semantics. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ad4e445a63ba8fbe8421b944eca53dea8" name="ad4e445a63ba8fbe8421b944eca53dea8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad4e445a63ba8fbe8421b944eca53dea8">&#9670;&#160;</a></span>execution()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::execution </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>thread_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger process to be executed. </p>
+<p>This method utilizes paramters set via the <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d" title="Trigger the runner.">trigger()</a> function</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>pointer to <a class="el" href="structcapabilities2__events_1_1EventParameters.html" title="capability options for a capability runner given by interface and provider">capabilities2_events::EventParameters</a> that contains parameters </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">capabilities2_runner::ThreadTriggerRunner</a>.</p>
+
+</div>
+</div>
+<a id="afbc108c9cb2305848fcf0ada606475e4" name="afbc108c9cb2305848fcf0ada606475e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afbc108c9cb2305848fcf0ada606475e4">&#9670;&#160;</a></span>generate_feedback()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::string <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::generate_feedback </td>
+          <td>(</td>
+          <td class="paramtype">const typename ActionT::Feedback::ConstSharedPtr&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Generate a std::string from feedback message. </p>
+<p>This function is used to convert feedback messages into generic strings</p>
+<p>A pattern needs to be implemented in the derived class. If the feedback string is empty, nothing will be printed on the screen</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td>the feedback message received from the action server </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>ActionT::Feedback the received feedback </dd></dl>
+
+</div>
+</div>
+<a id="a620f49036d7996a09c5b804285c854fe" name="a620f49036d7996a09c5b804285c854fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a620f49036d7996a09c5b804285c854fe">&#9670;&#160;</a></span>generate_goal()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual ActionT::Goal <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::generate_goal </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;&#160;</td>
+          <td class="paramname"><em>parameters</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Generate a goal from parameters. </p>
+<p>This function is used in conjunction with the trigger function to inject type erased parameters into the typed action</p>
+<p>A pattern needs to be implemented in the derived class</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>capability options that contain parameters for the instance </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>ActionT::Goal the generated goal </dd></dl>
+
+</div>
+</div>
+<a id="adec17ec301ee0485a10bb5a1caa82ab9" name="adec17ec301ee0485a10bb5a1caa82ab9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adec17ec301ee0485a10bb5a1caa82ab9">&#9670;&#160;</a></span>init_action()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::init_action </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>action_name</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initializer function for initializing the action runner in place of constructor due to plugin semantics. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
+    <tr><td class="paramname">action_name</td><td>action name used in the yaml file, used to load specific configuration from the run_config </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a0417718f4ad7a9318169a14abb182fa5" name="a0417718f4ad7a9318169a14abb182fa5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0417718f4ad7a9318169a14abb182fa5">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::stop </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop function to cease functionality and shutdown </p>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a4fb5c7f11f675e1b4a68de4ee746de6f" name="a4fb5c7f11f675e1b4a68de4ee746de6f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4fb5c7f11f675e1b4a68de4ee746de6f">&#9670;&#160;</a></span>action_client_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rclcpp_action::Client&lt;ActionT&gt;::SharedPtr <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::action_client_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>&lt; action client </p>
+
+</div>
+</div>
+<a id="ac27423e74d0466bffb6e94a71865a903" name="ac27423e74d0466bffb6e94a71865a903"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac27423e74d0466bffb6e94a71865a903">&#9670;&#160;</a></span>goal_handle_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::goal_handle_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>goal handle parameter to capture goal response from goal_response_callback </p>
+
+</div>
+</div>
+<a id="ae4831885b998d9fd1a3a93e77fc1d7b0" name="ae4831885b998d9fd1a3a93e77fc1d7b0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae4831885b998d9fd1a3a93e77fc1d7b0">&#9670;&#160;</a></span>goal_handle_future_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::shared_future&lt;typename rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr&gt; <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::goal_handle_future_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Goal Handle Future message </p>
+
+</div>
+</div>
+<a id="ab849326c650cb28e6b894f069ad9e2ab" name="ab849326c650cb28e6b894f069ad9e2ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab849326c650cb28e6b894f069ad9e2ab">&#9670;&#160;</a></span>goal_msg_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae1a518ed38168b716d8f964b9345c45e">&#9670;&#160;</a></span>result_</h2>
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+template&lt;typename ActionT &gt; </div>
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+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
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+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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+</table>
+</div><div class="memdoc">
+<p>Result </p>
+
+</div>
+</div>
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+template&lt;typename ActionT &gt; </div>
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+      <table class="memname">
+        <tr>
+          <td class="memname">std::shared_future&lt;typename rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::WrappedResult&gt; <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::result_future_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Result Future </p>
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ade3f3629bca55ca92727f28cdf4178f1">&#9670;&#160;</a></span>send_goal_options_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rclcpp_action::Client&lt;ActionT&gt;::SendGoalOptions <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::send_goal_options_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Send Goal Option struct to link result_callback, feedback_callback and goal_response_callback with action client </p>
+
+</div>
+</div>
+<a id="a55a723c2c93f6f6842bfd1951d767597" name="a55a723c2c93f6f6842bfd1951d767597"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55a723c2c93f6f6842bfd1951d767597">&#9670;&#160;</a></span>wrapped_result_</h2>
+
+<div class="memitem">
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+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::WrappedResult <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a>&lt; ActionT &gt;::wrapped_result_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>Wrapped Result </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="action__runner_8hpp_source.html">action_runner.hpp</a></li>
+</ul>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
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diff --git a/docs/html/classcapabilities2__runner_1_1DummyRunner-members.html b/docs/html/classcapabilities2__runner_1_1DummyRunner-members.html
new file mode 100644
index 0000000..0574663
--- /dev/null
+++ b/docs/html/classcapabilities2__runner_1_1DummyRunner-members.html
@@ -0,0 +1,139 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<script type="text/javascript">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">DummyRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::DummyRunner Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">capabilities2_runner::DummyRunner</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a871306308d5dc43facc2c490410c38cd">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">capabilities2_runner::DummyRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#ae7c05952eaa590755e7ec4a722321513">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">capabilities2_runner::DummyRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a0b767e28a66171727b2f9609375963f2">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">capabilities2_runner::DummyRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/docs/html/classcapabilities2__runner_1_1DummyRunner.html b/docs/html/classcapabilities2__runner_1_1DummyRunner.html
new file mode 100644
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+++ b/docs/html/classcapabilities2__runner_1_1DummyRunner.html
@@ -0,0 +1,426 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">DummyRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classcapabilities2__runner_1_1DummyRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::DummyRunner Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Dummy runner.  
+ <a href="classcapabilities2__runner_1_1DummyRunner.html#details">More...</a></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::DummyRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1DummyRunner__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1DummyRunner_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__runner_1_1DummyRunner_inherit__map" id="acapabilities2__runner_1_1DummyRunner_inherit__map">
+<area shape="rect" title="Dummy runner." alt="" coords="6,181,161,221"/>
+<area shape="rect" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners" alt="" coords="6,93,161,133"/>
+<area shape="poly" title=" " alt="" coords="86,147,86,181,81,181,81,147"/>
+<area shape="rect" href="classcapabilities2__events_1_1EventNode.html" title="an event node is a source of an event" alt="" coords="5,5,161,45"/>
+<area shape="poly" title=" " alt="" coords="86,59,86,93,81,93,81,59"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::DummyRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1DummyRunner__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1DummyRunner_coll__map" alt="Collaboration graph"/></div>
+<map name="acapabilities2__runner_1_1DummyRunner_coll__map" id="acapabilities2__runner_1_1DummyRunner_coll__map">
+<area shape="rect" title="Dummy runner." alt="" coords="95,197,250,237"/>
+<area shape="rect" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners" alt="" coords="95,108,250,148"/>
+<area shape="poly" title=" " alt="" coords="175,162,175,197,170,197,170,162"/>
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+<area shape="poly" title=" " alt="" coords="111,54,158,106,154,110,107,58"/>
+<area shape="rect" href="structcapabilities2__runner_1_1runner__opts.html" title="runner options" alt="" coords="186,5,341,45"/>
+<area shape="poly" title=" " alt="" coords="239,57,192,110,188,106,235,54"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a871306308d5dc43facc2c490410c38cd" id="r_a871306308d5dc43facc2c490410c38cd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a871306308d5dc43facc2c490410c38cd">start</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;bond_id) override</td></tr>
+<tr class="memdesc:a871306308d5dc43facc2c490410c38cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the runner  <br /></td></tr>
+<tr class="separator:a871306308d5dc43facc2c490410c38cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae7c05952eaa590755e7ec4a722321513" id="r_ae7c05952eaa590755e7ec4a722321513"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#ae7c05952eaa590755e7ec4a722321513">stop</a> (const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td></tr>
+<tr class="memdesc:ae7c05952eaa590755e7ec4a722321513"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop the runner  <br /></td></tr>
+<tr class="separator:ae7c05952eaa590755e7ec4a722321513"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0b767e28a66171727b2f9609375963f2" id="r_a0b767e28a66171727b2f9609375963f2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a0b767e28a66171727b2f9609375963f2">trigger</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td></tr>
+<tr class="memdesc:a0b767e28a66171727b2f9609375963f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
+<tr class="separator:a0b767e28a66171727b2f9609375963f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
+<tr class="separator:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_afaf475264dc30c93758087ffca3754e6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a> ()=default</td></tr>
+<tr class="separator:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a737681af5f4227037a06390bf0bca3e0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config)</td></tr>
+<tr class="memdesc:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the base runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aaa8cf2feec5aa8c1b10dcd49f0cc114a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt; events)</td></tr>
+<tr class="memdesc:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">enable events system for this runner  <br /></td></tr>
+<tr class="separator:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a7a66fa34cdf7a2868dfb9f1d8f8d65ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt; callback)</td></tr>
+<tr class="memdesc:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">make EventNode::add_connection public method on runner api.  <br /></td></tr>
+<tr class="separator:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aa43dcda95ec5bbfae42229acb621527a"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a> ()</td></tr>
+<tr class="memdesc:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the package name to which the runner belong to.  <br /></td></tr>
+<tr class="separator:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9f51d46e66d0e3e33677fc6b41a7ab2b"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a> () const</td></tr>
+<tr class="memdesc:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the interface of the runner.  <br /></td></tr>
+<tr class="separator:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ae6b41bc7b4e1ed845c8ef865ea76feaf"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a> () const</td></tr>
+<tr class="memdesc:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the provider of the runner.  <br /></td></tr>
+<tr class="separator:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_abdb647861aa50def64cb7005e1234d5c"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a> () const</td></tr>
+<tr class="memdesc:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the starter of the runner.  <br /></td></tr>
+<tr class="separator:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5ec5051ab90eb6d67890b9a56ac78c66"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a> () const</td></tr>
+<tr class="memdesc:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the pid of the runner.  <br /></td></tr>
+<tr class="separator:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a3cd9380c3e2739278c1601d844aa5fc9 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a3cd9380c3e2739278c1601d844aa5fc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter=nullptr)</td></tr>
+<tr class="separator:a3cd9380c3e2739278c1601d844aa5fc9 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0e58130ead683f82e421ea373f670fd0 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a0e58130ead683f82e421ea373f670fd0"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a> ()=default</td></tr>
+<tr class="separator:a0e58130ead683f82e421ea373f670fd0 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_ad1b79fbe33fd75339bcaa77417240e57"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit an event from this event node to all matching connections  <br /></td></tr>
+<tr class="separator:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a68a4f300a106474d09ccda51efc57a5a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a> ()</td></tr>
+<tr class="memdesc:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_started event parameters with new data if available.  <br /></td></tr>
+<tr class="separator:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a93d5da8c0c64d0154911a9b3ff143fff inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a93d5da8c0c64d0154911a9b3ff143fff"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a> ()</td></tr>
+<tr class="memdesc:a93d5da8c0c64d0154911a9b3ff143fff inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_stopped event parameters with new data if available.  <br /></td></tr>
+<tr class="separator:a93d5da8c0c64d0154911a9b3ff143fff inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9a5419cab317ef239d2f197714136660"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a> ()</td></tr>
+<tr class="memdesc:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_failure event parameters with new data if available.  <br /></td></tr>
+<tr class="separator:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a561039712ffa38c2617baf266fc22896 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a561039712ffa38c2617baf266fc22896"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a> ()</td></tr>
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+<tr class="separator:a561039712ffa38c2617baf266fc22896 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a144e9cc074f34a69677fa9c2b461160e"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a> () const</td></tr>
+<tr class="memdesc:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first service name.  <br /></td></tr>
+<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
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+<tr class="separator:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ac92696dfbfe4b50331ca156c4449954c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
+<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af6414218a6741b276f305e4b266878fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
+<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
+<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
+<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
+<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
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+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
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+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
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+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
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+<tr class="separator:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
+<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
+<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
+<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
+<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Dummy runner. </p>
+<p>A sample runner that can be used to test the functionality of capabilities server. It does not perform any real action but logs messages when started and stopped. </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a871306308d5dc43facc2c490410c38cd" name="a871306308d5dc43facc2c490410c38cd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a871306308d5dc43facc2c490410c38cd">&#9670;&#160;</a></span>start()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::DummyRunner::start </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>start the runner </p>
+<p>runner plugin api </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section attention"><dt>Attention</dt><dd>Must call init_base in derived class implementation and should call start event </dd></dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<a id="ae7c05952eaa590755e7ec4a722321513" name="ae7c05952eaa590755e7ec4a722321513"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae7c05952eaa590755e7ec4a722321513">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::DummyRunner::stop </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop the runner </p>
+<dl class="section attention"><dt>Attention</dt><dd>should clean up threads and should call stop event </dd></dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<a id="a0b767e28a66171727b2f9609375963f2" name="a0b767e28a66171727b2f9609375963f2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0b767e28a66171727b2f9609375963f2">&#9670;&#160;</a></span>trigger()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::DummyRunner::trigger </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;&#160;</td>
+          <td class="paramname"><em>parameters</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger the runner. </p>
+<p>FIXME: implement new event subsystem </p>
+<p>This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up RunnerBase::triggerExecution in a thread</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>capability options that contain parameters for the trigger </td></tr>
+    <tr><td class="paramname">bond_id</td><td>unique identifier for the group of connections associated with this runner trigger event </td></tr>
+    <tr><td class="paramname">instance_id</td><td>unique identifier for the instance of the capability </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section attention"><dt>Attention</dt><dd>should call success and failure events with parameters and bond_id when the trigger process completes. </dd></dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/src/<a class="el" href="dummy__runner_8cpp.html">dummy_runner.cpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">EnCapRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::EnCapRunner&lt; ActionT &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a0bbf60f7f885bc1dddffe90635854bad">EnCapRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">handle_accepted</a>(const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt; goal_handle)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">handle_cancel</a>(const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt; goal_handle)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">handle_goal</a>(const rclcpp_action::GoalUUID &amp;uuid, std::shared_ptr&lt; const capabilities2_msgs::action::Capability::Goal &gt; goal)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a7782f8488a37196d1246fef965c75443">init_encapsulated_action</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;action_name, std::function&lt; void(Event &amp;)&gt; print)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a68e87f8c49301e1e001c232a80fa2f16">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__runner_1_1EnCapRunner.html b/docs/html/classcapabilities2__runner_1_1EnCapRunner.html
new file mode 100644
index 0000000..829943e
--- /dev/null
+++ b/docs/html/classcapabilities2__runner_1_1EnCapRunner.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: capabilities2_runner::EnCapRunner&lt; ActionT &gt; Class Template Reference</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">EnCapRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classcapabilities2__runner_1_1EnCapRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::EnCapRunner&lt; ActionT &gt; Class Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>encapsulated capability runner  
+ <a href="classcapabilities2__runner_1_1EnCapRunner.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="encap__runner_8hpp_source.html">encap_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::EnCapRunner&lt; ActionT &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1EnCapRunner__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1EnCapRunner_3_01ActionT_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__runner_1_1EnCapRunner_3_01ActionT_01_4_inherit__map" id="acapabilities2__runner_1_1EnCapRunner_3_01ActionT_01_4_inherit__map">
+<area shape="rect" title="encapsulated capability runner" alt="" coords="5,93,201,133"/>
+<area shape="rect" title=" " alt="" coords="18,5,189,45"/>
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+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::EnCapRunner&lt; ActionT &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1EnCapRunner__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1EnCapRunner_3_01ActionT_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="acapabilities2__runner_1_1EnCapRunner_3_01ActionT_01_4_coll__map" id="acapabilities2__runner_1_1EnCapRunner_3_01ActionT_01_4_coll__map">
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a0bbf60f7f885bc1dddffe90635854bad" id="r_a0bbf60f7f885bc1dddffe90635854bad"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a0bbf60f7f885bc1dddffe90635854bad">EnCapRunner</a> ()</td></tr>
+<tr class="separator:a0bbf60f7f885bc1dddffe90635854bad"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7782f8488a37196d1246fef965c75443" id="r_a7782f8488a37196d1246fef965c75443"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a7782f8488a37196d1246fef965c75443">init_encapsulated_action</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;action_name, std::function&lt; void(Event &amp;)&gt; print)</td></tr>
+<tr class="memdesc:a7782f8488a37196d1246fef965c75443"><td class="mdescLeft">&#160;</td><td class="mdescRight">init encapsulated action  <br /></td></tr>
+<tr class="separator:a7782f8488a37196d1246fef965c75443"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a68e87f8c49301e1e001c232a80fa2f16" id="r_a68e87f8c49301e1e001c232a80fa2f16"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a68e87f8c49301e1e001c232a80fa2f16">stop</a> (const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td></tr>
+<tr class="memdesc:a68e87f8c49301e1e001c232a80fa2f16"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop the encapsulated action server  <br /></td></tr>
+<tr class="separator:a68e87f8c49301e1e001c232a80fa2f16"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abdb6db0942e157b1776dff2cea32de55" id="r_abdb6db0942e157b1776dff2cea32de55"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">handle_goal</a> (const rclcpp_action::GoalUUID &amp;uuid, std::shared_ptr&lt; const capabilities2_msgs::action::Capability::Goal &gt; goal)</td></tr>
+<tr class="memdesc:abdb6db0942e157b1776dff2cea32de55"><td class="mdescLeft">&#160;</td><td class="mdescRight">handle encap action goal  <br /></td></tr>
+<tr class="separator:abdb6db0942e157b1776dff2cea32de55"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a25706ef80e4653174c2160d92c6b2d43" id="r_a25706ef80e4653174c2160d92c6b2d43"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">handle_cancel</a> (const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt; goal_handle)</td></tr>
+<tr class="memdesc:a25706ef80e4653174c2160d92c6b2d43"><td class="mdescLeft">&#160;</td><td class="mdescRight">handle encap action cancel goal  <br /></td></tr>
+<tr class="separator:a25706ef80e4653174c2160d92c6b2d43"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab198a797528098b90802453b8878dc58" id="r_ab198a797528098b90802453b8878dc58"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">handle_accepted</a> (const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt; goal_handle)</td></tr>
+<tr class="memdesc:ab198a797528098b90802453b8878dc58"><td class="mdescLeft">&#160;</td><td class="mdescRight">handle encap action accepted  <br /></td></tr>
+<tr class="separator:ab198a797528098b90802453b8878dc58"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a7b6879449e5623ebc4cf78a5e8c9dd02" id="r_a7b6879449e5623ebc4cf78a5e8c9dd02"><td class="memItemLeft" align="right" valign="top">std::shared_ptr&lt; rclcpp_action::Server&lt; capabilities2_msgs::action::Capability &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a></td></tr>
+<tr class="separator:a7b6879449e5623ebc4cf78a5e8c9dd02"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename ActionT&gt;<br />
+class capabilities2_runner::EnCapRunner&lt; ActionT &gt;</div><p>encapsulated capability runner </p>
+<p>Create an action client to run an action based capability using an encapsulated capability action this allows a system to run an action that is not a managed action</p>
+<p>Use the generate action, and generate result functions from the action runner to implement an encapsulation strategy for child classes </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a0bbf60f7f885bc1dddffe90635854bad" name="a0bbf60f7f885bc1dddffe90635854bad"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0bbf60f7f885bc1dddffe90635854bad">&#9670;&#160;</a></span>EnCapRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a>&lt; ActionT &gt;::EnCapRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ab198a797528098b90802453b8878dc58" name="ab198a797528098b90802453b8878dc58"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab198a797528098b90802453b8878dc58">&#9670;&#160;</a></span>handle_accepted()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a>&lt; ActionT &gt;::handle_accepted </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt;&#160;</td>
+          <td class="paramname"><em>goal_handle</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>handle encap action accepted </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">goal_handle</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a25706ef80e4653174c2160d92c6b2d43" name="a25706ef80e4653174c2160d92c6b2d43"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25706ef80e4653174c2160d92c6b2d43">&#9670;&#160;</a></span>handle_cancel()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a>&lt; ActionT &gt;::handle_cancel </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt;&#160;</td>
+          <td class="paramname"><em>goal_handle</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>handle encap action cancel goal </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">goal_handle</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="abdb6db0942e157b1776dff2cea32de55" name="abdb6db0942e157b1776dff2cea32de55"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abdb6db0942e157b1776dff2cea32de55">&#9670;&#160;</a></span>handle_goal()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a>&lt; ActionT &gt;::handle_goal </td>
+          <td>(</td>
+          <td class="paramtype">const rclcpp_action::GoalUUID &amp;&#160;</td>
+          <td class="paramname"><em>uuid</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; const capabilities2_msgs::action::Capability::Goal &gt;&#160;</td>
+          <td class="paramname"><em>goal</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>handle encap action goal </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">uuid</td><td></td></tr>
+    <tr><td class="paramname">goal</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a7782f8488a37196d1246fef965c75443" name="a7782f8488a37196d1246fef965c75443"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7782f8488a37196d1246fef965c75443">&#9670;&#160;</a></span>init_encapsulated_action()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a>&lt; ActionT &gt;::init_encapsulated_action </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>action_name</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(Event &amp;)&gt;&#160;</td>
+          <td class="paramname"><em>print</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>init encapsulated action </p>
+<p>call in start when inheriting from EncapRunner to initialize the encapsulated action server and the base action runner this is deferred since the action client topic name is not known at this level of abstraction</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
+    <tr><td class="paramname">action_name</td><td>action name used in the yaml file, used to load specific configuration from the run_config </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a68e87f8c49301e1e001c232a80fa2f16" name="a68e87f8c49301e1e001c232a80fa2f16"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68e87f8c49301e1e001c232a80fa2f16">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a>&lt; ActionT &gt;::stop </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop the encapsulated action server </p>
+<p>call the parent stop and stop the encapsulated action </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a7b6879449e5623ebc4cf78a5e8c9dd02" name="a7b6879449e5623ebc4cf78a5e8c9dd02"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b6879449e5623ebc4cf78a5e8c9dd02">&#9670;&#160;</a></span>encap_action_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ActionT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::shared_ptr&lt;rclcpp_action::Server&lt;capabilities2_msgs::action::Capability&gt; &gt; <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a>&lt; ActionT &gt;::encap_action_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+<p>encap action server </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="encap__runner_8hpp_source.html">encap_runner.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/classcapabilities2__runner_1_1EnCapRunner__coll__graph.map b/docs/html/classcapabilities2__runner_1_1EnCapRunner__coll__graph.map
new file mode 100644
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+<area shape="poly" id="edge1_Node000001_Node000002" title=" " alt="" coords="106,59,106,93,101,93,101,59"/>
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diff --git a/docs/html/classcapabilities2__runner_1_1EnCapRunner__coll__graph.md5 b/docs/html/classcapabilities2__runner_1_1EnCapRunner__coll__graph.md5
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diff --git a/docs/html/classcapabilities2__runner_1_1GetCapabilitySpecsRunner-members.html b/docs/html/classcapabilities2__runner_1_1GetCapabilitySpecsRunner-members.html
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+++ b/docs/html/classcapabilities2__runner_1_1GetCapabilitySpecsRunner-members.html
@@ -0,0 +1,156 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta name="generator" content="Doxygen 1.9.8"/>
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+<title>Capabilities2: Member List</title>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
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+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">GetCapabilitySpecsRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::GetCapabilitySpecsRunner Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">generate_request</a>(capabilities2_events::EventParameters &amp;parameters) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">GetCapabilitySpecsRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">init_service</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;service_name)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">param_on_success</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a97bee7f3c56177c44026dcd20948329c">process_response</a>(typename capabilities2_msgs::srv::GetCapabilitySpecs::Response::SharedPtr response) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a20fd8d22e15f75d7acb79663fec67f6c">ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;::process_response</a>(typename ServiceT::Response::SharedPtr)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">response_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">ServiceRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">GetCapabilitySpecsRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::GetCapabilitySpecsRunner Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Executor runner class.  
+ <a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="get__capability__specs__runner_8hpp_source.html">get_capability_specs_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::GetCapabilitySpecsRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1GetCapabilitySpecsRunner__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1GetCapabilitySpecsRunner_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::GetCapabilitySpecsRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1GetCapabilitySpecsRunner_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a848b090faf5103681df61bf494495966" id="r_a848b090faf5103681df61bf494495966"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">GetCapabilitySpecsRunner</a> ()</td></tr>
+<tr class="separator:a848b090faf5103681df61bf494495966"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ac6e0cc26c38f4ae100f6e2b8a70e4e36"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starter function for starting the action runner.  <br /></td></tr>
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+<tr class="memitem:ac32c7560e8ae8138cf88616644a65804 inherit pub_methods_classcapabilities2__runner_1_1ServiceRunner" id="r_ac32c7560e8ae8138cf88616644a65804"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">ServiceRunner</a> ()</td></tr>
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+<tr class="memdesc:ace6965aa2bfd8927f48977a0125f2e87 inherit pub_methods_classcapabilities2__runner_1_1ServiceRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the service runner in place of constructor due to plugin semantics.  <br /></td></tr>
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+<tr class="memdesc:a32ecc311b5288486dc0c3625a8cb2633 inherit pub_methods_classcapabilities2__runner_1_1ServiceRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop function to cease functionality and shutdown  <br /></td></tr>
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+<tr class="memitem:a88e489fd1a04dd9f308e2fd7f792035c inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a88e489fd1a04dd9f308e2fd7f792035c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a88e489fd1a04dd9f308e2fd7f792035c inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a990e91bdda8c272274eb4120bd62293f inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a990e91bdda8c272274eb4120bd62293f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a990e91bdda8c272274eb4120bd62293f inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_aae61a479d081029f9203e842dfa9884d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td></tr>
+<tr class="memdesc:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
+<tr class="separator:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
+<tr class="separator:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_afaf475264dc30c93758087ffca3754e6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a> ()=default</td></tr>
+<tr class="separator:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the base runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aaa8cf2feec5aa8c1b10dcd49f0cc114a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt; events)</td></tr>
+<tr class="memdesc:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">enable events system for this runner  <br /></td></tr>
+<tr class="separator:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a7a66fa34cdf7a2868dfb9f1d8f8d65ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt; callback)</td></tr>
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+<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
+<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
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+<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
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+<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
+<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
+<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ae8d0a9622e781f9d8891018c5239a8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a> () const</td></tr>
+<tr class="memdesc:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">List all connections from this event node.  <br /></td></tr>
+<tr class="separator:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
+<tr class="memdesc:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a connection exists.  <br /></td></tr>
+<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
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+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
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+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
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+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a10133774ae4ef6f39f9d94ebbed1b58c"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
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+<tr class="memitem:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_af750ef563c71182944a9a0ec380f78de"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract instance_id from thread_id  <br /></td></tr>
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+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1ServiceRunner"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1ServiceRunner')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td></tr>
+<tr class="memitem:ac79326190434b37f66792de962c9a431 inherit pro_attribs_classcapabilities2__runner_1_1ServiceRunner" id="r_ac79326190434b37f66792de962c9a431"><td class="memItemLeft" align="right" valign="top">rclcpp::Client&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a></td></tr>
+<tr class="separator:ac79326190434b37f66792de962c9a431 inherit pro_attribs_classcapabilities2__runner_1_1ServiceRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af9e954bc70da5f30aaf2906658805188 inherit pro_attribs_classcapabilities2__runner_1_1ServiceRunner" id="r_af9e954bc70da5f30aaf2906658805188"><td class="memItemLeft" align="right" valign="top">ServiceT::Response::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">response_</a></td></tr>
+<tr class="separator:af9e954bc70da5f30aaf2906658805188 inherit pro_attribs_classcapabilities2__runner_1_1ServiceRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ac20f6188631fe57af28627273fe86e64"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, std::thread &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td></tr>
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+<tr class="separator:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ae5b5363dde31c25ddc3c324ef6d3f08e"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td></tr>
+<tr class="memdesc:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">mutex for threadpool synchronisation.  <br /></td></tr>
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+<tr class="separator:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
+<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
+<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
+<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
+<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Executor runner class. </p>
+<p>Class to run capabilities2 executor action based capability </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a848b090faf5103681df61bf494495966" name="a848b090faf5103681df61bf494495966"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a848b090faf5103681df61bf494495966">&#9670;&#160;</a></span>GetCapabilitySpecsRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_runner::GetCapabilitySpecsRunner::GetCapabilitySpecsRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a57653f78da292a2f2944271008cdcb5b" name="a57653f78da292a2f2944271008cdcb5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a57653f78da292a2f2944271008cdcb5b">&#9670;&#160;</a></span>generate_request()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual capabilities2_msgs::srv::GetCapabilitySpecs::Request capabilities2_runner::GetCapabilitySpecsRunner::generate_request </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;&#160;</td>
+          <td class="paramname"><em>parameters</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>This generate goal function overrides the generate_goal() function from ActionRunner() </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>XMLElement that contains parameters in the format '&lt;Event name=follow_waypoints provider=WaypointRunner x='$value' y='$value' &gt;' </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>ActionT::Goal the generated goal </dd></dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a>.</p>
+
+</div>
+</div>
+<a id="a1e2ce72b2f85ecbc96408093eeaba065" name="a1e2ce72b2f85ecbc96408093eeaba065"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e2ce72b2f85ecbc96408093eeaba065">&#9670;&#160;</a></span>param_on_success()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> capabilities2_runner::GetCapabilitySpecsRunner::param_on_success </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>This function overrides the <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065" title="This function overrides the param_on_success() function from RunnerBase to provide specific implement...">param_on_success()</a> function from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">RunnerBase</a> to provide specific implementation for the <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html" title="Executor runner class.">GetCapabilitySpecsRunner</a>. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>EventParameters containing parameters for the trigger event </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>EventParameters updated parameters for on_success event </dd></dl>
+
+<p>Reimplemented from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<a id="a97bee7f3c56177c44026dcd20948329c" name="a97bee7f3c56177c44026dcd20948329c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a97bee7f3c56177c44026dcd20948329c">&#9670;&#160;</a></span>process_response()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::GetCapabilitySpecsRunner::process_response </td>
+          <td>(</td>
+          <td class="paramtype">typename capabilities2_msgs::srv::GetCapabilitySpecs::Response::SharedPtr&#160;</td>
+          <td class="paramname"><em>response</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac6e0cc26c38f4ae100f6e2b8a70e4e36" name="ac6e0cc26c38f4ae100f6e2b8a70e4e36"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac6e0cc26c38f4ae100f6e2b8a70e4e36">&#9670;&#160;</a></span>start()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::GetCapabilitySpecsRunner::start </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Starter function for starting the action runner. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
+    <tr><td class="paramname">bond_id</td><td>unique identifier for the group of connections associated with this runner trigger event </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/system/<a class="el" href="get__capability__specs__runner_8hpp_source.html">get_capability_specs_runner.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
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+</html>
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diff --git a/docs/html/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__inherit__graph.map b/docs/html/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__inherit__graph.map
new file mode 100644
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diff --git a/docs/html/classcapabilities2__runner_1_1InputMultiplexRunner-members.html b/docs/html/classcapabilities2__runner_1_1InputMultiplexRunner-members.html
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index 0000000..7d1088d
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<title>Capabilities2: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.9.8 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">InputMultiplexRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::InputMultiplexRunner Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">completed_executions</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a921185df695a0c589c3f76534622c973">InputMultiplexRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#afae7ca7e39e5b66f8fbbbb82b118923e">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+<title>Capabilities2: capabilities2_runner::InputMultiplexRunner Class Reference</title>
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">InputMultiplexRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classcapabilities2__runner_1_1InputMultiplexRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::InputMultiplexRunner Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &quot;<a class="el" href="input__multiplex__runner_8hpp_source.html">input_multiplex_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::InputMultiplexRunner:</div>
+<div class="dyncontent">
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+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memdesc:a921185df695a0c589c3f76534622c973"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor which needs to be empty due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a921185df695a0c589c3f76534622c973"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:afae7ca7e39e5b66f8fbbbb82b118923e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starter function for starting the action runner.  <br /></td></tr>
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+<tr class="memitem:a88e489fd1a04dd9f308e2fd7f792035c inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a88e489fd1a04dd9f308e2fd7f792035c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a> ()</td></tr>
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+<tr class="memdesc:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
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+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
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+<tr class="memdesc:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">enable events system for this runner  <br /></td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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+<tr class="inherit_header pro_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a68a4f300a106474d09ccda51efc57a5a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a> ()</td></tr>
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+<tr class="memdesc:a93d5da8c0c64d0154911a9b3ff143fff inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_stopped event parameters with new data if available.  <br /></td></tr>
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+<tr class="memitem:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9a5419cab317ef239d2f197714136660"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a> ()</td></tr>
+<tr class="memdesc:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_failure event parameters with new data if available.  <br /></td></tr>
+<tr class="separator:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a561039712ffa38c2617baf266fc22896 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a561039712ffa38c2617baf266fc22896"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a> ()</td></tr>
+<tr class="memdesc:a561039712ffa38c2617baf266fc22896 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_success event parameters with new data if available.  <br /></td></tr>
+<tr class="separator:a561039712ffa38c2617baf266fc22896 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a7ca628af3cfb83cb2e17f2348c66f5a9 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a7ca628af3cfb83cb2e17f2348c66f5a9"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a> (const std::string &amp;param_type) const</td></tr>
+<tr class="memdesc:a7ca628af3cfb83cb2e17f2348c66f5a9 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a parameter name by type.  <br /></td></tr>
+<tr class="separator:a7ca628af3cfb83cb2e17f2348c66f5a9 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a921754cdc1cbf69547f67860d5fd2f92 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a921754cdc1cbf69547f67860d5fd2f92"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a> (const std::string &amp;topic_type) const</td></tr>
+<tr class="memdesc:a921754cdc1cbf69547f67860d5fd2f92 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a topic name by type.  <br /></td></tr>
+<tr class="separator:a921754cdc1cbf69547f67860d5fd2f92 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af3397f1baa438b11e40a2a9c8e771f75 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af3397f1baa438b11e40a2a9c8e771f75"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a> (const std::string &amp;srv_type) const</td></tr>
+<tr class="memdesc:af3397f1baa438b11e40a2a9c8e771f75 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a service name by type.  <br /></td></tr>
+<tr class="separator:af3397f1baa438b11e40a2a9c8e771f75 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad20c4a0a0d7ad6d42ef7ccf24f6a1c65 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a> (const std::string &amp;action_type) const</td></tr>
+<tr class="memdesc:ad20c4a0a0d7ad6d42ef7ccf24f6a1c65 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the action name by type object.  <br /></td></tr>
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+<tr class="memitem:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6667a04bdf0d6a83a7663b4f8b10c0cf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a> (const std::string &amp;resource_type) const</td></tr>
+<tr class="memdesc:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get first name of a given resource  <br /></td></tr>
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+<tr class="memitem:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9414f4fca9459b457f306bbf8b4c1cdf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a> () const</td></tr>
+<tr class="memdesc:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first parameter name.  <br /></td></tr>
+<tr class="separator:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first topic name.  <br /></td></tr>
+<tr class="separator:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a144e9cc074f34a69677fa9c2b461160e"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a> () const</td></tr>
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+<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
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+<tr class="separator:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ac92696dfbfe4b50331ca156c4449954c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
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+<tr class="memitem:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af6414218a6741b276f305e4b266878fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
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+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
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+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
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+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
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+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
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+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:aca8d47a83c9380245828f4a72dbc5f3b" id="r_aca8d47a83c9380245828f4a72dbc5f3b"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a></td></tr>
+<tr class="separator:aca8d47a83c9380245828f4a72dbc5f3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4d1bb331cd675e9eb307404073016878" id="r_a4d1bb331cd675e9eb307404073016878"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, int &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a></td></tr>
+<tr class="separator:a4d1bb331cd675e9eb307404073016878"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abdc2ea43099056447273e1f7ee1cc113" id="r_abdc2ea43099056447273e1f7ee1cc113"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">completed_executions</a></td></tr>
+<tr class="separator:abdc2ea43099056447273e1f7ee1cc113"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ac20f6188631fe57af28627273fe86e64"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, std::thread &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td></tr>
+<tr class="memdesc:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">dictionary of threads that executes the execute function  <br /></td></tr>
+<tr class="separator:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ae5b5363dde31c25ddc3c324ef6d3f08e"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td></tr>
+<tr class="memdesc:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">mutex for threadpool synchronisation.  <br /></td></tr>
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+<tr class="memitem:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_abb0aca7529033b5c7f5e36a72253e552"><td class="memItemLeft" align="right" valign="top">std::atomic&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td></tr>
+<tr class="memdesc:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">flag to signal execution threads to stop.  <br /></td></tr>
+<tr class="separator:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
+<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
+<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
+<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a10133774ae4ef6f39f9d94ebbed1b58c"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract bond_id from thread_id  <br /></td></tr>
+<tr class="separator:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_af750ef563c71182944a9a0ec380f78de"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract instance_id from thread_id  <br /></td></tr>
+<tr class="separator:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a921185df695a0c589c3f76534622c973" name="a921185df695a0c589c3f76534622c973"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a921185df695a0c589c3f76534622c973">&#9670;&#160;</a></span>InputMultiplexRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_runner::InputMultiplexRunner::InputMultiplexRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor which needs to be empty due to plugin semantics. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ae1e6893b446f7b858b097edd4508be90" name="ae1e6893b446f7b858b097edd4508be90"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae1e6893b446f7b858b097edd4508be90">&#9670;&#160;</a></span>execution()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::InputMultiplexRunner::execution </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>thread_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger process to be executed. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>pointer to tinyxml2::XMLElement that contains parameters </td></tr>
+    <tr><td class="paramname">thread_id</td><td>unique identifier for the execution thread </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">capabilities2_runner::ThreadTriggerRunner</a>.</p>
+
+</div>
+</div>
+<a id="afae7ca7e39e5b66f8fbbbb82b118923e" name="afae7ca7e39e5b66f8fbbbb82b118923e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afae7ca7e39e5b66f8fbbbb82b118923e">&#9670;&#160;</a></span>start()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::InputMultiplexRunner::start </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Starter function for starting the action runner. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<a id="a42a4f1fd6f054925c72a322aed0dd94a" name="a42a4f1fd6f054925c72a322aed0dd94a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a42a4f1fd6f054925c72a322aed0dd94a">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::InputMultiplexRunner::stop </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop function to cease functionality and shutdown </p>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abdc2ea43099056447273e1f7ee1cc113" name="abdc2ea43099056447273e1f7ee1cc113"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abdc2ea43099056447273e1f7ee1cc113">&#9670;&#160;</a></span>completed_executions</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, bool&gt; capabilities2_runner::InputMultiplexRunner::completed_executions</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4d1bb331cd675e9eb307404073016878" name="a4d1bb331cd675e9eb307404073016878"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4d1bb331cd675e9eb307404073016878">&#9670;&#160;</a></span>expected_input_count</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, int&gt; capabilities2_runner::InputMultiplexRunner::expected_input_count</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aca8d47a83c9380245828f4a72dbc5f3b" name="aca8d47a83c9380245828f4a72dbc5f3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aca8d47a83c9380245828f4a72dbc5f3b">&#9670;&#160;</a></span>input_count_tracker</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, int&gt; capabilities2_runner::InputMultiplexRunner::input_count_tracker</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/system/<a class="el" href="input__multiplex__runner_8hpp_source.html">input_multiplex_runner.hpp</a></li>
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+  <div class="headertitle"><div class="title">capabilities2_runner::LaunchRunner Member List</div></div>
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+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#adb150055c0e372f46c961aae6a4e9dd4">launch_name</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#ace430452667a2365c3555755643c4c4c">LaunchRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#ad0774a843f92a69d7d660a216a6d265d">package_name</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#a9a684058017ed934d6d7e921d7f75eb9">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#a5373c2eb3f97948d213aab4f95bc19c9">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+++ b/docs/html/classcapabilities2__runner_1_1LaunchRunner.html
@@ -0,0 +1,458 @@
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">LaunchRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classcapabilities2__runner_1_1LaunchRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::LaunchRunner Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>launch runner base class  
+ <a href="classcapabilities2__runner_1_1LaunchRunner.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="launch__runner_8hpp_source.html">launch_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::LaunchRunner:</div>
+<div class="dyncontent">
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+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::LaunchRunner:</div>
+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ace430452667a2365c3555755643c4c4c" id="r_ace430452667a2365c3555755643c4c4c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#ace430452667a2365c3555755643c4c4c">LaunchRunner</a> ()</td></tr>
+<tr class="memdesc:ace430452667a2365c3555755643c4c4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor which needs to be empty due to plugin semantics.  <br /></td></tr>
+<tr class="separator:ace430452667a2365c3555755643c4c4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a9a684058017ed934d6d7e921d7f75eb9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starter function for starting the launch runner.  <br /></td></tr>
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+<tr class="memdesc:a5373c2eb3f97948d213aab4f95bc19c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop function to cease functionality and shutdown  <br /></td></tr>
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+<tr class="memdesc:a436e2217ca2c4fd44ac79271200c64d4 inherit pub_methods_classcapabilities2__runner_1_1NoTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
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+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
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+<tr class="separator:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a737681af5f4227037a06390bf0bca3e0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config)</td></tr>
+<tr class="memdesc:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the base runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">enable events system for this runner  <br /></td></tr>
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+<tr class="memdesc:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">make EventNode::add_connection public method on runner api.  <br /></td></tr>
+<tr class="separator:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aa43dcda95ec5bbfae42229acb621527a"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a> ()</td></tr>
+<tr class="memdesc:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the package name to which the runner belong to.  <br /></td></tr>
+<tr class="separator:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9f51d46e66d0e3e33677fc6b41a7ab2b"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a> () const</td></tr>
+<tr class="memdesc:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the interface of the runner.  <br /></td></tr>
+<tr class="separator:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ae6b41bc7b4e1ed845c8ef865ea76feaf"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a> () const</td></tr>
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+<tr class="separator:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a3cd9380c3e2739278c1601d844aa5fc9 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a3cd9380c3e2739278c1601d844aa5fc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter=nullptr)</td></tr>
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+<tr class="memitem:a0e58130ead683f82e421ea373f670fd0 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a0e58130ead683f82e421ea373f670fd0"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a> ()=default</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
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+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
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+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
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+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
+<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
+<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
+<tr class="separator:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>launch runner base class </p>
+<p>Create a launch file runner to run a launch file based capability uses process execution to run the launch file and kill the process on stop </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ace430452667a2365c3555755643c4c4c" name="ace430452667a2365c3555755643c4c4c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace430452667a2365c3555755643c4c4c">&#9670;&#160;</a></span>LaunchRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_runner::LaunchRunner::LaunchRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor which needs to be empty due to plugin semantics. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a9a684058017ed934d6d7e921d7f75eb9" name="a9a684058017ed934d6d7e921d7f75eb9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a684058017ed934d6d7e921d7f75eb9">&#9670;&#160;</a></span>start()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::LaunchRunner::start </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Starter function for starting the launch runner. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
+    <tr><td class="paramname">bond_id</td><td>bond identifier for the runner </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<a id="a5373c2eb3f97948d213aab4f95bc19c9" name="a5373c2eb3f97948d213aab4f95bc19c9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5373c2eb3f97948d213aab4f95bc19c9">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::LaunchRunner::stop </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop function to cease functionality and shutdown </p>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="adb150055c0e372f46c961aae6a4e9dd4" name="adb150055c0e372f46c961aae6a4e9dd4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb150055c0e372f46c961aae6a4e9dd4">&#9670;&#160;</a></span>launch_name</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_runner::LaunchRunner::launch_name</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad0774a843f92a69d7d660a216a6d265d" name="ad0774a843f92a69d7d660a216a6d265d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0774a843f92a69d7d660a216a6d265d">&#9670;&#160;</a></span>package_name</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_runner::LaunchRunner::package_name</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="launch__runner_8hpp_source.html">launch_runner.hpp</a></li>
+</ul>
+</div><!-- contents -->
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diff --git a/docs/html/classcapabilities2__runner_1_1MultiplexBaseRunner-members.html b/docs/html/classcapabilities2__runner_1_1MultiplexBaseRunner-members.html
new file mode 100644
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--- /dev/null
+++ b/docs/html/classcapabilities2__runner_1_1MultiplexBaseRunner-members.html
@@ -0,0 +1,146 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+</div>
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">MultiplexBaseRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::MultiplexBaseRunner Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">completed_executions</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a7213a134e8a183c4021033e6bd7797c7">execution</a>(int id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a8047a02e3c962fe5704ea9e9ef9c5565">expected_input_count</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#afccbbe50f43831a9ad8efa452ed6c99f">input_count_tracker</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a9e4cab14be73162040c91cae3c674343">MultiplexBaseRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#af52788c65f5ca9fb860cee2332abbbe2">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase::start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#aa5cefe19419078fb0a4eb18858a684fe">stop</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase::stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__runner_1_1MultiplexBaseRunner.html b/docs/html/classcapabilities2__runner_1_1MultiplexBaseRunner.html
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+<title>Capabilities2: capabilities2_runner::MultiplexBaseRunner Class Reference</title>
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">MultiplexBaseRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classcapabilities2__runner_1_1MultiplexBaseRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::MultiplexBaseRunner Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &quot;<a class="el" href="multiplex__base__runner_8hpp_source.html">multiplex_base_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::MultiplexBaseRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1MultiplexBaseRunner__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1MultiplexBaseRunner_inherit__map" alt="Inheritance graph"/></div>
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+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::MultiplexBaseRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1MultiplexBaseRunner_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a9e4cab14be73162040c91cae3c674343" id="r_a9e4cab14be73162040c91cae3c674343"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a9e4cab14be73162040c91cae3c674343">MultiplexBaseRunner</a> ()</td></tr>
+<tr class="memdesc:a9e4cab14be73162040c91cae3c674343"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor which needs to be empty due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a9e4cab14be73162040c91cae3c674343"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af52788c65f5ca9fb860cee2332abbbe2" id="r_af52788c65f5ca9fb860cee2332abbbe2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#af52788c65f5ca9fb860cee2332abbbe2">start</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config) override</td></tr>
+<tr class="memdesc:af52788c65f5ca9fb860cee2332abbbe2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Starter function for starting the action runner.  <br /></td></tr>
+<tr class="separator:af52788c65f5ca9fb860cee2332abbbe2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7213a134e8a183c4021033e6bd7797c7" id="r_a7213a134e8a183c4021033e6bd7797c7"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a7213a134e8a183c4021033e6bd7797c7">execution</a> (int id)</td></tr>
+<tr class="memdesc:a7213a134e8a183c4021033e6bd7797c7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger process to be executed.  <br /></td></tr>
+<tr class="separator:a7213a134e8a183c4021033e6bd7797c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa5cefe19419078fb0a4eb18858a684fe" id="r_aa5cefe19419078fb0a4eb18858a684fe"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#aa5cefe19419078fb0a4eb18858a684fe">stop</a> () override</td></tr>
+<tr class="memdesc:aa5cefe19419078fb0a4eb18858a684fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop function to cease functionality and shutdown  <br /></td></tr>
+<tr class="separator:aa5cefe19419078fb0a4eb18858a684fe"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
+<tr class="separator:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_afaf475264dc30c93758087ffca3754e6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a> ()=default</td></tr>
+<tr class="separator:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af253678258e86285dc2a12ecb5c1db84"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;bond_id)=0</td></tr>
+<tr class="memdesc:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the runner  <br /></td></tr>
+<tr class="separator:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a590b4f109de1d343ad88db826d72d6f2 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a590b4f109de1d343ad88db826d72d6f2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a> (const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td></tr>
+<tr class="memdesc:a590b4f109de1d343ad88db826d72d6f2 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop the runner  <br /></td></tr>
+<tr class="separator:a590b4f109de1d343ad88db826d72d6f2 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad85529d5a99b6e1373d89beadcb71a47 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad85529d5a99b6e1373d89beadcb71a47"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">trigger</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id)=0</td></tr>
+<tr class="memdesc:ad85529d5a99b6e1373d89beadcb71a47 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
+<tr class="separator:ad85529d5a99b6e1373d89beadcb71a47 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a737681af5f4227037a06390bf0bca3e0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config)</td></tr>
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+<tr class="separator:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
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+<tr class="memdesc:ad20c4a0a0d7ad6d42ef7ccf24f6a1c65 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the action name by type object.  <br /></td></tr>
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+<tr class="memitem:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6667a04bdf0d6a83a7663b4f8b10c0cf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a> (const std::string &amp;resource_type) const</td></tr>
+<tr class="memdesc:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get first name of a given resource  <br /></td></tr>
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+<tr class="memitem:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9414f4fca9459b457f306bbf8b4c1cdf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a> () const</td></tr>
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+<tr class="separator:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a144e9cc074f34a69677fa9c2b461160e"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a> () const</td></tr>
+<tr class="memdesc:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first service name.  <br /></td></tr>
+<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
+<tr class="memdesc:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first action name.  <br /></td></tr>
+<tr class="separator:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ac92696dfbfe4b50331ca156c4449954c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
+<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af6414218a6741b276f305e4b266878fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
+<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
+<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
+<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
+<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
+<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ae8d0a9622e781f9d8891018c5239a8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a> () const</td></tr>
+<tr class="memdesc:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">List all connections from this event node.  <br /></td></tr>
+<tr class="separator:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
+<tr class="memdesc:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a connection exists.  <br /></td></tr>
+<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
+<tr class="memdesc:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">current connection count  <br /></td></tr>
+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
+<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
+<tr class="separator:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a9e4cab14be73162040c91cae3c674343" name="a9e4cab14be73162040c91cae3c674343"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e4cab14be73162040c91cae3c674343">&#9670;&#160;</a></span>MultiplexBaseRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_runner::MultiplexBaseRunner::MultiplexBaseRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor which needs to be empty due to plugin semantics. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a7213a134e8a183c4021033e6bd7797c7" name="a7213a134e8a183c4021033e6bd7797c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7213a134e8a183c4021033e6bd7797c7">&#9670;&#160;</a></span>execution()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::MultiplexBaseRunner::execution </td>
+          <td>(</td>
+          <td class="paramtype">int&#160;</td>
+          <td class="paramname"><em>id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger process to be executed. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">id</td><td>unique identifier for the execution </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af52788c65f5ca9fb860cee2332abbbe2" name="af52788c65f5ca9fb860cee2332abbbe2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af52788c65f5ca9fb860cee2332abbbe2">&#9670;&#160;</a></span>start()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::MultiplexBaseRunner::start </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Starter function for starting the action runner. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aa5cefe19419078fb0a4eb18858a684fe" name="aa5cefe19419078fb0a4eb18858a684fe"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa5cefe19419078fb0a4eb18858a684fe">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::MultiplexBaseRunner::stop </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop function to cease functionality and shutdown </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a59d15e39d4541a418aa230d6ce028859" name="a59d15e39d4541a418aa230d6ce028859"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59d15e39d4541a418aa230d6ce028859">&#9670;&#160;</a></span>completed_executions</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;int, bool&gt; capabilities2_runner::MultiplexBaseRunner::completed_executions</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8047a02e3c962fe5704ea9e9ef9c5565" name="a8047a02e3c962fe5704ea9e9ef9c5565"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8047a02e3c962fe5704ea9e9ef9c5565">&#9670;&#160;</a></span>expected_input_count</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;int, int&gt; capabilities2_runner::MultiplexBaseRunner::expected_input_count</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afccbbe50f43831a9ad8efa452ed6c99f" name="afccbbe50f43831a9ad8efa452ed6c99f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afccbbe50f43831a9ad8efa452ed6c99f">&#9670;&#160;</a></span>input_count_tracker</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;int, int&gt; capabilities2_runner::MultiplexBaseRunner::input_count_tracker</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="multiplex__base__runner_8hpp_source.html">multiplex_base_runner.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html">NoTriggerRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::NoTriggerRunner Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
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diff --git a/docs/html/classcapabilities2__runner_1_1NoTriggerRunner.html b/docs/html/classcapabilities2__runner_1_1NoTriggerRunner.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html">NoTriggerRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="classcapabilities2__runner_1_1NoTriggerRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::NoTriggerRunner Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>no-trigger runner  
+ <a href="classcapabilities2__runner_1_1NoTriggerRunner.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="notrigger__runner_8hpp_source.html">notrigger_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::NoTriggerRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1NoTriggerRunner__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1NoTriggerRunner_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__runner_1_1NoTriggerRunner_inherit__map" id="acapabilities2__runner_1_1NoTriggerRunner_inherit__map">
+<area shape="rect" title="no&#45;trigger runner" alt="" coords="6,181,161,221"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::NoTriggerRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1NoTriggerRunner_coll__map" alt="Collaboration graph"/></div>
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+<area shape="rect" title="no&#45;trigger runner" alt="" coords="95,197,250,237"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a436e2217ca2c4fd44ac79271200c64d4" id="r_a436e2217ca2c4fd44ac79271200c64d4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">trigger</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td></tr>
+<tr class="memdesc:a436e2217ca2c4fd44ac79271200c64d4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
+<tr class="separator:a436e2217ca2c4fd44ac79271200c64d4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
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+<tr class="memitem:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_afaf475264dc30c93758087ffca3754e6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a> ()=default</td></tr>
+<tr class="separator:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af253678258e86285dc2a12ecb5c1db84"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;bond_id)=0</td></tr>
+<tr class="memdesc:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the runner  <br /></td></tr>
+<tr class="separator:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a590b4f109de1d343ad88db826d72d6f2 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a590b4f109de1d343ad88db826d72d6f2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a> (const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td></tr>
+<tr class="memdesc:a590b4f109de1d343ad88db826d72d6f2 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop the runner  <br /></td></tr>
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+<tr class="memdesc:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the base runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aaa8cf2feec5aa8c1b10dcd49f0cc114a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt; events)</td></tr>
+<tr class="memdesc:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">enable events system for this runner  <br /></td></tr>
+<tr class="separator:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a7a66fa34cdf7a2868dfb9f1d8f8d65ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt; callback)</td></tr>
+<tr class="memdesc:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">make EventNode::add_connection public method on runner api.  <br /></td></tr>
+<tr class="separator:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aa43dcda95ec5bbfae42229acb621527a"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a> ()</td></tr>
+<tr class="memdesc:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the package name to which the runner belong to.  <br /></td></tr>
+<tr class="separator:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9f51d46e66d0e3e33677fc6b41a7ab2b"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a> () const</td></tr>
+<tr class="memdesc:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the interface of the runner.  <br /></td></tr>
+<tr class="separator:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ae6b41bc7b4e1ed845c8ef865ea76feaf"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a> () const</td></tr>
+<tr class="memdesc:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the provider of the runner.  <br /></td></tr>
+<tr class="separator:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_abdb647861aa50def64cb7005e1234d5c"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a> () const</td></tr>
+<tr class="memdesc:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the starter of the runner.  <br /></td></tr>
+<tr class="separator:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5ec5051ab90eb6d67890b9a56ac78c66"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a> () const</td></tr>
+<tr class="memdesc:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the pid of the runner.  <br /></td></tr>
+<tr class="separator:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a3cd9380c3e2739278c1601d844aa5fc9 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a3cd9380c3e2739278c1601d844aa5fc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter=nullptr)</td></tr>
+<tr class="separator:a3cd9380c3e2739278c1601d844aa5fc9 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0e58130ead683f82e421ea373f670fd0 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a0e58130ead683f82e421ea373f670fd0"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a> ()=default</td></tr>
+<tr class="separator:a0e58130ead683f82e421ea373f670fd0 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_ad1b79fbe33fd75339bcaa77417240e57"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit an event from this event node to all matching connections  <br /></td></tr>
+<tr class="separator:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a68a4f300a106474d09ccda51efc57a5a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a> ()</td></tr>
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+<tr class="memitem:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6667a04bdf0d6a83a7663b4f8b10c0cf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a> (const std::string &amp;resource_type) const</td></tr>
+<tr class="memdesc:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get first name of a given resource  <br /></td></tr>
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+<tr class="memitem:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9414f4fca9459b457f306bbf8b4c1cdf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a> () const</td></tr>
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+<tr class="separator:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_abe103d834226cfae197630ef45387e95"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a> () const</td></tr>
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+<tr class="separator:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a144e9cc074f34a69677fa9c2b461160e"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a> () const</td></tr>
+<tr class="memdesc:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first service name.  <br /></td></tr>
+<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
+<tr class="memdesc:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first action name.  <br /></td></tr>
+<tr class="separator:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ac92696dfbfe4b50331ca156c4449954c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
+<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af6414218a6741b276f305e4b266878fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
+<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
+<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
+<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
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+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
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+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
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+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
+<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
+<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
+<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
+<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>no-trigger runner </p>
+<p>provides a no trigger runner implementation for the runner use for child runner classes that do not require a trigger </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a436e2217ca2c4fd44ac79271200c64d4" name="a436e2217ca2c4fd44ac79271200c64d4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a436e2217ca2c4fd44ac79271200c64d4">&#9670;&#160;</a></span>trigger()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::NoTriggerRunner::trigger </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;&#160;</td>
+          <td class="paramname"><em>parameters</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger the runner. </p>
+<p>FIXME: implement new event subsystem </p>
+<p>This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up RunnerBase::triggerExecution in a thread</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>capability options that contain parameters for the trigger </td></tr>
+    <tr><td class="paramname">bond_id</td><td>unique identifier for the group of connections associated with this runner trigger event </td></tr>
+    <tr><td class="paramname">instance_id</td><td>unique identifier for the instance of the capability </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section attention"><dt>Attention</dt><dd>should call success and failure events with parameters and bond_id when the trigger process completes. </dd></dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="notrigger__runner_8hpp_source.html">notrigger_runner.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
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diff --git a/docs/html/classcapabilities2__runner_1_1RunnerBase-members.html b/docs/html/classcapabilities2__runner_1_1RunnerBase-members.html
new file mode 100644
index 0000000..45903e4
--- /dev/null
+++ b/docs/html/classcapabilities2__runner_1_1RunnerBase-members.html
@@ -0,0 +1,139 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
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+<script type="text/javascript">
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+});
+/* @license-end */
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::RunnerBase Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__runner_1_1RunnerBase.html b/docs/html/classcapabilities2__runner_1_1RunnerBase.html
new file mode 100644
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+<title>Capabilities2: capabilities2_runner::RunnerBase Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
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+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classcapabilities2__runner_1_1RunnerBase-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::RunnerBase Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>base class for all runners  
+ <a href="classcapabilities2__runner_1_1RunnerBase.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="runner__base_8hpp_source.html">runner_base.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::RunnerBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1RunnerBase__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1RunnerBase_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__runner_1_1RunnerBase_inherit__map" id="acapabilities2__runner_1_1RunnerBase_inherit__map">
+<area shape="rect" title="base class for all runners" alt="" coords="209,101,364,141"/>
+<area shape="rect" href="classcapabilities2__runner_1_1DummyRunner.html" title="Dummy runner." alt="" coords="419,5,574,45"/>
+<area shape="poly" title=" " alt="" coords="335,92,411,55,439,43,441,48,413,60,338,97"/>
+<area shape="rect" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html" title=" " alt="" coords="412,69,581,109"/>
+<area shape="poly" title=" " alt="" coords="377,105,412,100,412,105,378,110"/>
+<area shape="rect" href="classcapabilities2__runner_1_1NoTriggerRunner.html" title="no&#45;trigger runner" alt="" coords="419,133,574,173"/>
+<area shape="poly" title=" " alt="" coords="378,132,420,139,419,144,377,138"/>
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+<area shape="poly" title=" " alt="" coords="328,147,469,251,466,255,325,152"/>
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+<area shape="poly" title=" " alt="" coords="175,119,209,119,209,124,175,124"/>
+<area shape="rect" href="classcapabilities2__runner_1_1LaunchRunner.html" title="launch runner base class" alt="" coords="673,77,827,117"/>
+<area shape="poly" title=" " alt="" coords="587,131,672,112,673,117,588,136"/>
+<area shape="rect" href="classcapabilities2__runner_1_1ServiceRunner.html" title=" " alt="" coords="629,142,871,197"/>
+<area shape="poly" title=" " alt="" coords="547,245,628,207,661,194,663,199,630,212,549,249"/>
+<area shape="rect" href="classcapabilities2__runner_1_1ActionRunner.html" title="action runner base class" alt="" coords="652,221,848,261"/>
+<area shape="poly" title=" " alt="" coords="592,259,652,251,652,256,593,264"/>
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+<area shape="poly" title=" " alt="" coords="593,283,665,292,664,297,593,288"/>
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+<area shape="rect" href="classcapabilities2__runner_1_1TopicRunner.html" title="Topic runner base class." alt="" coords="660,413,840,453"/>
+<area shape="poly" title=" " alt="" coords="523,302,570,352,599,378,631,399,661,413,659,417,628,404,596,382,566,356,519,306"/>
+<area shape="rect" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html" title="Executor runner class." alt="" coords="919,149,1121,189"/>
+<area shape="poly" title=" " alt="" coords="884,167,918,167,918,172,884,172"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::RunnerBase:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1RunnerBase__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1RunnerBase_coll__map" alt="Collaboration graph"/></div>
+<map name="acapabilities2__runner_1_1RunnerBase_coll__map" id="acapabilities2__runner_1_1RunnerBase_coll__map">
+<area shape="rect" title="base class for all runners" alt="" coords="95,108,250,148"/>
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+<area shape="poly" title=" " alt="" coords="111,54,158,106,154,110,107,58"/>
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+<area shape="poly" title=" " alt="" coords="239,57,192,110,188,106,235,54"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
+<tr class="separator:ad677f8a60b0e32510794315243a946d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afaf475264dc30c93758087ffca3754e6" id="r_afaf475264dc30c93758087ffca3754e6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a> ()=default</td></tr>
+<tr class="separator:afaf475264dc30c93758087ffca3754e6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af253678258e86285dc2a12ecb5c1db84" id="r_af253678258e86285dc2a12ecb5c1db84"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;bond_id)=0</td></tr>
+<tr class="memdesc:af253678258e86285dc2a12ecb5c1db84"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the runner  <br /></td></tr>
+<tr class="separator:af253678258e86285dc2a12ecb5c1db84"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a590b4f109de1d343ad88db826d72d6f2" id="r_a590b4f109de1d343ad88db826d72d6f2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a> (const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td></tr>
+<tr class="memdesc:a590b4f109de1d343ad88db826d72d6f2"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop the runner  <br /></td></tr>
+<tr class="separator:a590b4f109de1d343ad88db826d72d6f2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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+<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
+<tr class="separator:ac92696dfbfe4b50331ca156c4449954c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af6414218a6741b276f305e4b266878fb" id="r_af6414218a6741b276f305e4b266878fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:af6414218a6741b276f305e4b266878fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
+<tr class="separator:af6414218a6741b276f305e4b266878fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
+<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
+<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
+<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
+<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ae8d0a9622e781f9d8891018c5239a8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a> () const</td></tr>
+<tr class="memdesc:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">List all connections from this event node.  <br /></td></tr>
+<tr class="separator:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
+<tr class="memdesc:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a connection exists.  <br /></td></tr>
+<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
+<tr class="memdesc:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">current connection count  <br /></td></tr>
+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
+<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
+<tr class="separator:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
+<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
+<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
+<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
+<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>base class for all runners </p>
+<p>Defines the runner plugin api. Inherits from EventNode to provide event emission </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ad677f8a60b0e32510794315243a946d6" name="ad677f8a60b0e32510794315243a946d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad677f8a60b0e32510794315243a946d6">&#9670;&#160;</a></span>RunnerBase()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_runner::RunnerBase::RunnerBase </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afaf475264dc30c93758087ffca3754e6" name="afaf475264dc30c93758087ffca3754e6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afaf475264dc30c93758087ffca3754e6">&#9670;&#160;</a></span>~RunnerBase()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_runner::RunnerBase::~RunnerBase </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a7a66fa34cdf7a2868dfb9f1d8f8d65ca" name="a7a66fa34cdf7a2868dfb9f1d8f8d65ca"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">&#9670;&#160;</a></span>add_connection()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::RunnerBase::add_connection </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>connection_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::CapabilityEventCode &amp;&#160;</td>
+          <td class="paramname"><em>type</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
+          <td class="paramname"><em>target</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt;&#160;</td>
+          <td class="paramname"><em>callback</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>make EventNode::add_connection public method on runner api. </p>
+<p>add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is: "bond_id/trigger_id" which allows event emission to extract bond_id for access control</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">connection_id</td><td>unique identifier for the connection (format: "bond_id/trigger_id") </td></tr>
+    <tr><td class="paramname">type</td><td>type of event to connect to </td></tr>
+    <tr><td class="paramname">target</td><td>target capability to connect to </td></tr>
+    <tr><td class="paramname">callback</td><td>callback to trigger target capability with (capability, parameters, bond_id) </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5dcd2ac4205bb7f3cf069e0273ec46b7" name="a5dcd2ac4205bb7f3cf069e0273ec46b7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5dcd2ac4205bb7f3cf069e0273ec46b7">&#9670;&#160;</a></span>emit_failed()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::RunnerBase::emit_failed </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em> = <code><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>emit FAILED event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">bond_id</td><td></td></tr>
+    <tr><td class="paramname">parameters</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ac92696dfbfe4b50331ca156c4449954c" name="ac92696dfbfe4b50331ca156c4449954c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac92696dfbfe4b50331ca156c4449954c">&#9670;&#160;</a></span>emit_started()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::RunnerBase::emit_started </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em> = <code><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>emit STARTED event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">bond_id</td><td></td></tr>
+    <tr><td class="paramname">parameters</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af6414218a6741b276f305e4b266878fb" name="af6414218a6741b276f305e4b266878fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af6414218a6741b276f305e4b266878fb">&#9670;&#160;</a></span>emit_stopped()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::RunnerBase::emit_stopped </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em> = <code><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>emit STOPPED event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">bond_id</td><td></td></tr>
+    <tr><td class="paramname">parameters</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5865a398c1ad27e89d4d6947ef9404c2" name="a5865a398c1ad27e89d4d6947ef9404c2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5865a398c1ad27e89d4d6947ef9404c2">&#9670;&#160;</a></span>emit_succeeded()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::RunnerBase::emit_succeeded </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em> = <code><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>()</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>emit SUCCEEDED event </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">bond_id</td><td></td></tr>
+    <tr><td class="paramname">parameters</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aaa8cf2feec5aa8c1b10dcd49f0cc114a" name="aaa8cf2feec5aa8c1b10dcd49f0cc114a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaa8cf2feec5aa8c1b10dcd49f0cc114a">&#9670;&#160;</a></span>enable_events()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::RunnerBase::enable_events </td>
+          <td>(</td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt;&#160;</td>
+          <td class="paramname"><em>events</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>enable events system for this runner </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">events</td><td>event emitter to be used by this runner </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ad20c4a0a0d7ad6d42ef7ccf24f6a1c65" name="ad20c4a0a0d7ad6d42ef7ccf24f6a1c65"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">&#9670;&#160;</a></span>get_action_name_by_type()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_action_name_by_type </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>action_type</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the action name by type object. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">action_type</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="a6c40b1ee8b85cd357ebc9102ee1b5d12" name="a6c40b1ee8b85cd357ebc9102ee1b5d12"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c40b1ee8b85cd357ebc9102ee1b5d12">&#9670;&#160;</a></span>get_first_action_name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_first_action_name </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the first action name. </p>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="a9414f4fca9459b457f306bbf8b4c1cdf" name="a9414f4fca9459b457f306bbf8b4c1cdf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9414f4fca9459b457f306bbf8b4c1cdf">&#9670;&#160;</a></span>get_first_parameter_name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_first_parameter_name </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the first parameter name. </p>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="a6667a04bdf0d6a83a7663b4f8b10c0cf" name="a6667a04bdf0d6a83a7663b4f8b10c0cf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6667a04bdf0d6a83a7663b4f8b10c0cf">&#9670;&#160;</a></span>get_first_resource_name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_first_resource_name </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>resource_type</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get first name of a given resource </p>
+<p>This can be used to get the name of the first action resource in the runner config</p>
+<dl class="section return"><dt>Returns</dt><dd>std::string </dd></dl>
+
+</div>
+</div>
+<a id="a144e9cc074f34a69677fa9c2b461160e" name="a144e9cc074f34a69677fa9c2b461160e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a144e9cc074f34a69677fa9c2b461160e">&#9670;&#160;</a></span>get_first_service_name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_first_service_name </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the first service name. </p>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="abe103d834226cfae197630ef45387e95" name="abe103d834226cfae197630ef45387e95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abe103d834226cfae197630ef45387e95">&#9670;&#160;</a></span>get_first_topic_name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_first_topic_name </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the first topic name. </p>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="a9f51d46e66d0e3e33677fc6b41a7ab2b" name="a9f51d46e66d0e3e33677fc6b41a7ab2b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9f51d46e66d0e3e33677fc6b41a7ab2b">&#9670;&#160;</a></span>get_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string &amp; capabilities2_runner::RunnerBase::get_interface </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get the interface of the runner. </p>
+
+</div>
+</div>
+<a id="aa43dcda95ec5bbfae42229acb621527a" name="aa43dcda95ec5bbfae42229acb621527a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa43dcda95ec5bbfae42229acb621527a">&#9670;&#160;</a></span>get_package_name()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_package_name </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get the package name to which the runner belong to. </p>
+
+</div>
+</div>
+<a id="a7ca628af3cfb83cb2e17f2348c66f5a9" name="a7ca628af3cfb83cb2e17f2348c66f5a9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7ca628af3cfb83cb2e17f2348c66f5a9">&#9670;&#160;</a></span>get_parameter_name_by_type()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_parameter_name_by_type </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>param_type</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get a parameter name by type. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">param_type</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="a5ec5051ab90eb6d67890b9a56ac78c66" name="a5ec5051ab90eb6d67890b9a56ac78c66"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5ec5051ab90eb6d67890b9a56ac78c66">&#9670;&#160;</a></span>get_pid()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string &amp; capabilities2_runner::RunnerBase::get_pid </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get the pid of the runner. </p>
+
+</div>
+</div>
+<a id="ae6b41bc7b4e1ed845c8ef865ea76feaf" name="ae6b41bc7b4e1ed845c8ef865ea76feaf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae6b41bc7b4e1ed845c8ef865ea76feaf">&#9670;&#160;</a></span>get_provider()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string &amp; capabilities2_runner::RunnerBase::get_provider </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get the provider of the runner. </p>
+
+</div>
+</div>
+<a id="a819adec0f6c9d29e70fe1c39c578e96b" name="a819adec0f6c9d29e70fe1c39c578e96b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a819adec0f6c9d29e70fe1c39c578e96b">&#9670;&#160;</a></span>get_resource_name_by_type()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_resource_name_by_type </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>resource_type</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>msg_type</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get a resource name by data type from the config. </p>
+<p>This helps to navigate remappings from the runner config</p>
+<p>WARNING: this only gets the first resource found of the given type</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">resource_type</td><td></td></tr>
+    <tr><td class="paramname">msg_type</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="af3397f1baa438b11e40a2a9c8e771f75" name="af3397f1baa438b11e40a2a9c8e771f75"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3397f1baa438b11e40a2a9c8e771f75">&#9670;&#160;</a></span>get_service_name_by_type()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_service_name_by_type </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>srv_type</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get a service name by type. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">srv_type</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="abdb647861aa50def64cb7005e1234d5c" name="abdb647861aa50def64cb7005e1234d5c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abdb647861aa50def64cb7005e1234d5c">&#9670;&#160;</a></span>get_started_by()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string &amp; capabilities2_runner::RunnerBase::get_started_by </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get the starter of the runner. </p>
+
+</div>
+</div>
+<a id="a921754cdc1cbf69547f67860d5fd2f92" name="a921754cdc1cbf69547f67860d5fd2f92"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a921754cdc1cbf69547f67860d5fd2f92">&#9670;&#160;</a></span>get_topic_name_by_type()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_runner::RunnerBase::get_topic_name_by_type </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>topic_type</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get a topic name by type. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">topic_type</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="a737681af5f4227037a06390bf0bca3e0" name="a737681af5f4227037a06390bf0bca3e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a737681af5f4227037a06390bf0bca3e0">&#9670;&#160;</a></span>init_base()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::RunnerBase::init_base </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initializer function for initializing the base runner in place of constructor due to plugin semantics. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a9a5419cab317ef239d2f197714136660" name="a9a5419cab317ef239d2f197714136660"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a5419cab317ef239d2f197714136660">&#9670;&#160;</a></span>param_on_failure()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> capabilities2_runner::RunnerBase::param_on_failure </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Update on_failure event parameters with new data if available. </p>
+<p>This function is used to inject new data into the CapabilityOptions containing parameters related to the on_failure trigger event</p>
+<p>A pattern needs to be implemented in the derived class</p>
+<dl class="section return"><dt>Returns</dt><dd>CapabilityOptions containing new parameters </dd></dl>
+
+</div>
+</div>
+<a id="a68a4f300a106474d09ccda51efc57a5a" name="a68a4f300a106474d09ccda51efc57a5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a68a4f300a106474d09ccda51efc57a5a">&#9670;&#160;</a></span>param_on_started()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> capabilities2_runner::RunnerBase::param_on_started </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Update on_started event parameters with new data if available. </p>
+<p>This function is used to inject new data into the CapabilityOptions containing parameters related to the on_started trigger event</p>
+<p>A pattern needs to be implemented in the derived class</p>
+<dl class="section return"><dt>Returns</dt><dd>CapabilityOptions containing new parameters </dd></dl>
+
+</div>
+</div>
+<a id="a93d5da8c0c64d0154911a9b3ff143fff" name="a93d5da8c0c64d0154911a9b3ff143fff"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a93d5da8c0c64d0154911a9b3ff143fff">&#9670;&#160;</a></span>param_on_stopped()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> capabilities2_runner::RunnerBase::param_on_stopped </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Update on_stopped event parameters with new data if available. </p>
+<p>This function is used to inject new data into the CapabilityOptions containing parameters related to the on_stopped trigger event</p>
+<p>A pattern needs to be implemented in the derived class</p>
+<dl class="section return"><dt>Returns</dt><dd>CapabilityOptions containing new parameters </dd></dl>
+
+</div>
+</div>
+<a id="a561039712ffa38c2617baf266fc22896" name="a561039712ffa38c2617baf266fc22896"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a561039712ffa38c2617baf266fc22896">&#9670;&#160;</a></span>param_on_success()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> capabilities2_runner::RunnerBase::param_on_success </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Update on_success event parameters with new data if available. </p>
+<p>This function is used to inject new data into the CapabilityOptions containing parameters related to the on_success trigger event</p>
+<p>A pattern needs to be implemented in the derived class</p>
+<dl class="section return"><dt>Returns</dt><dd>CapabilityOptions containing new parameters </dd></dl>
+
+<p>Reimplemented in <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">capabilities2_runner::GetCapabilitySpecsRunner</a>.</p>
+
+</div>
+</div>
+<a id="af253678258e86285dc2a12ecb5c1db84" name="af253678258e86285dc2a12ecb5c1db84"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af253678258e86285dc2a12ecb5c1db84">&#9670;&#160;</a></span>start()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::RunnerBase::start </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>start the runner </p>
+<p>runner plugin api </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section attention"><dt>Attention</dt><dd>Must call init_base in derived class implementation and should call start event </dd></dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#a9a684058017ed934d6d7e921d7f75eb9">capabilities2_runner::LaunchRunner</a>, <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">capabilities2_runner::GetCapabilitySpecsRunner</a>, <a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#afae7ca7e39e5b66f8fbbbb82b118923e">capabilities2_runner::InputMultiplexRunner</a>, and <a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a871306308d5dc43facc2c490410c38cd">capabilities2_runner::DummyRunner</a>.</p>
+
+</div>
+</div>
+<a id="a590b4f109de1d343ad88db826d72d6f2" name="a590b4f109de1d343ad88db826d72d6f2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a590b4f109de1d343ad88db826d72d6f2">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::RunnerBase::stop </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop the runner </p>
+<dl class="section attention"><dt>Attention</dt><dd>should clean up threads and should call stop event </dd></dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#a5373c2eb3f97948d213aab4f95bc19c9">capabilities2_runner::LaunchRunner</a>, <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">capabilities2_runner::InputMultiplexRunner</a>, <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a>, and <a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#ae7c05952eaa590755e7ec4a722321513">capabilities2_runner::DummyRunner</a>.</p>
+
+</div>
+</div>
+<a id="ad85529d5a99b6e1373d89beadcb71a47" name="ad85529d5a99b6e1373d89beadcb71a47"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad85529d5a99b6e1373d89beadcb71a47">&#9670;&#160;</a></span>trigger()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::RunnerBase::trigger </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;&#160;</td>
+          <td class="paramname"><em>parameters</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger the runner. </p>
+<p>FIXME: implement new event subsystem </p>
+<p>This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up RunnerBase::triggerExecution in a thread</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>capability options that contain parameters for the trigger </td></tr>
+    <tr><td class="paramname">bond_id</td><td>unique identifier for the group of connections associated with this runner trigger event </td></tr>
+    <tr><td class="paramname">instance_id</td><td>unique identifier for the instance of the capability </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section attention"><dt>Attention</dt><dd>should call success and failure events with parameters and bond_id when the trigger process completes. </dd></dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">capabilities2_runner::ThreadTriggerRunner</a>, <a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">capabilities2_runner::NoTriggerRunner</a>, and <a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a0b767e28a66171727b2f9609375963f2">capabilities2_runner::DummyRunner</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ab92e5d0bb295489656b6ac35b23eef8e" name="ab92e5d0bb295489656b6ac35b23eef8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab92e5d0bb295489656b6ac35b23eef8e">&#9670;&#160;</a></span>node_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rclcpp::Node::SharedPtr capabilities2_runner::RunnerBase::node_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>shared pointer to the capabilities node Allows to use ros node related functionalities </p>
+
+</div>
+</div>
+<a id="a94f0b66e78d66b770ba91d9f55b202ce" name="a94f0b66e78d66b770ba91d9f55b202ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94f0b66e78d66b770ba91d9f55b202ce">&#9670;&#160;</a></span>run_config_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> capabilities2_runner::RunnerBase::run_config_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>run_config_ runner configuration </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
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+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">ServiceRunner</a></li>  </ul>
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+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::ServiceRunner&lt; ServiceT &gt; Member List</div></div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">generate_request</a>(capabilities2_events::EventParameters &amp;parameters)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">init_service</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;service_name)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a20fd8d22e15f75d7acb79663fec67f6c">process_response</a>(typename ServiceT::Response::SharedPtr)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">response_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">ServiceRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__runner_1_1ServiceRunner.html b/docs/html/classcapabilities2__runner_1_1ServiceRunner.html
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+<title>Capabilities2: capabilities2_runner::ServiceRunner&lt; ServiceT &gt; Class Template Reference</title>
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
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+ </tbody>
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+<!-- Generated by Doxygen 1.9.8 -->
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+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">ServiceRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classcapabilities2__runner_1_1ServiceRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::ServiceRunner&lt; ServiceT &gt; Class Template Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>service runner base class  
+ <a href="classcapabilities2__runner_1_1ServiceRunner.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="service__runner_8hpp_source.html">service_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::ServiceRunner&lt; ServiceT &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1ServiceRunner__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1ServiceRunner_3_01ServiceT_01_4_inherit__map" alt="Inheritance graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::ServiceRunner&lt; ServiceT &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1ServiceRunner__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1ServiceRunner_3_01ServiceT_01_4_coll__map" alt="Collaboration graph"/></div>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ac32c7560e8ae8138cf88616644a65804" id="r_ac32c7560e8ae8138cf88616644a65804"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">ServiceRunner</a> ()</td></tr>
+<tr class="memdesc:ac32c7560e8ae8138cf88616644a65804"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor which needs to be empty due to plugin semantics.  <br /></td></tr>
+<tr class="separator:ac32c7560e8ae8138cf88616644a65804"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace6965aa2bfd8927f48977a0125f2e87" id="r_ace6965aa2bfd8927f48977a0125f2e87"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">init_service</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;service_name)</td></tr>
+<tr class="memdesc:ace6965aa2bfd8927f48977a0125f2e87"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the service runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:ace6965aa2bfd8927f48977a0125f2e87"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a32ecc311b5288486dc0c3625a8cb2633" id="r_a32ecc311b5288486dc0c3625a8cb2633"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">stop</a> (const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td></tr>
+<tr class="memdesc:a32ecc311b5288486dc0c3625a8cb2633"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop function to cease functionality and shutdown  <br /></td></tr>
+<tr class="separator:a32ecc311b5288486dc0c3625a8cb2633"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:a88e489fd1a04dd9f308e2fd7f792035c inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a88e489fd1a04dd9f308e2fd7f792035c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a88e489fd1a04dd9f308e2fd7f792035c inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a990e91bdda8c272274eb4120bd62293f inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a990e91bdda8c272274eb4120bd62293f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a990e91bdda8c272274eb4120bd62293f inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_aae61a479d081029f9203e842dfa9884d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td></tr>
+<tr class="memdesc:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
+<tr class="separator:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
+<tr class="separator:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_afaf475264dc30c93758087ffca3754e6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a> ()=default</td></tr>
+<tr class="separator:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af253678258e86285dc2a12ecb5c1db84"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;bond_id)=0</td></tr>
+<tr class="memdesc:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the runner  <br /></td></tr>
+<tr class="separator:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a737681af5f4227037a06390bf0bca3e0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config)</td></tr>
+<tr class="memdesc:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the base runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aaa8cf2feec5aa8c1b10dcd49f0cc114a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt; events)</td></tr>
+<tr class="memdesc:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">enable events system for this runner  <br /></td></tr>
+<tr class="separator:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5ec5051ab90eb6d67890b9a56ac78c66"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a> () const</td></tr>
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+<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a3cd9380c3e2739278c1601d844aa5fc9 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a3cd9380c3e2739278c1601d844aa5fc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter=nullptr)</td></tr>
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+<tr class="separator:a0e58130ead683f82e421ea373f670fd0 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit an event from this event node to all matching connections  <br /></td></tr>
+<tr class="separator:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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+<tr class="memitem:aaeb5709d7016d6d71df4d1528b61ca41" id="r_aaeb5709d7016d6d71df4d1528b61ca41"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">execution</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, const std::string &amp;thread_id) override</td></tr>
+<tr class="memdesc:aaeb5709d7016d6d71df4d1528b61ca41"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger process to be executed.  <br /></td></tr>
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+<tr class="memitem:a922e5faa87fc64185221e220bb9450dc" id="r_a922e5faa87fc64185221e220bb9450dc"><td class="memItemLeft" align="right" valign="top">virtual ServiceT::Request&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">generate_request</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters)=0</td></tr>
+<tr class="memdesc:a922e5faa87fc64185221e220bb9450dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a request from parameters.  <br /></td></tr>
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+<tr class="memdesc:a20fd8d22e15f75d7acb79663fec67f6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process the reponse and print data as required.  <br /></td></tr>
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+<tr class="inherit_header pro_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a68a4f300a106474d09ccda51efc57a5a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a> ()</td></tr>
+<tr class="memdesc:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_started event parameters with new data if available.  <br /></td></tr>
+<tr class="separator:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a93d5da8c0c64d0154911a9b3ff143fff inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a93d5da8c0c64d0154911a9b3ff143fff"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a> ()</td></tr>
+<tr class="memdesc:a93d5da8c0c64d0154911a9b3ff143fff inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_stopped event parameters with new data if available.  <br /></td></tr>
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+<tr class="memitem:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9a5419cab317ef239d2f197714136660"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a> ()</td></tr>
+<tr class="memdesc:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_failure event parameters with new data if available.  <br /></td></tr>
+<tr class="separator:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a561039712ffa38c2617baf266fc22896 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a561039712ffa38c2617baf266fc22896"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a> ()</td></tr>
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+<tr class="memdesc:a7ca628af3cfb83cb2e17f2348c66f5a9 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a parameter name by type.  <br /></td></tr>
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+<tr class="memitem:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9414f4fca9459b457f306bbf8b4c1cdf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a> () const</td></tr>
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+<tr class="separator:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
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+<tr class="separator:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ac92696dfbfe4b50331ca156c4449954c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
+<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
+<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
+<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
+<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
+<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
+<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ae8d0a9622e781f9d8891018c5239a8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a> () const</td></tr>
+<tr class="memdesc:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">List all connections from this event node.  <br /></td></tr>
+<tr class="separator:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
+<tr class="memdesc:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a connection exists.  <br /></td></tr>
+<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
+<tr class="memdesc:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">current connection count  <br /></td></tr>
+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
+<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
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+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:ac79326190434b37f66792de962c9a431" id="r_ac79326190434b37f66792de962c9a431"><td class="memItemLeft" align="right" valign="top">rclcpp::Client&lt; ServiceT &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a></td></tr>
+<tr class="separator:ac79326190434b37f66792de962c9a431"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af9e954bc70da5f30aaf2906658805188"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ac20f6188631fe57af28627273fe86e64"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, std::thread &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td></tr>
+<tr class="memdesc:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">dictionary of threads that executes the execute function  <br /></td></tr>
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+<tr class="memitem:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ae5b5363dde31c25ddc3c324ef6d3f08e"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td></tr>
+<tr class="memdesc:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">mutex for threadpool synchronisation.  <br /></td></tr>
+<tr class="separator:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_abb0aca7529033b5c7f5e36a72253e552"><td class="memItemLeft" align="right" valign="top">std::atomic&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td></tr>
+<tr class="memdesc:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">flag to signal execution threads to stop.  <br /></td></tr>
+<tr class="separator:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
+<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
+<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
+<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
+<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a10133774ae4ef6f39f9d94ebbed1b58c"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract bond_id from thread_id  <br /></td></tr>
+<tr class="separator:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_af750ef563c71182944a9a0ec380f78de"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract instance_id from thread_id  <br /></td></tr>
+<tr class="separator:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename ServiceT&gt;<br />
+class capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</div><p>service runner base class </p>
+<p>Create an server client to run an service based capability </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac32c7560e8ae8138cf88616644a65804" name="ac32c7560e8ae8138cf88616644a65804"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac32c7560e8ae8138cf88616644a65804">&#9670;&#160;</a></span>ServiceRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ServiceT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a>&lt; ServiceT &gt;::ServiceRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor which needs to be empty due to plugin semantics. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aaeb5709d7016d6d71df4d1528b61ca41" name="aaeb5709d7016d6d71df4d1528b61ca41"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaeb5709d7016d6d71df4d1528b61ca41">&#9670;&#160;</a></span>execution()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ServiceT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a>&lt; ServiceT &gt;::execution </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>thread_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger process to be executed. </p>
+<p>This method utilizes paramters set via the <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d" title="Trigger the runner.">trigger()</a> function</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>pointer to tinyxml2::XMLElement that contains parameters </td></tr>
+    <tr><td class="paramname">thread_id</td><td>unique identifier for the execution thread </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">capabilities2_runner::ThreadTriggerRunner</a>.</p>
+
+</div>
+</div>
+<a id="a922e5faa87fc64185221e220bb9450dc" name="a922e5faa87fc64185221e220bb9450dc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a922e5faa87fc64185221e220bb9450dc">&#9670;&#160;</a></span>generate_request()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ServiceT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual ServiceT::Request <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a>&lt; ServiceT &gt;::generate_request </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;&#160;</td>
+          <td class="paramname"><em>parameters</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Generate a request from parameters. </p>
+<p>This function is used in conjunction with the trigger function to inject type erased parameters into the typed service</p>
+<p>A pattern needs to be implemented in the derived class</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>ServiceT::Request the generated request </dd></dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">capabilities2_runner::GetCapabilitySpecsRunner</a>.</p>
+
+</div>
+</div>
+<a id="ace6965aa2bfd8927f48977a0125f2e87" name="ace6965aa2bfd8927f48977a0125f2e87"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace6965aa2bfd8927f48977a0125f2e87">&#9670;&#160;</a></span>init_service()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ServiceT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a>&lt; ServiceT &gt;::init_service </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>service_name</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initializer function for initializing the service runner in place of constructor due to plugin semantics. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
+    <tr><td class="paramname">service_name</td><td>action name used in the yaml file, used to load specific configuration from the run_config </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a20fd8d22e15f75d7acb79663fec67f6c" name="a20fd8d22e15f75d7acb79663fec67f6c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20fd8d22e15f75d7acb79663fec67f6c">&#9670;&#160;</a></span>process_response()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ServiceT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a>&lt; ServiceT &gt;::process_response </td>
+          <td>(</td>
+          <td class="paramtype">typename ServiceT::Response::SharedPtr&#160;</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Process the reponse and print data as required. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">response</td><td>service reponse message </td></tr>
+    <tr><td class="paramname">trigger_id</td><td>thread id associated with this response used for logging and event emission </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structcapabilities2__events_1_1EventParameters.html" title="capability options for a capability runner given by interface and provider">capabilities2_events::EventParameters</a> containing updated parameters for the on_success event if needed</dd></dl>
+<p>A pattern needs to be implemented in the derived class for processing the response and extracting data if needed, currently does nothing. </p>
+
+</div>
+</div>
+<a id="a32ecc311b5288486dc0c3625a8cb2633" name="a32ecc311b5288486dc0c3625a8cb2633"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a32ecc311b5288486dc0c3625a8cb2633">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ServiceT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a>&lt; ServiceT &gt;::stop </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop function to cease functionality and shutdown </p>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="af9e954bc70da5f30aaf2906658805188" name="af9e954bc70da5f30aaf2906658805188"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af9e954bc70da5f30aaf2906658805188">&#9670;&#160;</a></span>response_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ServiceT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">ServiceT::Response::SharedPtr <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a>&lt; ServiceT &gt;::response_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ac79326190434b37f66792de962c9a431" name="ac79326190434b37f66792de962c9a431"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac79326190434b37f66792de962c9a431">&#9670;&#160;</a></span>service_client_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename ServiceT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rclcpp::Client&lt;ServiceT&gt;::SharedPtr <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a>&lt; ServiceT &gt;::service_client_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="service__runner_8hpp_source.html">service_runner.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+</small></address>
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+</html>
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diff --git a/docs/html/classcapabilities2__runner_1_1ThreadTriggerRunner-members.html b/docs/html/classcapabilities2__runner_1_1ThreadTriggerRunner-members.html
new file mode 100644
index 0000000..5adccf8
--- /dev/null
+++ b/docs/html/classcapabilities2__runner_1_1ThreadTriggerRunner-members.html
@@ -0,0 +1,148 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::ThreadTriggerRunner Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__runner_1_1ThreadTriggerRunner.html b/docs/html/classcapabilities2__runner_1_1ThreadTriggerRunner.html
new file mode 100644
index 0000000..31ee84f
--- /dev/null
+++ b/docs/html/classcapabilities2__runner_1_1ThreadTriggerRunner.html
@@ -0,0 +1,647 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>Capabilities2: capabilities2_runner::ThreadTriggerRunner Class Reference</title>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
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+ </tbody>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="#pri-methods">Private Member Functions</a> &#124;
+<a href="classcapabilities2__runner_1_1ThreadTriggerRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::ThreadTriggerRunner Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>add threaded trigger execution to the runner  
+ <a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="threadtrigger__runner_8hpp_source.html">threadtrigger_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::ThreadTriggerRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1ThreadTriggerRunner__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1ThreadTriggerRunner_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__runner_1_1ThreadTriggerRunner_inherit__map" id="acapabilities2__runner_1_1ThreadTriggerRunner_inherit__map">
+<area shape="rect" title="add threaded trigger execution to the runner" alt="" coords="412,149,577,189"/>
+<area shape="rect" href="classcapabilities2__runner_1_1ServiceRunner.html" title=" " alt="" coords="625,5,867,60"/>
+<area shape="poly" title=" " alt="" coords="527,138,572,103,624,70,652,58,654,63,627,75,575,108,530,142"/>
+<area shape="rect" href="classcapabilities2__runner_1_1ActionRunner.html" title="action runner base class" alt="" coords="648,85,844,125"/>
+<area shape="poly" title=" " alt="" coords="586,143,666,122,668,127,588,148"/>
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+<area shape="poly" title=" " alt="" coords="591,166,661,166,661,171,591,171"/>
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+<area shape="poly" title=" " alt="" coords="588,190,668,210,666,215,586,195"/>
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+<area shape="poly" title=" " alt="" coords="530,196,574,230,627,262,657,274,655,279,624,267,571,235,526,200"/>
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+<area shape="poly" title=" " alt="" coords="378,166,412,166,412,171,378,171"/>
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+<area shape="poly" title=" " alt="" coords="880,30,914,30,914,35,880,35"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::ThreadTriggerRunner:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1ThreadTriggerRunner_coll__map" alt="Collaboration graph"/></div>
+<map name="acapabilities2__runner_1_1ThreadTriggerRunner_coll__map" id="acapabilities2__runner_1_1ThreadTriggerRunner_coll__map">
+<area shape="rect" title="add threaded trigger execution to the runner" alt="" coords="90,197,255,237"/>
+<area shape="rect" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners" alt="" coords="95,108,250,148"/>
+<area shape="poly" title=" " alt="" coords="175,162,175,197,170,197,170,162"/>
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+<area shape="poly" title=" " alt="" coords="111,54,158,106,154,110,107,58"/>
+<area shape="rect" href="structcapabilities2__runner_1_1runner__opts.html" title="runner options" alt="" coords="186,5,341,45"/>
+<area shape="poly" title=" " alt="" coords="239,57,192,110,188,106,235,54"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a88e489fd1a04dd9f308e2fd7f792035c" id="r_a88e489fd1a04dd9f308e2fd7f792035c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a88e489fd1a04dd9f308e2fd7f792035c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a990e91bdda8c272274eb4120bd62293f" id="r_a990e91bdda8c272274eb4120bd62293f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a990e91bdda8c272274eb4120bd62293f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae61a479d081029f9203e842dfa9884d" id="r_aae61a479d081029f9203e842dfa9884d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td></tr>
+<tr class="memdesc:aae61a479d081029f9203e842dfa9884d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
+<tr class="separator:aae61a479d081029f9203e842dfa9884d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
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+<tr class="separator:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af253678258e86285dc2a12ecb5c1db84"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;bond_id)=0</td></tr>
+<tr class="memdesc:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the runner  <br /></td></tr>
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+<tr class="memitem:a590b4f109de1d343ad88db826d72d6f2 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a590b4f109de1d343ad88db826d72d6f2"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a> (const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td></tr>
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+<tr class="separator:a590b4f109de1d343ad88db826d72d6f2 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the base runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">enable events system for this runner  <br /></td></tr>
+<tr class="separator:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a7a66fa34cdf7a2868dfb9f1d8f8d65ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt; callback)</td></tr>
+<tr class="memdesc:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">make EventNode::add_connection public method on runner api.  <br /></td></tr>
+<tr class="separator:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aa43dcda95ec5bbfae42229acb621527a"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a> ()</td></tr>
+<tr class="memdesc:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the package name to which the runner belong to.  <br /></td></tr>
+<tr class="separator:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9f51d46e66d0e3e33677fc6b41a7ab2b"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a> () const</td></tr>
+<tr class="memdesc:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the interface of the runner.  <br /></td></tr>
+<tr class="separator:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ae6b41bc7b4e1ed845c8ef865ea76feaf"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a> () const</td></tr>
+<tr class="memdesc:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the provider of the runner.  <br /></td></tr>
+<tr class="separator:ae6b41bc7b4e1ed845c8ef865ea76feaf inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_abdb647861aa50def64cb7005e1234d5c"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a> () const</td></tr>
+<tr class="memdesc:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the starter of the runner.  <br /></td></tr>
+<tr class="separator:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5ec5051ab90eb6d67890b9a56ac78c66"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a> () const</td></tr>
+<tr class="memdesc:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the pid of the runner.  <br /></td></tr>
+<tr class="separator:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a3cd9380c3e2739278c1601d844aa5fc9 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a3cd9380c3e2739278c1601d844aa5fc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter=nullptr)</td></tr>
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+<tr class="separator:a0e58130ead683f82e421ea373f670fd0 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_ad1b79fbe33fd75339bcaa77417240e57"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit an event from this event node to all matching connections  <br /></td></tr>
+<tr class="separator:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
+Static Public Member Functions</h2></td></tr>
+<tr class="memitem:a10133774ae4ef6f39f9d94ebbed1b58c" id="r_a10133774ae4ef6f39f9d94ebbed1b58c"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:a10133774ae4ef6f39f9d94ebbed1b58c"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract bond_id from thread_id  <br /></td></tr>
+<tr class="separator:a10133774ae4ef6f39f9d94ebbed1b58c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:af750ef563c71182944a9a0ec380f78de"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract instance_id from thread_id  <br /></td></tr>
+<tr class="separator:af750ef563c71182944a9a0ec380f78de"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a9e8c878821f673722b4d2da51df274e9" id="r_a9e8c878821f673722b4d2da51df274e9"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">execution</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, const std::string &amp;thread_id)=0</td></tr>
+<tr class="memdesc:a9e8c878821f673722b4d2da51df274e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger process to be executed.  <br /></td></tr>
+<tr class="separator:a9e8c878821f673722b4d2da51df274e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
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+<tr class="memdesc:a9a5419cab317ef239d2f197714136660 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_failure event parameters with new data if available.  <br /></td></tr>
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+<tr class="memitem:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6667a04bdf0d6a83a7663b4f8b10c0cf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a> (const std::string &amp;resource_type) const</td></tr>
+<tr class="memdesc:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get first name of a given resource  <br /></td></tr>
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+<tr class="memitem:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9414f4fca9459b457f306bbf8b4c1cdf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a> () const</td></tr>
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+<tr class="separator:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_abe103d834226cfae197630ef45387e95"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a> () const</td></tr>
+<tr class="memdesc:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first topic name.  <br /></td></tr>
+<tr class="separator:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a144e9cc074f34a69677fa9c2b461160e"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a> () const</td></tr>
+<tr class="memdesc:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first service name.  <br /></td></tr>
+<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
+<tr class="memdesc:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first action name.  <br /></td></tr>
+<tr class="separator:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ac92696dfbfe4b50331ca156c4449954c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
+<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af6414218a6741b276f305e4b266878fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
+<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
+<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
+<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
+<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
+<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ae8d0a9622e781f9d8891018c5239a8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a> () const</td></tr>
+<tr class="memdesc:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">List all connections from this event node.  <br /></td></tr>
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+<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
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+<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
+<tr class="memdesc:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">current connection count  <br /></td></tr>
+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
+<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
+<tr class="separator:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:ac20f6188631fe57af28627273fe86e64" id="r_ac20f6188631fe57af28627273fe86e64"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, std::thread &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td></tr>
+<tr class="memdesc:ac20f6188631fe57af28627273fe86e64"><td class="mdescLeft">&#160;</td><td class="mdescRight">dictionary of threads that executes the execute function  <br /></td></tr>
+<tr class="separator:ac20f6188631fe57af28627273fe86e64"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae5b5363dde31c25ddc3c324ef6d3f08e" id="r_ae5b5363dde31c25ddc3c324ef6d3f08e"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td></tr>
+<tr class="memdesc:ae5b5363dde31c25ddc3c324ef6d3f08e"><td class="mdescLeft">&#160;</td><td class="mdescRight">mutex for threadpool synchronisation.  <br /></td></tr>
+<tr class="separator:ae5b5363dde31c25ddc3c324ef6d3f08e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abb0aca7529033b5c7f5e36a72253e552" id="r_abb0aca7529033b5c7f5e36a72253e552"><td class="memItemLeft" align="right" valign="top">std::atomic&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td></tr>
+<tr class="memdesc:abb0aca7529033b5c7f5e36a72253e552"><td class="mdescLeft">&#160;</td><td class="mdescRight">flag to signal execution threads to stop.  <br /></td></tr>
+<tr class="separator:abb0aca7529033b5c7f5e36a72253e552"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
+<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
+<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
+<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
+<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-methods" name="pri-methods"></a>
+Private Member Functions</h2></td></tr>
+<tr class="memitem:a7f2f5b100251310d3b9ccb6cf093c6e7" id="r_a7f2f5b100251310d3b9ccb6cf093c6e7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a> (std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td></tr>
+<tr class="separator:a7f2f5b100251310d3b9ccb6cf093c6e7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>add threaded trigger execution to the runner </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a88e489fd1a04dd9f308e2fd7f792035c" name="a88e489fd1a04dd9f308e2fd7f792035c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88e489fd1a04dd9f308e2fd7f792035c">&#9670;&#160;</a></span>ThreadTriggerRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_runner::ThreadTriggerRunner::ThreadTriggerRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a990e91bdda8c272274eb4120bd62293f" name="a990e91bdda8c272274eb4120bd62293f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a990e91bdda8c272274eb4120bd62293f">&#9670;&#160;</a></span>~ThreadTriggerRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_runner::ThreadTriggerRunner::~ThreadTriggerRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a10133774ae4ef6f39f9d94ebbed1b58c" name="a10133774ae4ef6f39f9d94ebbed1b58c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a10133774ae4ef6f39f9d94ebbed1b58c">&#9670;&#160;</a></span>bond_from_thread_id()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static const std::string capabilities2_runner::ThreadTriggerRunner::bond_from_thread_id </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>thread_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>helper function to extract bond_id from thread_id </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">thread_id</td><td>unique identifier for the execution thread, format: "bond_id/trigger_id"</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="a9e8c878821f673722b4d2da51df274e9" name="a9e8c878821f673722b4d2da51df274e9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e8c878821f673722b4d2da51df274e9">&#9670;&#160;</a></span>execution()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::ThreadTriggerRunner::execution </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>thread_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger process to be executed. </p>
+<p>This method utilizes parameters set via the <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d" title="Trigger the runner.">trigger()</a> function</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>parameters for the execution </td></tr>
+    <tr><td class="paramname">thread_id</td><td>unique identifier for the execution thread, can be used for tracking and cleanup</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section attention"><dt>Attention</dt><dd>: Should be implemented on derieved classes and should call success and failure events appropriately </dd></dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">capabilities2_runner::InputMultiplexRunner</a>, and <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a5ee42f409bc9001b397d767a264bf4f6">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a>.</p>
+
+</div>
+</div>
+<a id="af750ef563c71182944a9a0ec380f78de" name="af750ef563c71182944a9a0ec380f78de"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af750ef563c71182944a9a0ec380f78de">&#9670;&#160;</a></span>instance_from_thread_id()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static const std::string capabilities2_runner::ThreadTriggerRunner::instance_from_thread_id </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>thread_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>helper function to extract instance_id from thread_id </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">thread_id</td><td>unique identifier for the execution thread, format: "bond_id/instance_id" </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
+
+</div>
+</div>
+<a id="a7f2f5b100251310d3b9ccb6cf093c6e7" name="a7f2f5b100251310d3b9ccb6cf093c6e7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7f2f5b100251310d3b9ccb6cf093c6e7">&#9670;&#160;</a></span>stop_execution()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_runner::ThreadTriggerRunner::stop_execution </td>
+          <td>(</td>
+          <td class="paramtype">std::chrono::milliseconds&#160;</td>
+          <td class="paramname"><em>timeout</em> = <code>std::chrono::milliseconds(500)</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aae61a479d081029f9203e842dfa9884d" name="aae61a479d081029f9203e842dfa9884d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aae61a479d081029f9203e842dfa9884d">&#9670;&#160;</a></span>trigger()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_runner::ThreadTriggerRunner::trigger </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;&#160;</td>
+          <td class="paramname"><em>parameters</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger the runner. </p>
+<p>This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up RunnerBase::triggerExecution in a thread</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>pointer to tinyxml2::XMLElement that contains parameters </td></tr>
+    <tr><td class="paramname">bond_id</td><td>unique identifier for the group of connections associated with this runner trigger event </td></tr>
+    <tr><td class="paramname">instance_id</td><td>unique identifier for the instance associated with this runner trigger event </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="abb0aca7529033b5c7f5e36a72253e552" name="abb0aca7529033b5c7f5e36a72253e552"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb0aca7529033b5c7f5e36a72253e552">&#9670;&#160;</a></span>execution_should_stop_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::atomic&lt;bool&gt; capabilities2_runner::ThreadTriggerRunner::execution_should_stop_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>flag to signal execution threads to stop. </p>
+
+</div>
+</div>
+<a id="ac20f6188631fe57af28627273fe86e64" name="ac20f6188631fe57af28627273fe86e64"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac20f6188631fe57af28627273fe86e64">&#9670;&#160;</a></span>execution_thread_pool_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, std::thread&gt; capabilities2_runner::ThreadTriggerRunner::execution_thread_pool_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>dictionary of threads that executes the execute function </p>
+
+</div>
+</div>
+<a id="ae5b5363dde31c25ddc3c324ef6d3f08e" name="ae5b5363dde31c25ddc3c324ef6d3f08e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae5b5363dde31c25ddc3c324ef6d3f08e">&#9670;&#160;</a></span>mutex_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::mutex capabilities2_runner::ThreadTriggerRunner::mutex_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>mutex for threadpool synchronisation. </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="threadtrigger__runner_8hpp_source.html">threadtrigger_runner.hpp</a></li>
+</ul>
+</div><!-- contents -->
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diff --git a/docs/html/classcapabilities2__runner_1_1TopicRunner-members.html b/docs/html/classcapabilities2__runner_1_1TopicRunner-members.html
new file mode 100644
index 0000000..2a9506b
--- /dev/null
+++ b/docs/html/classcapabilities2__runner_1_1TopicRunner-members.html
@@ -0,0 +1,156 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">TopicRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner::TopicRunner&lt; TopicT &gt; Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">block_mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a53228a48218f60e37c93cefe61a314e3">callback</a>(const typename TopicT::SharedPtr &amp;msg)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">cv_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a5ee42f409bc9001b397d767a264bf4f6">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a485da884c40ea98cef38f74ba5b27684">init_subscriber</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;topic_name)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">latest_message_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">subscription_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#ac99cd688150e5cfe539e69866e01ae20">TopicRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__runner_1_1TopicRunner.html b/docs/html/classcapabilities2__runner_1_1TopicRunner.html
new file mode 100644
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+<title>Capabilities2: capabilities2_runner::TopicRunner&lt; TopicT &gt; Class Template Reference</title>
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+  </td>
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+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">TopicRunner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="classcapabilities2__runner_1_1TopicRunner-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::TopicRunner&lt; TopicT &gt; Class Template Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Topic runner base class.  
+ <a href="classcapabilities2__runner_1_1TopicRunner.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="topic__runner_8hpp_source.html">topic_runner.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_runner::TopicRunner&lt; TopicT &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1TopicRunner__inherit__graph.png" border="0" usemap="#acapabilities2__runner_1_1TopicRunner_3_01TopicT_01_4_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__runner_1_1TopicRunner_3_01TopicT_01_4_inherit__map" id="acapabilities2__runner_1_1TopicRunner_3_01TopicT_01_4_inherit__map">
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+<area shape="poly" title=" " alt="" coords="98,147,98,181,93,181,93,147"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_runner::TopicRunner&lt; TopicT &gt;:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__runner_1_1TopicRunner__coll__graph.png" border="0" usemap="#acapabilities2__runner_1_1TopicRunner_3_01TopicT_01_4_coll__map" alt="Collaboration graph"/></div>
+<map name="acapabilities2__runner_1_1TopicRunner_3_01TopicT_01_4_coll__map" id="acapabilities2__runner_1_1TopicRunner_3_01TopicT_01_4_coll__map">
+<area shape="rect" title="Topic runner base class." alt="" coords="83,287,263,327"/>
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+<area shape="poly" title=" " alt="" coords="175,251,175,287,170,287,170,251"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:ac99cd688150e5cfe539e69866e01ae20" id="r_ac99cd688150e5cfe539e69866e01ae20"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#ac99cd688150e5cfe539e69866e01ae20">TopicRunner</a> ()</td></tr>
+<tr class="memdesc:ac99cd688150e5cfe539e69866e01ae20"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor which needs to be empty due to plugin semantics.  <br /></td></tr>
+<tr class="separator:ac99cd688150e5cfe539e69866e01ae20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a485da884c40ea98cef38f74ba5b27684" id="r_a485da884c40ea98cef38f74ba5b27684"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a485da884c40ea98cef38f74ba5b27684">init_subscriber</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;topic_name)</td></tr>
+<tr class="memdesc:a485da884c40ea98cef38f74ba5b27684"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the topic runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a485da884c40ea98cef38f74ba5b27684"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1d9dc95f217c829002f3b84660590659" id="r_a1d9dc95f217c829002f3b84660590659"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">stop</a> (const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td></tr>
+<tr class="memdesc:a1d9dc95f217c829002f3b84660590659"><td class="mdescLeft">&#160;</td><td class="mdescRight">stop function to cease functionality and shutdown  <br /></td></tr>
+<tr class="separator:a1d9dc95f217c829002f3b84660590659"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:a88e489fd1a04dd9f308e2fd7f792035c inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a88e489fd1a04dd9f308e2fd7f792035c"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a88e489fd1a04dd9f308e2fd7f792035c inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a990e91bdda8c272274eb4120bd62293f inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a990e91bdda8c272274eb4120bd62293f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a> ()</td></tr>
+<tr class="separator:a990e91bdda8c272274eb4120bd62293f inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_aae61a479d081029f9203e842dfa9884d"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td></tr>
+<tr class="memdesc:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger the runner.  <br /></td></tr>
+<tr class="separator:aae61a479d081029f9203e842dfa9884d inherit pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad677f8a60b0e32510794315243a946d6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a> ()</td></tr>
+<tr class="separator:ad677f8a60b0e32510794315243a946d6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_afaf475264dc30c93758087ffca3754e6"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a> ()=default</td></tr>
+<tr class="separator:afaf475264dc30c93758087ffca3754e6 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af253678258e86285dc2a12ecb5c1db84"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config, const std::string &amp;bond_id)=0</td></tr>
+<tr class="memdesc:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">start the runner  <br /></td></tr>
+<tr class="separator:af253678258e86285dc2a12ecb5c1db84 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a737681af5f4227037a06390bf0bca3e0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a> (rclcpp::Node::SharedPtr node, const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;run_config)</td></tr>
+<tr class="memdesc:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializer function for initializing the base runner in place of constructor due to plugin semantics.  <br /></td></tr>
+<tr class="separator:a737681af5f4227037a06390bf0bca3e0 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aaa8cf2feec5aa8c1b10dcd49f0cc114a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt; events)</td></tr>
+<tr class="memdesc:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">enable events system for this runner  <br /></td></tr>
+<tr class="separator:aaa8cf2feec5aa8c1b10dcd49f0cc114a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a7a66fa34cdf7a2868dfb9f1d8f8d65ca"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt; callback)</td></tr>
+<tr class="memdesc:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">make EventNode::add_connection public method on runner api.  <br /></td></tr>
+<tr class="separator:a7a66fa34cdf7a2868dfb9f1d8f8d65ca inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa43dcda95ec5bbfae42229acb621527a inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_aa43dcda95ec5bbfae42229acb621527a"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a> ()</td></tr>
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+<tr class="memdesc:a921754cdc1cbf69547f67860d5fd2f92 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a topic name by type.  <br /></td></tr>
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+<tr class="memitem:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ac92696dfbfe4b50331ca156c4449954c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
+<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_af6414218a6741b276f305e4b266878fb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
+<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
+<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
+<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
+<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
+<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
+<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
+<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
+<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
+<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
+<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
+<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
+<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
+<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
+<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
+<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ae8d0a9622e781f9d8891018c5239a8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a> () const</td></tr>
+<tr class="memdesc:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">List all connections from this event node.  <br /></td></tr>
+<tr class="separator:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
+<tr class="memdesc:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a connection exists.  <br /></td></tr>
+<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
+<tr class="memdesc:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">current connection count  <br /></td></tr>
+<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
+<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
+<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a0af021d2aadac8d3b930fcdfc7b69da8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::Capability &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a> () const</td></tr>
+<tr class="memdesc:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">source capability of this event node  <br /></td></tr>
+<tr class="separator:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
+<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
+<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a28f3527e78cec46978b03415d429fc71" id="r_a28f3527e78cec46978b03415d429fc71"><td class="memItemLeft" align="right" valign="top">rclcpp::Subscription&lt; TopicT &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">subscription_</a></td></tr>
+<tr class="memdesc:a28f3527e78cec46978b03415d429fc71"><td class="mdescLeft">&#160;</td><td class="mdescRight">parameter to be used in the on_started event emission  <br /></td></tr>
+<tr class="separator:a28f3527e78cec46978b03415d429fc71"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0285a6ba6a5f467af952df7590aeef20" id="r_a0285a6ba6a5f467af952df7590aeef20"><td class="memItemLeft" align="right" valign="top">TopicT::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">latest_message_</a></td></tr>
+<tr class="memdesc:a0285a6ba6a5f467af952df7590aeef20"><td class="mdescLeft">&#160;</td><td class="mdescRight">parameter to store the latest message received in the callback for use in the trigger execution  <br /></td></tr>
+<tr class="separator:a0285a6ba6a5f467af952df7590aeef20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a970cca16e147cccc27c0a7d19ff64a22" id="r_a970cca16e147cccc27c0a7d19ff64a22"><td class="memItemLeft" align="right" valign="top">std::condition_variable&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">cv_</a></td></tr>
+<tr class="memdesc:a970cca16e147cccc27c0a7d19ff64a22"><td class="mdescLeft">&#160;</td><td class="mdescRight">condition variable and mutex for synchronizing the callback and trigger execution  <br /></td></tr>
+<tr class="separator:a970cca16e147cccc27c0a7d19ff64a22"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acf54f261d74e3fa6a41a2189c1a914a0" id="r_acf54f261d74e3fa6a41a2189c1a914a0"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">block_mutex_</a></td></tr>
+<tr class="separator:acf54f261d74e3fa6a41a2189c1a914a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1f44e38371bd8e9e1feaee371a370d55" id="r_a1f44e38371bd8e9e1feaee371a370d55"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a></td></tr>
+<tr class="separator:a1f44e38371bd8e9e1feaee371a370d55"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ac20f6188631fe57af28627273fe86e64"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, std::thread &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td></tr>
+<tr class="memdesc:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">dictionary of threads that executes the execute function  <br /></td></tr>
+<tr class="separator:ac20f6188631fe57af28627273fe86e64 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_ae5b5363dde31c25ddc3c324ef6d3f08e"><td class="memItemLeft" align="right" valign="top">std::mutex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td></tr>
+<tr class="memdesc:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">mutex for threadpool synchronisation.  <br /></td></tr>
+<tr class="separator:ae5b5363dde31c25ddc3c324ef6d3f08e inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_abb0aca7529033b5c7f5e36a72253e552"><td class="memItemLeft" align="right" valign="top">std::atomic&lt; bool &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td></tr>
+<tr class="memdesc:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">flag to signal execution threads to stop.  <br /></td></tr>
+<tr class="separator:abb0aca7529033b5c7f5e36a72253e552 inherit pro_attribs_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
+<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
+<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
+<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
+<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
+<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
+<tr class="memitem:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_a10133774ae4ef6f39f9d94ebbed1b58c"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract bond_id from thread_id  <br /></td></tr>
+<tr class="separator:a10133774ae4ef6f39f9d94ebbed1b58c inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner" id="r_af750ef563c71182944a9a0ec380f78de"><td class="memItemLeft" align="right" valign="top">static const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a> (const std::string &amp;thread_id)</td></tr>
+<tr class="memdesc:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="mdescLeft">&#160;</td><td class="mdescRight">helper function to extract instance_id from thread_id  <br /></td></tr>
+<tr class="separator:af750ef563c71182944a9a0ec380f78de inherit pub_static_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><div class="compoundTemplParams">template&lt;typename TopicT&gt;<br />
+class capabilities2_runner::TopicRunner&lt; TopicT &gt;</div><p>Topic runner base class. </p>
+<p>Create an topic subsriber for data grabbing capability </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="ac99cd688150e5cfe539e69866e01ae20" name="ac99cd688150e5cfe539e69866e01ae20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac99cd688150e5cfe539e69866e01ae20">&#9670;&#160;</a></span>TopicRunner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::TopicRunner </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Constructor which needs to be empty due to plugin semantics. </p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a53228a48218f60e37c93cefe61a314e3" name="a53228a48218f60e37c93cefe61a314e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a53228a48218f60e37c93cefe61a314e3">&#9670;&#160;</a></span>callback()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::callback </td>
+          <td>(</td>
+          <td class="paramtype">const typename TopicT::SharedPtr &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Callback to be executed when receiving a message. </p>
+<p>This function is used grab the messages from the callback queue into a class parameter so that it can be used later on dering trigger</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">msg</td><td>message parameter </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5ee42f409bc9001b397d767a264bf4f6" name="a5ee42f409bc9001b397d767a264bf4f6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5ee42f409bc9001b397d767a264bf4f6">&#9670;&#160;</a></span>execution()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::execution </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>thread_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger process to be executed. </p>
+<p>This method utilizes paramters set via the <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d" title="Trigger the runner.">trigger()</a> function</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">parameters</td><td>pointer to tinyxml2::XMLElement that contains parameters </td></tr>
+    <tr><td class="paramname">thread_id</td><td>unique identifier for the execution thread </td></tr>
+  </table>
+  </dd>
+</dl>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">capabilities2_runner::ThreadTriggerRunner</a>.</p>
+
+</div>
+</div>
+<a id="a485da884c40ea98cef38f74ba5b27684" name="a485da884c40ea98cef38f74ba5b27684"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a485da884c40ea98cef38f74ba5b27684">&#9670;&#160;</a></span>init_subscriber()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::init_subscriber </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>topic_name</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initializer function for initializing the topic runner in place of constructor due to plugin semantics. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
+    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
+    <tr><td class="paramname">topic_name</td><td>topic name used in the yaml file, used to load specific configuration from the run_config </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1d9dc95f217c829002f3b84660590659" name="a1d9dc95f217c829002f3b84660590659"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1d9dc95f217c829002f3b84660590659">&#9670;&#160;</a></span>stop()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::stop </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>stop function to cease functionality and shutdown </p>
+
+<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="acf54f261d74e3fa6a41a2189c1a914a0" name="acf54f261d74e3fa6a41a2189c1a914a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acf54f261d74e3fa6a41a2189c1a914a0">&#9670;&#160;</a></span>block_mutex_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::mutex <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::block_mutex_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1f44e38371bd8e9e1feaee371a370d55" name="a1f44e38371bd8e9e1feaee371a370d55"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1f44e38371bd8e9e1feaee371a370d55">&#9670;&#160;</a></span>completed_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::completed_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a970cca16e147cccc27c0a7d19ff64a22" name="a970cca16e147cccc27c0a7d19ff64a22"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a970cca16e147cccc27c0a7d19ff64a22">&#9670;&#160;</a></span>cv_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::condition_variable <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::cv_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>condition variable and mutex for synchronizing the callback and trigger execution </p>
+
+</div>
+</div>
+<a id="a0285a6ba6a5f467af952df7590aeef20" name="a0285a6ba6a5f467af952df7590aeef20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0285a6ba6a5f467af952df7590aeef20">&#9670;&#160;</a></span>latest_message_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">TopicT::SharedPtr <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::latest_message_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">mutable</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>parameter to store the latest message received in the callback for use in the trigger execution </p>
+
+</div>
+</div>
+<a id="a28f3527e78cec46978b03415d429fc71" name="a28f3527e78cec46978b03415d429fc71"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a28f3527e78cec46978b03415d429fc71">&#9670;&#160;</a></span>subscription_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename TopicT &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rclcpp::Subscription&lt;TopicT&gt;::SharedPtr <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a>&lt; TopicT &gt;::subscription_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>parameter to be used in the on_started event emission </p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="topic__runner_8hpp_source.html">topic_runner.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
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diff --git a/docs/html/classcapabilities2__server_1_1BondCache-members.html b/docs/html/classcapabilities2__server_1_1BondCache-members.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1BondCache.html">BondCache</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::BondCache Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">add_bond</a>(const std::string &amp;capability, const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a48efeffaf9fb7570b52c79487eed3f0f">BondCache</a>(const std::string &amp;bonds_topic=&quot;/capabilities/bond&quot;)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">bonds_topic_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a7db63a73651b43fa55eb444f49d62b26">exists</a>(const std::string &amp;capability, const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">get_bonds</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">get_capabilities</a>(const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">remove_bond</a>(const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#af3825f2898c0ed831a7f89b85d6742c5">remove_bond</a>(const std::string &amp;capability, const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">start</a>(const std::string &amp;bond_id, rclcpp::Node::SharedPtr node, std::function&lt; void(void)&gt; on_broken, std::function&lt; void(void)&gt; on_formed)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/classcapabilities2__server_1_1BondCache.html b/docs/html/classcapabilities2__server_1_1BondCache.html
new file mode 100644
index 0000000..cf9bafa
--- /dev/null
+++ b/docs/html/classcapabilities2__server_1_1BondCache.html
@@ -0,0 +1,526 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: capabilities2_server::BondCache Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1BondCache.html">BondCache</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classcapabilities2__server_1_1BondCache-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::BondCache Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>bond cache class  
+ <a href="classcapabilities2__server_1_1BondCache.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="bond__cache_8hpp_source.html">bond_cache.hpp</a>&quot;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a48efeffaf9fb7570b52c79487eed3f0f" id="r_a48efeffaf9fb7570b52c79487eed3f0f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a48efeffaf9fb7570b52c79487eed3f0f">BondCache</a> (const std::string &amp;bonds_topic=&quot;/capabilities/bond&quot;)</td></tr>
+<tr class="memdesc:a48efeffaf9fb7570b52c79487eed3f0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Construct a Bond Cache with a specific bond topic.  <br /></td></tr>
+<tr class="separator:a48efeffaf9fb7570b52c79487eed3f0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a95f5c2beb3e72240154de125ff0c3555" id="r_a95f5c2beb3e72240154de125ff0c3555"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">add_bond</a> (const std::string &amp;capability, const std::string &amp;bond_id)</td></tr>
+<tr class="memdesc:a95f5c2beb3e72240154de125ff0c3555"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a bond to the cache.  <br /></td></tr>
+<tr class="separator:a95f5c2beb3e72240154de125ff0c3555"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a59117ead721f4b608863ef3ce2228a46" id="r_a59117ead721f4b608863ef3ce2228a46"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">remove_bond</a> (const std::string &amp;bond_id)</td></tr>
+<tr class="memdesc:a59117ead721f4b608863ef3ce2228a46"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a bond id from the cache for all capabilities.  <br /></td></tr>
+<tr class="separator:a59117ead721f4b608863ef3ce2228a46"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af3825f2898c0ed831a7f89b85d6742c5" id="r_af3825f2898c0ed831a7f89b85d6742c5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#af3825f2898c0ed831a7f89b85d6742c5">remove_bond</a> (const std::string &amp;capability, const std::string &amp;bond_id)</td></tr>
+<tr class="memdesc:af3825f2898c0ed831a7f89b85d6742c5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a bond id from a specific capability.  <br /></td></tr>
+<tr class="separator:af3825f2898c0ed831a7f89b85d6742c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ada688394effbf87bed480782d64fe8e5" id="r_ada688394effbf87bed480782d64fe8e5"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">get_capabilities</a> (const std::string &amp;bond_id)</td></tr>
+<tr class="separator:ada688394effbf87bed480782d64fe8e5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a19639716efa05b956bff7c9ca583b728" id="r_a19639716efa05b956bff7c9ca583b728"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">get_bonds</a> (const std::string &amp;capability)</td></tr>
+<tr class="separator:a19639716efa05b956bff7c9ca583b728"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0cfb5d5535e4a3608593c3093364baaa" id="r_a0cfb5d5535e4a3608593c3093364baaa"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a> (const std::string &amp;capability)</td></tr>
+<tr class="separator:a0cfb5d5535e4a3608593c3093364baaa"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7db63a73651b43fa55eb444f49d62b26" id="r_a7db63a73651b43fa55eb444f49d62b26"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a7db63a73651b43fa55eb444f49d62b26">exists</a> (const std::string &amp;capability, const std::string &amp;bond_id)</td></tr>
+<tr class="separator:a7db63a73651b43fa55eb444f49d62b26"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abb808c809ef2a79e4a8695f84bc47266" id="r_abb808c809ef2a79e4a8695f84bc47266"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">start</a> (const std::string &amp;bond_id, rclcpp::Node::SharedPtr node, std::function&lt; void(void)&gt; on_broken, std::function&lt; void(void)&gt; on_formed)</td></tr>
+<tr class="separator:abb808c809ef2a79e4a8695f84bc47266"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:af926c1948de00a8c475580903f542461" id="r_af926c1948de00a8c475580903f542461"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">bonds_topic_</a></td></tr>
+<tr class="separator:af926c1948de00a8c475580903f542461"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a7b2a6a067fe9dd8266d44e549f68849e" id="r_a7b2a6a067fe9dd8266d44e549f68849e"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, std::vector&lt; std::string &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a></td></tr>
+<tr class="separator:a7b2a6a067fe9dd8266d44e549f68849e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a329d242a8477e10bfa914107920ffbc6" id="r_a329d242a8477e10bfa914107920ffbc6"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, std::unique_ptr&lt; bond::Bond &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a></td></tr>
+<tr class="separator:a329d242a8477e10bfa914107920ffbc6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>bond cache class </p>
+<p>keep track of bonds established by clients and associated resources this is used to manage the lifecycle of capabilities based on client bonds a capability can have multiple bonds from different clients </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a48efeffaf9fb7570b52c79487eed3f0f" name="a48efeffaf9fb7570b52c79487eed3f0f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a48efeffaf9fb7570b52c79487eed3f0f">&#9670;&#160;</a></span>BondCache()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_server::BondCache::BondCache </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bonds_topic</em> = <code>&quot;/capabilities/bond&quot;</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Construct a Bond Cache with a specific bond topic. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">bonds_topic</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a95f5c2beb3e72240154de125ff0c3555" name="a95f5c2beb3e72240154de125ff0c3555"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a95f5c2beb3e72240154de125ff0c3555">&#9670;&#160;</a></span>add_bond()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::BondCache::add_bond </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Add a bond to the cache. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td></td></tr>
+    <tr><td class="paramname">bond_id</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a0cfb5d5535e4a3608593c3093364baaa" name="a0cfb5d5535e4a3608593c3093364baaa"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0cfb5d5535e4a3608593c3093364baaa">&#9670;&#160;</a></span>exists() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_server::BondCache::exists </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7db63a73651b43fa55eb444f49d62b26" name="a7db63a73651b43fa55eb444f49d62b26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7db63a73651b43fa55eb444f49d62b26">&#9670;&#160;</a></span>exists() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_server::BondCache::exists </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a19639716efa05b956bff7c9ca583b728" name="a19639716efa05b956bff7c9ca583b728"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a19639716efa05b956bff7c9ca583b728">&#9670;&#160;</a></span>get_bonds()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::vector&lt; std::string &gt; capabilities2_server::BondCache::get_bonds </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ada688394effbf87bed480782d64fe8e5" name="ada688394effbf87bed480782d64fe8e5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ada688394effbf87bed480782d64fe8e5">&#9670;&#160;</a></span>get_capabilities()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::vector&lt; std::string &gt; capabilities2_server::BondCache::get_capabilities </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a59117ead721f4b608863ef3ce2228a46" name="a59117ead721f4b608863ef3ce2228a46"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a59117ead721f4b608863ef3ce2228a46">&#9670;&#160;</a></span>remove_bond() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::BondCache::remove_bond </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Remove a bond id from the cache for all capabilities. </p>
+<p>If a capability has no more bonds, it is removed from the cache</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">bond_id</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af3825f2898c0ed831a7f89b85d6742c5" name="af3825f2898c0ed831a7f89b85d6742c5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3825f2898c0ed831a7f89b85d6742c5">&#9670;&#160;</a></span>remove_bond() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::BondCache::remove_bond </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Remove a bond id from a specific capability. </p>
+<p>if the bond is used by another capability, it is not removed if the capability has no more bonds, it is removed from the cache</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td></td></tr>
+    <tr><td class="paramname">bond_id</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="abb808c809ef2a79e4a8695f84bc47266" name="abb808c809ef2a79e4a8695f84bc47266"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abb808c809ef2a79e4a8695f84bc47266">&#9670;&#160;</a></span>start()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::BondCache::start </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(void)&gt;&#160;</td>
+          <td class="paramname"><em>on_broken</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::function&lt; void(void)&gt;&#160;</td>
+          <td class="paramname"><em>on_formed</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a7b2a6a067fe9dd8266d44e549f68849e" name="a7b2a6a067fe9dd8266d44e549f68849e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7b2a6a067fe9dd8266d44e549f68849e">&#9670;&#160;</a></span>bond_cache_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, std::vector&lt;std::string&gt; &gt; capabilities2_server::BondCache::bond_cache_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af926c1948de00a8c475580903f542461" name="af926c1948de00a8c475580903f542461"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af926c1948de00a8c475580903f542461">&#9670;&#160;</a></span>bonds_topic_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::BondCache::bonds_topic_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a329d242a8477e10bfa914107920ffbc6" name="a329d242a8477e10bfa914107920ffbc6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a329d242a8477e10bfa914107920ffbc6">&#9670;&#160;</a></span>live_bonds_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, std::unique_ptr&lt;bond::Bond&gt; &gt; capabilities2_server::BondCache::live_bonds_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/<a class="el" href="bond__cache_8hpp_source.html">bond_cache.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/classcapabilities2__server_1_1CapabilitiesAPI-members.html b/docs/html/classcapabilities2__server_1_1CapabilitiesAPI-members.html
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+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
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+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">CapabilitiesAPI</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::CapabilitiesAPI Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">add_capability</a>(const capabilities2_msgs::msg::CapabilitySpec &amp;spec)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">bind_dependency</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">CapabilitiesAPI</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">connect</a>(const std::string &amp;db_file, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">connect_capability</a>(const std::string &amp;bond_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">establish_bond</a>(rclcpp::Node::SharedPtr node)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a>(const std::string &amp;capability, const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">get_capability_spec</a>(const std::string &amp;resource)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">get_capability_specs</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">get_interfaces</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">get_pid</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">get_providers</a>(const std::string &amp;interface, const bool &amp;include_semantic)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">get_remappings</a>(const std::string &amp;capability_spec, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">get_semantic_interfaces</a>(const std::string &amp;interface)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">on_bond_broken</a>(const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">on_bond_established</a>(const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">trigger_capability</a>(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">unbind_dependency</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">use_capability</a>(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider, const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/classcapabilities2__server_1_1CapabilitiesAPI.html b/docs/html/classcapabilities2__server_1_1CapabilitiesAPI.html
new file mode 100644
index 0000000..c7626e0
--- /dev/null
+++ b/docs/html/classcapabilities2__server_1_1CapabilitiesAPI.html
@@ -0,0 +1,1098 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: capabilities2_server::CapabilitiesAPI Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">CapabilitiesAPI</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-attribs">Protected Attributes</a> &#124;
+<a href="#pri-methods">Private Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classcapabilities2__server_1_1CapabilitiesAPI-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::CapabilitiesAPI Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners  
+ <a href="classcapabilities2__server_1_1CapabilitiesAPI.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="capabilities__api_8hpp_source.html">capabilities_api.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_server::CapabilitiesAPI:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__server_1_1CapabilitiesAPI__inherit__graph.png" border="0" usemap="#acapabilities2__server_1_1CapabilitiesAPI_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__server_1_1CapabilitiesAPI_inherit__map" id="acapabilities2__server_1_1CapabilitiesAPI_inherit__map">
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+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_server::CapabilitiesAPI:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.png" border="0" usemap="#acapabilities2__server_1_1CapabilitiesAPI_coll__map" alt="Collaboration graph"/></div>
+<map name="acapabilities2__server_1_1CapabilitiesAPI_coll__map" id="acapabilities2__server_1_1CapabilitiesAPI_coll__map">
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+<area shape="poly" title=" " alt="" coords="110,54,156,106,152,110,106,58"/>
+<area shape="rect" href="classcapabilities2__server_1_1RunnerCache.html" title="runner cache class responsible for caching the currently active runners of capabilities this cache de..." alt="" coords="183,5,336,45"/>
+<area shape="poly" title=" " alt="" coords="247,59,228,86,201,110,197,106,224,82,242,56"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a7e33013361270175186e7e23fe7342ce" id="r_a7e33013361270175186e7e23fe7342ce"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">CapabilitiesAPI</a> ()</td></tr>
+<tr class="separator:a7e33013361270175186e7e23fe7342ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a84971555f626b74b3236c61bd2bf0ef2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:aaf69b498cc0fcc66267032c8a0a1504c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Start a capability. Internal function only. Do not used this function externally.  <br /></td></tr>
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+<tr class="separator:a419ed80ae9a32f0d89518b0750ade73c"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:ae6e049a500dc2554322475a1b4e89c21"><td class="mdescLeft">&#160;</td><td class="mdescRight">connect RUNNING capabilities together via event type  <br /></td></tr>
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+<tr class="separator:a226adbcdbb5b497953a2dd61d418a7de"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:acd27a3b8a5655712120d8f60e6e21a03"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad0323e4febb7e96405a0473e39e58d52"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ad6f151b6a272325d92aeb7704ded093a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af2ad7408ac8e69d5cf4d8bb503fd37e8"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a89ca5565eac4c99553fb79e7e8c332c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0c1bbfe23a34eb6adef90747bba2b34f" id="r_a0c1bbfe23a34eb6adef90747bba2b34f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">get_remappings</a> (const std::string &amp;capability_spec, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</td></tr>
+<tr class="separator:a0c1bbfe23a34eb6adef90747bba2b34f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a35a9b49bc2b1fdcf0311264905f59514" id="r_a35a9b49bc2b1fdcf0311264905f59514"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::RunningCapability &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a> ()</td></tr>
+<tr class="separator:a35a9b49bc2b1fdcf0311264905f59514"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a25529ea4994cd0e839500fff111b620c" id="r_a25529ea4994cd0e839500fff111b620c"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">get_pid</a> (const std::string &amp;capability)</td></tr>
+<tr class="memdesc:a25529ea4994cd0e839500fff111b620c"><td class="mdescLeft">&#160;</td><td class="mdescRight">get pid of capability  <br /></td></tr>
+<tr class="separator:a25529ea4994cd0e839500fff111b620c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9d25868abf2647c2e77aad620b270c3b" id="r_a9d25868abf2647c2e77aad620b270c3b"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">establish_bond</a> (rclcpp::Node::SharedPtr node)</td></tr>
+<tr class="separator:a9d25868abf2647c2e77aad620b270c3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:acfc34192e7ebdf7bd32bb720eba44953"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8af0a6969caee569e51664a7258927ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
+Protected Attributes</h2></td></tr>
+<tr class="memitem:a1e3645b59e7641e486143354562ccfc3" id="r_a1e3645b59e7641e486143354562ccfc3"><td class="memItemLeft" align="right" valign="top">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a></td></tr>
+<tr class="separator:a1e3645b59e7641e486143354562ccfc3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-methods" name="pri-methods"></a>
+Private Member Functions</h2></td></tr>
+<tr class="memitem:a6c1be72e9e6d7c1391e85cf7fe60f002" id="r_a6c1be72e9e6d7c1391e85cf7fe60f002"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">bind_dependency</a> (const std::string &amp;capability)</td></tr>
+<tr class="separator:a6c1be72e9e6d7c1391e85cf7fe60f002"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1449c47e0248409b93a901b0836ca282"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:aa57dd46315cc8b11f23488353c00dc95" id="r_aa57dd46315cc8b11f23488353c00dc95"><td class="memItemLeft" align="right" valign="top">std::unique_ptr&lt; <a class="el" href="classcapabilities2__server_1_1DBBase.html">DBBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a></td></tr>
+<tr class="separator:aa57dd46315cc8b11f23488353c00dc95"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aed8b4cad33f58aa31b3ed1be0c48f5d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a51bf4e23cd02446a33b25783342f8692"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:af88813815d1201f52e2e2f19b43068d2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5c6b0cbb72426b457e5469285f7d4451"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a7e33013361270175186e7e23fe7342ce" name="a7e33013361270175186e7e23fe7342ce"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e33013361270175186e7e23fe7342ce">&#9670;&#160;</a></span>CapabilitiesAPI()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_server::CapabilitiesAPI::CapabilitiesAPI </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a226adbcdbb5b497953a2dd61d418a7de" name="a226adbcdbb5b497953a2dd61d418a7de"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a226adbcdbb5b497953a2dd61d418a7de">&#9670;&#160;</a></span>add_capability()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::add_capability </td>
+          <td>(</td>
+          <td class="paramtype">const capabilities2_msgs::msg::CapabilitySpec &amp;&#160;</td>
+          <td class="paramname"><em>spec</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a6c1be72e9e6d7c1391e85cf7fe60f002" name="a6c1be72e9e6d7c1391e85cf7fe60f002"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6c1be72e9e6d7c1391e85cf7fe60f002">&#9670;&#160;</a></span>bind_dependency()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::bind_dependency </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a84971555f626b74b3236c61bd2bf0ef2" name="a84971555f626b74b3236c61bd2bf0ef2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a84971555f626b74b3236c61bd2bf0ef2">&#9670;&#160;</a></span>connect()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::connect </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>db_file</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr&#160;</td>
+          <td class="paramname"><em>logging</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>connect with the database file </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">db_file</td><td>file path of the database file </td></tr>
+    <tr><td class="paramname">logging</td><td>pointer to the node logging interface for logging </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae6e049a500dc2554322475a1b4e89c21" name="ae6e049a500dc2554322475a1b4e89c21"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae6e049a500dc2554322475a1b4e89c21">&#9670;&#160;</a></span>connect_capability()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::connect_capability </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::CapabilityConnection &amp;&#160;</td>
+          <td class="paramname"><em>connection</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>connect RUNNING capabilities together via event type </p>
+<p>TODO: Allow connections for not-running capabilities by storing connections in the db FIXME: implement new event subsystem Each running capability is a node that can be connected to other capabilities these connections emit events when the capability states change </p>
+
+</div>
+</div>
+<a id="a9d25868abf2647c2e77aad620b270c3b" name="a9d25868abf2647c2e77aad620b270c3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9d25868abf2647c2e77aad620b270c3b">&#9670;&#160;</a></span>establish_bond()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_server::CapabilitiesAPI::establish_bond </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a02d27d28503b5b56cf5aa3556e1a2118" name="a02d27d28503b5b56cf5aa3556e1a2118"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a02d27d28503b5b56cf5aa3556e1a2118">&#9670;&#160;</a></span>free_capability()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::free_capability </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Free a capability after usage. This will remove the bond and callstop_capability This function can be used externally. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td>capability name to be freed </td></tr>
+    <tr><td class="paramname">bond_id</td><td>bond_id of the capability instance to be freed </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af2ad7408ac8e69d5cf4d8bb503fd37e8" name="af2ad7408ac8e69d5cf4d8bb503fd37e8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2ad7408ac8e69d5cf4d8bb503fd37e8">&#9670;&#160;</a></span>get_capability_spec()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const capabilities2_msgs::msg::CapabilitySpec capabilities2_server::CapabilitiesAPI::get_capability_spec </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>resource</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the capability spec object for a given resource return the spec in yaml string format. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">resource</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>const capabilities2_msgs::msg::CapabilitySpec </dd></dl>
+
+</div>
+</div>
+<a id="a89ca5565eac4c99553fb79e7e8c332c8" name="a89ca5565eac4c99553fb79e7e8c332c8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a89ca5565eac4c99553fb79e7e8c332c8">&#9670;&#160;</a></span>get_capability_specs()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; capabilities2_msgs::msg::CapabilitySpec &gt; capabilities2_server::CapabilitiesAPI::get_capability_specs </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acd27a3b8a5655712120d8f60e6e21a03" name="acd27a3b8a5655712120d8f60e6e21a03"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acd27a3b8a5655712120d8f60e6e21a03">&#9670;&#160;</a></span>get_interfaces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; std::string &gt; capabilities2_server::CapabilitiesAPI::get_interfaces </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a25529ea4994cd0e839500fff111b620c" name="a25529ea4994cd0e839500fff111b620c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a25529ea4994cd0e839500fff111b620c">&#9670;&#160;</a></span>get_pid()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">int capabilities2_server::CapabilitiesAPI::get_pid </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get pid of capability </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td>capability of which the pid is requested </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>value of pid </dd></dl>
+
+</div>
+</div>
+<a id="ad6f151b6a272325d92aeb7704ded093a" name="ad6f151b6a272325d92aeb7704ded093a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad6f151b6a272325d92aeb7704ded093a">&#9670;&#160;</a></span>get_providers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; std::string &gt; capabilities2_server::CapabilitiesAPI::get_providers </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>interface</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const bool &amp;&#160;</td>
+          <td class="paramname"><em>include_semantic</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0c1bbfe23a34eb6adef90747bba2b34f" name="a0c1bbfe23a34eb6adef90747bba2b34f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0c1bbfe23a34eb6adef90747bba2b34f">&#9670;&#160;</a></span>get_remappings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::get_remappings </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability_spec</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a35a9b49bc2b1fdcf0311264905f59514" name="a35a9b49bc2b1fdcf0311264905f59514"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a35a9b49bc2b1fdcf0311264905f59514">&#9670;&#160;</a></span>get_running_capabilities()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; capabilities2_msgs::msg::RunningCapability &gt; capabilities2_server::CapabilitiesAPI::get_running_capabilities </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad0323e4febb7e96405a0473e39e58d52" name="ad0323e4febb7e96405a0473e39e58d52"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad0323e4febb7e96405a0473e39e58d52">&#9670;&#160;</a></span>get_semantic_interfaces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt; std::string &gt; capabilities2_server::CapabilitiesAPI::get_semantic_interfaces </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>interface</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8af0a6969caee569e51664a7258927ba" name="a8af0a6969caee569e51664a7258927ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8af0a6969caee569e51664a7258927ba">&#9670;&#160;</a></span>on_bond_broken()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::on_bond_broken </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acfc34192e7ebdf7bd32bb720eba44953" name="acfc34192e7ebdf7bd32bb720eba44953"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfc34192e7ebdf7bd32bb720eba44953">&#9670;&#160;</a></span>on_bond_established()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::on_bond_established </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aaf69b498cc0fcc66267032c8a0a1504c" name="aaf69b498cc0fcc66267032c8a0a1504c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aaf69b498cc0fcc66267032c8a0a1504c">&#9670;&#160;</a></span>start_capability()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_server::CapabilitiesAPI::start_capability </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>provider</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Start a capability. Internal function only. Do not used this function externally. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>ros node pointer of the ros server </td></tr>
+    <tr><td class="paramname">capability</td><td>capability name to be started </td></tr>
+    <tr><td class="paramname">provider</td><td>provider of the capability </td></tr>
+    <tr><td class="paramname">bond_id</td><td>bond_id of the capability instance to be started</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>true</code> if capability started successfully. else returns <code>false</code> </dd></dl>
+
+</div>
+</div>
+<a id="a1e106040d8bec5321e809c3666601600" name="a1e106040d8bec5321e809c3666601600"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e106040d8bec5321e809c3666601600">&#9670;&#160;</a></span>stop_capability()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::stop_capability </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Stop a capability. Internal function only. Do not used this function externally. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td>capability name to be stopped </td></tr>
+    <tr><td class="paramname">bond_id</td><td>bond_id of the capability instance to be stopped </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="ae6de8e860c63da9acde97c4b5cd7a5a5" name="ae6de8e860c63da9acde97c4b5cd7a5a5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae6de8e860c63da9acde97c4b5cd7a5a5">&#9670;&#160;</a></span>trigger_capability()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::trigger_capability </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>trigger a capability </p>
+<p>This is a new function for a capability provider (runner) that is already started but has additional parameters to be triggered. This function can be used externally.</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td></td></tr>
+    <tr><td class="paramname">parameters</td><td></td></tr>
+    <tr><td class="paramname">bond_id</td><td></td></tr>
+    <tr><td class="paramname">instance_id</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a1449c47e0248409b93a901b0836ca282" name="a1449c47e0248409b93a901b0836ca282"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1449c47e0248409b93a901b0836ca282">&#9670;&#160;</a></span>unbind_dependency()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesAPI::unbind_dependency </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a419ed80ae9a32f0d89518b0750ade73c" name="a419ed80ae9a32f0d89518b0750ade73c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a419ed80ae9a32f0d89518b0750ade73c">&#9670;&#160;</a></span>use_capability()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_server::CapabilitiesAPI::use_capability </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>provider</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Use a capability. This will create a bond id for the requested instance and call start_capability function can be used externally. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>ros node pointer of the ros server </td></tr>
+    <tr><td class="paramname">capability</td><td>capability name to be started </td></tr>
+    <tr><td class="paramname">provider</td><td>provider of the capability </td></tr>
+    <tr><td class="paramname">bond_id</td><td>bond_id for the capability</td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><code>true</code> if capability started successfully. else returns <code>false</code> </dd></dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a51bf4e23cd02446a33b25783342f8692" name="a51bf4e23cd02446a33b25783342f8692"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a51bf4e23cd02446a33b25783342f8692">&#9670;&#160;</a></span>bond_cache_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classcapabilities2__server_1_1BondCache.html">BondCache</a> capabilities2_server::CapabilitiesAPI::bond_cache_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa57dd46315cc8b11f23488353c00dc95" name="aa57dd46315cc8b11f23488353c00dc95"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa57dd46315cc8b11f23488353c00dc95">&#9670;&#160;</a></span>cap_db_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::unique_ptr&lt;<a class="el" href="classcapabilities2__server_1_1DBBase.html">DBBase</a>&gt; capabilities2_server::CapabilitiesAPI::cap_db_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1e3645b59e7641e486143354562ccfc3" name="a1e3645b59e7641e486143354562ccfc3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1e3645b59e7641e486143354562ccfc3">&#9670;&#160;</a></span>event_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::shared_ptr&lt;<a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a>&gt; capabilities2_server::CapabilitiesAPI::event_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5c6b0cbb72426b457e5469285f7d4451" name="a5c6b0cbb72426b457e5469285f7d4451"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5c6b0cbb72426b457e5469285f7d4451">&#9670;&#160;</a></span>internal_bond_ids_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt;std::string&gt; capabilities2_server::CapabilitiesAPI::internal_bond_ids_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aed8b4cad33f58aa31b3ed1be0c48f5d2" name="aed8b4cad33f58aa31b3ed1be0c48f5d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed8b4cad33f58aa31b3ed1be0c48f5d2">&#9670;&#160;</a></span>logging_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr capabilities2_server::CapabilitiesAPI::logging_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af88813815d1201f52e2e2f19b43068d2" name="af88813815d1201f52e2e2f19b43068d2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af88813815d1201f52e2e2f19b43068d2">&#9670;&#160;</a></span>runner_cache_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">RunnerCache</a> capabilities2_server::CapabilitiesAPI::runner_cache_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/<a class="el" href="capabilities__api_8hpp_source.html">capabilities_api.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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diff --git a/docs/html/classcapabilities2__server_1_1CapabilitiesDB-members.html b/docs/html/classcapabilities2__server_1_1CapabilitiesDB-members.html
new file mode 100644
index 0000000..e75998b
--- /dev/null
+++ b/docs/html/classcapabilities2__server_1_1CapabilitiesDB-members.html
@@ -0,0 +1,123 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">CapabilitiesDB</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::CapabilitiesDB Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">apply_provider_remappings</a>(models::provider_model_t provider) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">apply_remappings</a>(models::specification_model_t &amp;spec, const models::remappable_base_t &amp;remappable) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a9ce49d71065acc667a5ce863a9e1f2a2">apply_semantic_remappings</a>(models::semantic_interface_model_t semantic) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6a06e320c5c1ac224f7879bbe05e6a8e">CapabilitiesDB</a>(const std::string db_file=&quot;cache/capabilities.sqlite3&quot;)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">close</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">create_tables</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#acaffd52c473cbfe7d744ba9bd8a289b2">DBBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(const std::string &amp;query)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">exists</a>(const std::string &amp;resource_name)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">exists_any</a>(const std::string &amp;resource_name)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">get_interface</a>(const std::string &amp;name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">get_interfaces</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(const std::string &amp;name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">get_providers</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">get_providers_by_interface</a>(const std::string &amp;interface_name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">get_remappable</a>(const std::string &amp;name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">get_run_config</a>(const std::string &amp;provider_name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">get_running</a>(const std::string &amp;provider_name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">get_semantic_interface</a>(const std::string &amp;name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">get_semantic_interfaces</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">get_semantic_interfaces_by_interface</a>(const std::string &amp;interface_name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">insert_interface</a>(const models::interface_model_t &amp;interface) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">insert_provider</a>(const models::provider_model_t &amp;provider) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4703582a0735e3a22ed0019164c02ed1">insert_semantic_interface</a>(const models::semantic_interface_model_t &amp;semantic_interface) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">open</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a665a94af8591b998356567340f9155b9">to_interface</a>(sqlite3_stmt *stmt)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(sqlite3_stmt *stmt)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(sqlite3_stmt *stmt)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">update_interface</a>(const models::interface_model_t &amp;interface) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">update_provider</a>(const models::provider_model_t &amp;provider)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">update_semantic_interface</a>(const models::semantic_interface_model_t &amp;semantic_interface) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a40951e3346502f6e147865e1ab025e39">~CapabilitiesDB</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a3243648e7ac9ee0a7cd3e4fb35c920cb">~DBBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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+<title>Capabilities2: capabilities2_server::CapabilitiesDB Class Reference</title>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="#pri-methods">Private Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classcapabilities2__server_1_1CapabilitiesDB-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::CapabilitiesDB Class Reference</div></div>
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+<div class="contents">
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+<p><code>#include &quot;<a class="el" href="capabilities__db_8hpp_source.html">capabilities_db.hpp</a>&quot;</code></p>
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+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__server_1_1CapabilitiesDB__coll__graph.png" border="0" usemap="#acapabilities2__server_1_1CapabilitiesDB_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memitem:a6a06e320c5c1ac224f7879bbe05e6a8e" id="r_a6a06e320c5c1ac224f7879bbe05e6a8e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6a06e320c5c1ac224f7879bbe05e6a8e">CapabilitiesDB</a> (const std::string db_file=&quot;cache/capabilities.sqlite3&quot;)</td></tr>
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+<tr class="separator:a40951e3346502f6e147865e1ab025e39"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2b35eba2ee6659c550ed36dd74f39f73"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6e9c623ecba7812750ee32864e1ed448"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a5f8e47a5091b45fe625723b13528b5ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae5f180b570d6c8d57d3b7ed570fa2bc4"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0109b906d50a62d7408271780e9a8707"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:abcb12877bac9acaa5b55f0517cd83c71"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memdesc:a7147928b1a095676069664c31f91deae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get remappable model by name.  <br /></td></tr>
+<tr class="separator:a7147928b1a095676069664c31f91deae"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aa10f6716c7eb019bad310fa8e580880b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a45dde34e7373e6aec64c1f78d673e0cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a74033ce662666907c361fa22fa9e80c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a999ce91780aeeb0cd2f449eeb96a749d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3c6ed044e3cd0e60b5fcfac889ab0eea"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a6b3f7671a717e9fcc3eada08a914dd76"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:acaffd52c473cbfe7d744ba9bd8a289b2 inherit pub_methods_classcapabilities2__server_1_1DBBase" id="r_acaffd52c473cbfe7d744ba9bd8a289b2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1DBBase.html#acaffd52c473cbfe7d744ba9bd8a289b2">DBBase</a> ()=default</td></tr>
+<tr class="separator:acaffd52c473cbfe7d744ba9bd8a289b2 inherit pub_methods_classcapabilities2__server_1_1DBBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a8039f4e932039c398c1f46cc3e018a70 inherit pub_methods_classcapabilities2__server_1_1DBBase"><td class="memTemplItemLeft" align="right" valign="top">bool&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">exists</a> (const std::string &amp;resource_name)</td></tr>
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+<tr class="separator:a357eee3862ce2b244753561bf43247af inherit pub_methods_classcapabilities2__server_1_1DBBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:aba9186d82c6c65188a80f9ac146df1df" id="r_aba9186d82c6c65188a80f9ac146df1df"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">open</a> () override</td></tr>
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+<tr class="memitem:a969c480de1f0f537f67f4f0db0d1eb67" id="r_a969c480de1f0f537f67f4f0db0d1eb67"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">close</a> () override</td></tr>
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+<tr class="separator:adc7238b52504f21326ff65d8d68c08f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-methods" name="pri-methods"></a>
+Private Member Functions</h2></td></tr>
+<tr class="memitem:a665a94af8591b998356567340f9155b9" id="r_a665a94af8591b998356567340f9155b9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a665a94af8591b998356567340f9155b9">to_interface</a> (sqlite3_stmt *stmt)</td></tr>
+<tr class="separator:a665a94af8591b998356567340f9155b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3eb0881736fa825daef5ec83e1d919be" id="r_a3eb0881736fa825daef5ec83e1d919be"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a> (sqlite3_stmt *stmt)</td></tr>
+<tr class="separator:a3eb0881736fa825daef5ec83e1d919be"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac6c2407ebde5f7debcf32bc064f8c0bc" id="r_ac6c2407ebde5f7debcf32bc064f8c0bc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a> (sqlite3_stmt *stmt)</td></tr>
+<tr class="separator:ac6c2407ebde5f7debcf32bc064f8c0bc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a67c5398900d16d720335f8eb4294316d" id="r_a67c5398900d16d720335f8eb4294316d"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a></td></tr>
+<tr class="separator:a67c5398900d16d720335f8eb4294316d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a23dfb4f5d456df66de81b0dd2b9face1" id="r_a23dfb4f5d456df66de81b0dd2b9face1"><td class="memItemLeft" align="right" valign="top">sqlite3 *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a></td></tr>
+<tr class="separator:a23dfb4f5d456df66de81b0dd2b9face1"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a6a06e320c5c1ac224f7879bbe05e6a8e" name="a6a06e320c5c1ac224f7879bbe05e6a8e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6a06e320c5c1ac224f7879bbe05e6a8e">&#9670;&#160;</a></span>CapabilitiesDB()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_server::CapabilitiesDB::CapabilitiesDB </td>
+          <td>(</td>
+          <td class="paramtype">const std::string&#160;</td>
+          <td class="paramname"><em>db_file</em> = <code>&quot;cache/capabilities.sqlite3&quot;</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a40951e3346502f6e147865e1ab025e39" name="a40951e3346502f6e147865e1ab025e39"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a40951e3346502f6e147865e1ab025e39">&#9670;&#160;</a></span>~CapabilitiesDB()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_server::CapabilitiesDB::~CapabilitiesDB </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3c6ed044e3cd0e60b5fcfac889ab0eea" name="a3c6ed044e3cd0e60b5fcfac889ab0eea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3c6ed044e3cd0e60b5fcfac889ab0eea">&#9670;&#160;</a></span>apply_provider_remappings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> capabilities2_server::CapabilitiesDB::apply_provider_remappings </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&#160;</td>
+          <td class="paramname"><em>provider</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a33858ef496c7de81c1b6a4f5fe047dcc">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a5f02b94abb740a6ef0fd43daf4c1e0a0" name="a5f02b94abb740a6ef0fd43daf4c1e0a0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f02b94abb740a6ef0fd43daf4c1e0a0">&#9670;&#160;</a></span>apply_remappings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::CapabilitiesDB::apply_remappings </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">models::specification_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>spec</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>remappable</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a3ce61c146ff1a5bbea444efc503fcac8">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a9ce49d71065acc667a5ce863a9e1f2a2" name="a9ce49d71065acc667a5ce863a9e1f2a2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9ce49d71065acc667a5ce863a9e1f2a2">&#9670;&#160;</a></span>apply_semantic_remappings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> capabilities2_server::CapabilitiesDB::apply_semantic_remappings </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&#160;</td>
+          <td class="paramname"><em>semantic</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a8e6b541fd85a3a96fe9cf0f854786372">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a969c480de1f0f537f67f4f0db0d1eb67" name="a969c480de1f0f537f67f4f0db0d1eb67"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a969c480de1f0f537f67f4f0db0d1eb67">&#9670;&#160;</a></span>close()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::CapabilitiesDB::close </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#ae00a3ede155478862be6f4ba8881ff9c">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="adc7238b52504f21326ff65d8d68c08f0" name="adc7238b52504f21326ff65d8d68c08f0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adc7238b52504f21326ff65d8d68c08f0">&#9670;&#160;</a></span>create_tables()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::CapabilitiesDB::create_tables </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#aee888f726ca6acde1dbd6d7bbb67cd4a">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a3b40692ba92825e177d8e211369cfb97" name="a3b40692ba92825e177d8e211369cfb97"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b40692ba92825e177d8e211369cfb97">&#9670;&#160;</a></span>exec()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesDB::exec </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>query</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5f8e47a5091b45fe625723b13528b5ac" name="a5f8e47a5091b45fe625723b13528b5ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5f8e47a5091b45fe625723b13528b5ac">&#9670;&#160;</a></span>get_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> capabilities2_server::CapabilitiesDB::get_interface </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="ae263c0a66dccf6f7cee043f8da2050a9" name="ae263c0a66dccf6f7cee043f8da2050a9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae263c0a66dccf6f7cee043f8da2050a9">&#9670;&#160;</a></span>get_interfaces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> &gt; capabilities2_server::CapabilitiesDB::get_interfaces </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a0109b906d50a62d7408271780e9a8707" name="a0109b906d50a62d7408271780e9a8707"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0109b906d50a62d7408271780e9a8707">&#9670;&#160;</a></span>get_provider()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> capabilities2_server::CapabilitiesDB::get_provider </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="abcb12877bac9acaa5b55f0517cd83c71" name="abcb12877bac9acaa5b55f0517cd83c71"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abcb12877bac9acaa5b55f0517cd83c71">&#9670;&#160;</a></span>get_providers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> &gt; capabilities2_server::CapabilitiesDB::get_providers </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a76d7ce342e2a4d5930717437a190ec5b">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a999ce91780aeeb0cd2f449eeb96a749d" name="a999ce91780aeeb0cd2f449eeb96a749d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a999ce91780aeeb0cd2f449eeb96a749d">&#9670;&#160;</a></span>get_providers_by_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> &gt; capabilities2_server::CapabilitiesDB::get_providers_by_interface </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>interface_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a7e3aaa33b84b31afd25d2e60ff2b2e92">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a7147928b1a095676069664c31f91deae" name="a7147928b1a095676069664c31f91deae"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7147928b1a095676069664c31f91deae">&#9670;&#160;</a></span>get_remappable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> capabilities2_server::CapabilitiesDB::get_remappable </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get remappable model by name. </p>
+<p>remappable models are either semantic interfaces or providers</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html" title="remappable base model definition">models::remappable_base_t</a> </dd></dl>
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a6b3f7671a717e9fcc3eada08a914dd76" name="a6b3f7671a717e9fcc3eada08a914dd76"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6b3f7671a717e9fcc3eada08a914dd76">&#9670;&#160;</a></span>get_run_config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> capabilities2_server::CapabilitiesDB::get_run_config </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>provider_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a64d22db986833f277560784f956e328b" name="a64d22db986833f277560784f956e328b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64d22db986833f277560784f956e328b">&#9670;&#160;</a></span>get_running()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> capabilities2_server::CapabilitiesDB::get_running </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>provider_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a115b3d1151e5866ff968e96691b541a3" name="a115b3d1151e5866ff968e96691b541a3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a115b3d1151e5866ff968e96691b541a3">&#9670;&#160;</a></span>get_semantic_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> capabilities2_server::CapabilitiesDB::get_semantic_interface </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="ae5f180b570d6c8d57d3b7ed570fa2bc4" name="ae5f180b570d6c8d57d3b7ed570fa2bc4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae5f180b570d6c8d57d3b7ed570fa2bc4">&#9670;&#160;</a></span>get_semantic_interfaces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> &gt; capabilities2_server::CapabilitiesDB::get_semantic_interfaces </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#aa568f8af482c3c94933baf37e4e94413">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a4f577301e5acdf73d56bbdc53ba21e5a" name="a4f577301e5acdf73d56bbdc53ba21e5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f577301e5acdf73d56bbdc53ba21e5a">&#9670;&#160;</a></span>get_semantic_interfaces_by_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> &gt; capabilities2_server::CapabilitiesDB::get_semantic_interfaces_by_interface </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>interface_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a55534cfabcb9d0f6434c9384ba413c66">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a2b35eba2ee6659c550ed36dd74f39f73" name="a2b35eba2ee6659c550ed36dd74f39f73"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2b35eba2ee6659c550ed36dd74f39f73">&#9670;&#160;</a></span>insert_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::CapabilitiesDB::insert_interface </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>interface</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a2e631fa1b823bdeb503e5b4ebdf09b82">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a6e9c623ecba7812750ee32864e1ed448" name="a6e9c623ecba7812750ee32864e1ed448"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6e9c623ecba7812750ee32864e1ed448">&#9670;&#160;</a></span>insert_provider()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::CapabilitiesDB::insert_provider </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>provider</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a9c164a0de5d6fe507d5c1a4a55544277">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a4703582a0735e3a22ed0019164c02ed1" name="a4703582a0735e3a22ed0019164c02ed1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4703582a0735e3a22ed0019164c02ed1">&#9670;&#160;</a></span>insert_semantic_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::CapabilitiesDB::insert_semantic_interface </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>semantic_interface</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a26f67efa62c5964604f26ce926793134">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="aba9186d82c6c65188a80f9ac146df1df" name="aba9186d82c6c65188a80f9ac146df1df"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba9186d82c6c65188a80f9ac146df1df">&#9670;&#160;</a></span>open()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::CapabilitiesDB::open </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a4f87c768118f852d3c0945d4d45d6c7b">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a665a94af8591b998356567340f9155b9" name="a665a94af8591b998356567340f9155b9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a665a94af8591b998356567340f9155b9">&#9670;&#160;</a></span>to_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> capabilities2_server::CapabilitiesDB::to_interface </td>
+          <td>(</td>
+          <td class="paramtype">sqlite3_stmt *&#160;</td>
+          <td class="paramname"><em>stmt</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac6c2407ebde5f7debcf32bc064f8c0bc">&#9670;&#160;</a></span>to_provider()</h2>
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+<div class="memitem">
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+  <tr>
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+      <table class="memname">
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+          <td class="memname"><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> capabilities2_server::CapabilitiesDB::to_provider </td>
+          <td>(</td>
+          <td class="paramtype">sqlite3_stmt *&#160;</td>
+          <td class="paramname"><em>stmt</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a3eb0881736fa825daef5ec83e1d919be">&#9670;&#160;</a></span>to_semantic_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> capabilities2_server::CapabilitiesDB::to_semantic_interface </td>
+          <td>(</td>
+          <td class="paramtype">sqlite3_stmt *&#160;</td>
+          <td class="paramname"><em>stmt</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa10f6716c7eb019bad310fa8e580880b" name="aa10f6716c7eb019bad310fa8e580880b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa10f6716c7eb019bad310fa8e580880b">&#9670;&#160;</a></span>update_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::CapabilitiesDB::update_interface </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>interface</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a8ef578c5c658448b2898eb8148c1c399">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a74033ce662666907c361fa22fa9e80c2" name="a74033ce662666907c361fa22fa9e80c2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a74033ce662666907c361fa22fa9e80c2">&#9670;&#160;</a></span>update_provider()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesDB::update_provider </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>provider</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a422b18b726f0afedba3532d416ba77f9">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<a id="a45dde34e7373e6aec64c1f78d673e0cb" name="a45dde34e7373e6aec64c1f78d673e0cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a45dde34e7373e6aec64c1f78d673e0cb">&#9670;&#160;</a></span>update_semantic_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::CapabilitiesDB::update_semantic_interface </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>semantic_interface</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a2f2ac558c6c1563e7f94c95594a04ef5">capabilities2_server::DBBase</a>.</p>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a23dfb4f5d456df66de81b0dd2b9face1" name="a23dfb4f5d456df66de81b0dd2b9face1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23dfb4f5d456df66de81b0dd2b9face1">&#9670;&#160;</a></span>db_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">sqlite3* capabilities2_server::CapabilitiesDB::db_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a67c5398900d16d720335f8eb4294316d" name="a67c5398900d16d720335f8eb4294316d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a67c5398900d16d720335f8eb4294316d">&#9670;&#160;</a></span>db_file_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_server::CapabilitiesDB::db_file_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/<a class="el" href="capabilities__db_8hpp_source.html">capabilities_db.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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diff --git a/docs/html/classcapabilities2__server_1_1CapabilitiesServer-members.html b/docs/html/classcapabilities2__server_1_1CapabilitiesServer-members.html
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+++ b/docs/html/classcapabilities2__server_1_1CapabilitiesServer-members.html
@@ -0,0 +1,153 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.8"/>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">CapabilitiesServer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::CapabilitiesServer Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">add_capability</a>(const capabilities2_msgs::msg::CapabilitySpec &amp;spec)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">bind_dependency</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">CapabilitiesAPI</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aacf69c819dfe2d31895bd6a4b7831aea">CapabilitiesServer</a>(const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions())</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">connect</a>(const std::string &amp;db_file, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">connect_capability</a>(const std::string &amp;bond_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">connect_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">connect_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">establish_bond</a>(rclcpp::Node::SharedPtr node)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">establish_bond_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">establish_bond_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">event_pub_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a>(const std::string &amp;capability, const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">free_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">free_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">get_capability_spec</a>(const std::string &amp;resource)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">get_capability_spec_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">get_capability_spec_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">get_capability_specs</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">get_capability_specs_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">get_capability_specs_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">get_interfaces</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">get_interfaces_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">get_interfaces_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">get_pid</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">get_providers</a>(const std::string &amp;interface, const bool &amp;include_semantic)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">get_providers_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">get_providers_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">get_remappings</a>(const std::string &amp;capability_spec, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">get_remappings_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">get_remappings_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">get_running_capabilities_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">get_running_capabilities_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">get_semantic_interfaces</a>(const std::string &amp;interface)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">get_semantic_interfaces_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">get_semantic_interfaces_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">initialize</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">load_capabilities</a>(const std::string &amp;package_path)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a38bec3f55aab20fb4ef4be05ff20ee20">load_spec_content</a>(const std::string &amp;spec_file, capabilities2_msgs::msg::CapabilitySpec &amp;capability_spec)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">loop_hz_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">on_bond_broken</a>(const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">on_bond_established</a>(const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a5e0231cf2f4d4c16ec057e5603b0efd1">parse_package_xml</a>(const std::string &amp;package_xml, tinyxml2::XMLDocument &amp;doc)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">register_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">register_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">start_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">start_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">stop_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">stop_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">trigger_capability</a>(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">trigger_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">trigger_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">unbind_dependency</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">use_capability</a>(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider, const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">use_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">use_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+</table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__server_1_1CapabilitiesServer.html b/docs/html/classcapabilities2__server_1_1CapabilitiesServer.html
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+<title>Capabilities2: capabilities2_server::CapabilitiesServer Class Reference</title>
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">CapabilitiesServer</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-methods">Private Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classcapabilities2__server_1_1CapabilitiesServer-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::CapabilitiesServer Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>capabilities server  
+ <a href="classcapabilities2__server_1_1CapabilitiesServer.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="capabilities__server_8hpp_source.html">capabilities_server.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_server::CapabilitiesServer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__server_1_1CapabilitiesServer__inherit__graph.png" border="0" usemap="#acapabilities2__server_1_1CapabilitiesServer_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__server_1_1CapabilitiesServer_inherit__map" id="acapabilities2__server_1_1CapabilitiesServer_inherit__map">
+<area shape="rect" title="capabilities server" alt="" coords="56,93,209,133"/>
+<area shape="rect" title=" " alt="" coords="5,13,108,38"/>
+<area shape="poly" title=" " alt="" coords="78,46,118,91,114,95,74,50"/>
+<area shape="rect" href="classcapabilities2__server_1_1CapabilitiesAPI.html" title="capabilities api mapping message based logic of capabilities to database models handles message conve..." alt="" coords="132,5,285,45"/>
+<area shape="poly" title=" " alt="" coords="185,58,151,95,147,91,181,54"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_server::CapabilitiesServer:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapabilities2__server_1_1CapabilitiesServer__coll__graph.png" border="0" usemap="#acapabilities2__server_1_1CapabilitiesServer_coll__map" alt="Collaboration graph"/></div>
+<map name="acapabilities2__server_1_1CapabilitiesServer_coll__map" id="acapabilities2__server_1_1CapabilitiesServer_coll__map">
+<area shape="rect" title="capabilities server" alt="" coords="25,197,179,237"/>
+<area shape="rect" title=" " alt="" coords="5,115,108,141"/>
+<area shape="poly" title=" " alt="" coords="71,152,95,196,90,198,67,154"/>
+<area shape="rect" href="classcapabilities2__server_1_1CapabilitiesAPI.html" title="capabilities api mapping message based logic of capabilities to database models handles message conve..." alt="" coords="132,108,285,148"/>
+<area shape="poly" title=" " alt="" coords="177,159,127,199,123,195,173,155"/>
+<area shape="rect" href="classcapabilities2__server_1_1BondCache.html" title="bond cache class" alt="" coords="43,5,196,45"/>
+<area shape="poly" title=" " alt="" coords="136,56,155,82,181,106,178,110,151,86,132,59"/>
+<area shape="rect" href="classcapabilities2__server_1_1RunnerCache.html" title="runner cache class responsible for caching the currently active runners of capabilities this cache de..." alt="" coords="220,5,373,45"/>
+<area shape="poly" title=" " alt="" coords="273,58,227,110,223,106,269,54"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:aacf69c819dfe2d31895bd6a4b7831aea" id="r_aacf69c819dfe2d31895bd6a4b7831aea"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aacf69c819dfe2d31895bd6a4b7831aea">CapabilitiesServer</a> (const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions())</td></tr>
+<tr class="separator:aacf69c819dfe2d31895bd6a4b7831aea"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae560f31a113bbf9b1be05ec49c04e04e" id="r_ae560f31a113bbf9b1be05ec49c04e04e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">initialize</a> ()</td></tr>
+<tr class="memdesc:ae560f31a113bbf9b1be05ec49c04e04e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the capabilities server node.  <br /></td></tr>
+<tr class="separator:ae560f31a113bbf9b1be05ec49c04e04e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa55cf315d13a4bbbff41439a4acb6eb7" id="r_aa55cf315d13a4bbbff41439a4acb6eb7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">establish_bond_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Response &gt; res)</td></tr>
+<tr class="separator:aa55cf315d13a4bbbff41439a4acb6eb7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a60a3176ebff35a89d8066a80e533637e" id="r_a60a3176ebff35a89d8066a80e533637e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">start_capability_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Response &gt; res)</td></tr>
+<tr class="separator:a60a3176ebff35a89d8066a80e533637e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa23ec591bffe34a5b29a317de882c61d" id="r_aa23ec591bffe34a5b29a317de882c61d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">stop_capability_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Response &gt; res)</td></tr>
+<tr class="separator:aa23ec591bffe34a5b29a317de882c61d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a88e047d3b8f4947f2f89160eac2b34e3" id="r_a88e047d3b8f4947f2f89160eac2b34e3"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">trigger_capability_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Response &gt; res)</td></tr>
+<tr class="separator:a88e047d3b8f4947f2f89160eac2b34e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae855a537f8007233ab225e22fb5eca04" id="r_ae855a537f8007233ab225e22fb5eca04"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">free_capability_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Response &gt; res)</td></tr>
+<tr class="separator:ae855a537f8007233ab225e22fb5eca04"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab351057325bd9c62bbd25657061505d6" id="r_ab351057325bd9c62bbd25657061505d6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">use_capability_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Response &gt; res)</td></tr>
+<tr class="separator:ab351057325bd9c62bbd25657061505d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a03500d304d5fef27e356b30b5d23dece" id="r_a03500d304d5fef27e356b30b5d23dece"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">connect_capability_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Response &gt; res)</td></tr>
+<tr class="separator:a03500d304d5fef27e356b30b5d23dece"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a71a42e1eaa2a7b030b8e0b1c90609315" id="r_a71a42e1eaa2a7b030b8e0b1c90609315"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">register_capability_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Response &gt; res)</td></tr>
+<tr class="separator:a71a42e1eaa2a7b030b8e0b1c90609315"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1eee46a1f8874823530823183406e082" id="r_a1eee46a1f8874823530823183406e082"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">get_interfaces_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Response &gt; res)</td></tr>
+<tr class="separator:a1eee46a1f8874823530823183406e082"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae3299cfc91495fdff2fc8eb1513e7804" id="r_ae3299cfc91495fdff2fc8eb1513e7804"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">get_semantic_interfaces_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Response &gt; res)</td></tr>
+<tr class="separator:ae3299cfc91495fdff2fc8eb1513e7804"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afd5d1ff380148dbc66a57e04e92109e0" id="r_afd5d1ff380148dbc66a57e04e92109e0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">get_providers_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Response &gt; res)</td></tr>
+<tr class="separator:afd5d1ff380148dbc66a57e04e92109e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aed01fea6038bf10c20f4e23325e7b411" id="r_aed01fea6038bf10c20f4e23325e7b411"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">get_capability_spec_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Response &gt; res)</td></tr>
+<tr class="separator:aed01fea6038bf10c20f4e23325e7b411"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8bc0d2808af84412e1696f768366c114" id="r_a8bc0d2808af84412e1696f768366c114"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">get_capability_specs_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Response &gt; res)</td></tr>
+<tr class="separator:a8bc0d2808af84412e1696f768366c114"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a71728f43b140a67280d2eec2a18f00e4" id="r_a71728f43b140a67280d2eec2a18f00e4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">get_remappings_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</td></tr>
+<tr class="separator:a71728f43b140a67280d2eec2a18f00e4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad25368b49818a71d8bb5aefb64975fb5" id="r_ad25368b49818a71d8bb5aefb64975fb5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">get_running_capabilities_cb</a> (const std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Response &gt; res)</td></tr>
+<tr class="separator:ad25368b49818a71d8bb5aefb64975fb5"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__server_1_1CapabilitiesAPI')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td></tr>
+<tr class="memitem:a7e33013361270175186e7e23fe7342ce inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a7e33013361270175186e7e23fe7342ce"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">CapabilitiesAPI</a> ()</td></tr>
+<tr class="separator:a7e33013361270175186e7e23fe7342ce inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a84971555f626b74b3236c61bd2bf0ef2 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a84971555f626b74b3236c61bd2bf0ef2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">connect</a> (const std::string &amp;db_file, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging)</td></tr>
+<tr class="memdesc:a84971555f626b74b3236c61bd2bf0ef2 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="mdescLeft">&#160;</td><td class="mdescRight">connect with the database file  <br /></td></tr>
+<tr class="separator:a84971555f626b74b3236c61bd2bf0ef2 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aaf69b498cc0fcc66267032c8a0a1504c inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_aaf69b498cc0fcc66267032c8a0a1504c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a> (rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider)</td></tr>
+<tr class="memdesc:aaf69b498cc0fcc66267032c8a0a1504c inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="mdescLeft">&#160;</td><td class="mdescRight">Start a capability. Internal function only. Do not used this function externally.  <br /></td></tr>
+<tr class="separator:aaf69b498cc0fcc66267032c8a0a1504c inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1e106040d8bec5321e809c3666601600 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a1e106040d8bec5321e809c3666601600"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a> (const std::string &amp;capability)</td></tr>
+<tr class="memdesc:a1e106040d8bec5321e809c3666601600 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stop a capability. Internal function only. Do not used this function externally.  <br /></td></tr>
+<tr class="separator:a1e106040d8bec5321e809c3666601600 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a02d27d28503b5b56cf5aa3556e1a2118 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a02d27d28503b5b56cf5aa3556e1a2118"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a> (const std::string &amp;capability, const std::string &amp;bond_id)</td></tr>
+<tr class="memdesc:a02d27d28503b5b56cf5aa3556e1a2118 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="mdescLeft">&#160;</td><td class="mdescRight">Free a capability after usage. This will remove the bond and callstop_capability This function can be used externally.  <br /></td></tr>
+<tr class="separator:a02d27d28503b5b56cf5aa3556e1a2118 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6de8e860c63da9acde97c4b5cd7a5a5 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_ae6de8e860c63da9acde97c4b5cd7a5a5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">trigger_capability</a> (const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters)</td></tr>
+<tr class="memdesc:ae6de8e860c63da9acde97c4b5cd7a5a5 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="mdescLeft">&#160;</td><td class="mdescRight">trigger a capability  <br /></td></tr>
+<tr class="separator:ae6de8e860c63da9acde97c4b5cd7a5a5 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a419ed80ae9a32f0d89518b0750ade73c inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a419ed80ae9a32f0d89518b0750ade73c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">use_capability</a> (rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider, const std::string &amp;bond_id)</td></tr>
+<tr class="memdesc:a419ed80ae9a32f0d89518b0750ade73c inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="mdescLeft">&#160;</td><td class="mdescRight">Use a capability. This will create a bond id for the requested instance and call start_capability function can be used externally.  <br /></td></tr>
+<tr class="separator:a419ed80ae9a32f0d89518b0750ade73c inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae6e049a500dc2554322475a1b4e89c21 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_ae6e049a500dc2554322475a1b4e89c21"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">connect_capability</a> (const std::string &amp;bond_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection)</td></tr>
+<tr class="memdesc:ae6e049a500dc2554322475a1b4e89c21 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="mdescLeft">&#160;</td><td class="mdescRight">connect RUNNING capabilities together via event type  <br /></td></tr>
+<tr class="separator:ae6e049a500dc2554322475a1b4e89c21 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a226adbcdbb5b497953a2dd61d418a7de inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a226adbcdbb5b497953a2dd61d418a7de"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">add_capability</a> (const capabilities2_msgs::msg::CapabilitySpec &amp;spec)</td></tr>
+<tr class="separator:a226adbcdbb5b497953a2dd61d418a7de inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:acd27a3b8a5655712120d8f60e6e21a03 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_acd27a3b8a5655712120d8f60e6e21a03"><td class="memItemLeft" align="right" valign="top">std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">get_interfaces</a> ()</td></tr>
+<tr class="separator:acd27a3b8a5655712120d8f60e6e21a03 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad0323e4febb7e96405a0473e39e58d52 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_ad0323e4febb7e96405a0473e39e58d52"><td class="memItemLeft" align="right" valign="top">std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">get_semantic_interfaces</a> (const std::string &amp;interface)</td></tr>
+<tr class="separator:ad0323e4febb7e96405a0473e39e58d52 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad6f151b6a272325d92aeb7704ded093a inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_ad6f151b6a272325d92aeb7704ded093a"><td class="memItemLeft" align="right" valign="top">std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">get_providers</a> (const std::string &amp;interface, const bool &amp;include_semantic)</td></tr>
+<tr class="separator:ad6f151b6a272325d92aeb7704ded093a inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af2ad7408ac8e69d5cf4d8bb503fd37e8 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_af2ad7408ac8e69d5cf4d8bb503fd37e8"><td class="memItemLeft" align="right" valign="top">const capabilities2_msgs::msg::CapabilitySpec&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">get_capability_spec</a> (const std::string &amp;resource)</td></tr>
+<tr class="memdesc:af2ad7408ac8e69d5cf4d8bb503fd37e8 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the capability spec object for a given resource return the spec in yaml string format.  <br /></td></tr>
+<tr class="separator:af2ad7408ac8e69d5cf4d8bb503fd37e8 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a89ca5565eac4c99553fb79e7e8c332c8 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0c1bbfe23a34eb6adef90747bba2b34f inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a35a9b49bc2b1fdcf0311264905f59514 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a35a9b49bc2b1fdcf0311264905f59514"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::RunningCapability &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a> ()</td></tr>
+<tr class="separator:a35a9b49bc2b1fdcf0311264905f59514 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a9d25868abf2647c2e77aad620b270c3b inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:acfc34192e7ebdf7bd32bb720eba44953 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8af0a6969caee569e51664a7258927ba inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-methods" name="pri-methods"></a>
+Private Member Functions</h2></td></tr>
+<tr class="memitem:a58c477d3ba7423b273778842fe156dcc" id="r_a58c477d3ba7423b273778842fe156dcc"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">load_capabilities</a> (const std::string &amp;package_path)</td></tr>
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+<tr class="memdesc:a38bec3f55aab20fb4ef4be05ff20ee20"><td class="mdescLeft">&#160;</td><td class="mdescRight">load capability spec content from a file  <br /></td></tr>
+<tr class="separator:a38bec3f55aab20fb4ef4be05ff20ee20"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:a6e8b97337893a97daa58e3f0c11bb565" id="r_a6e8b97337893a97daa58e3f0c11bb565"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">loop_hz_</a></td></tr>
+<tr class="separator:a6e8b97337893a97daa58e3f0c11bb565"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4d626b97ce07ce813f045f334e0672bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aee406dd808d0277a3d1babfbaf5d0dee"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0e28a32f07cadfecd641727cf7d6df9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a234c5773e90eebb05bd36fe2025f5503"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ab479dbd4ed2028355725f553dca81d4e" id="r_ab479dbd4ed2028355725f553dca81d4e"><td class="memItemLeft" align="right" valign="top">rclcpp::Service&lt; capabilities2_msgs::srv::TriggerCapability &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">trigger_capability_srv_</a></td></tr>
+<tr class="separator:ab479dbd4ed2028355725f553dca81d4e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a152c07656d903772602e01a23b717c94" id="r_a152c07656d903772602e01a23b717c94"><td class="memItemLeft" align="right" valign="top">rclcpp::Service&lt; capabilities2_msgs::srv::UseCapability &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">use_capability_srv_</a></td></tr>
+<tr class="separator:a152c07656d903772602e01a23b717c94"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a12ab12a8447c6333dd2383534e2268bb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aa7b2bb889301337796e782ea00d788a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ae9b834509054095c04cc7f9d1557ec96" id="r_ae9b834509054095c04cc7f9d1557ec96"><td class="memItemLeft" align="right" valign="top">rclcpp::Service&lt; capabilities2_msgs::srv::GetSemanticInterfaces &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">get_semantic_interfaces_srv_</a></td></tr>
+<tr class="separator:ae9b834509054095c04cc7f9d1557ec96"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a755cc7001a6739ae422492a9b6d4f4e3" id="r_a755cc7001a6739ae422492a9b6d4f4e3"><td class="memItemLeft" align="right" valign="top">rclcpp::Service&lt; capabilities2_msgs::srv::GetProviders &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">get_providers_srv_</a></td></tr>
+<tr class="separator:a755cc7001a6739ae422492a9b6d4f4e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a8286d3d3b6ad3eefef8bb91abcf349a2"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aad26d9c4b7948bff89e9dfc54dae3b33"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a493ae61330a2da82fd4991055fdc2a2c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac358c10e20544260cb65ad6fd3a31c8d" id="r_ac358c10e20544260cb65ad6fd3a31c8d"><td class="memItemLeft" align="right" valign="top">rclcpp::Service&lt; capabilities2_msgs::srv::GetRunningCapabilities &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">get_running_capabilities_srv_</a></td></tr>
+<tr class="separator:ac358c10e20544260cb65ad6fd3a31c8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
+Additional Inherited Members</h2></td></tr>
+<tr class="inherit_header pro_attribs_classcapabilities2__server_1_1CapabilitiesAPI"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__server_1_1CapabilitiesAPI')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td></tr>
+<tr class="memitem:a1e3645b59e7641e486143354562ccfc3 inherit pro_attribs_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a1e3645b59e7641e486143354562ccfc3"><td class="memItemLeft" align="right" valign="top">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a></td></tr>
+<tr class="separator:a1e3645b59e7641e486143354562ccfc3 inherit pro_attribs_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>capabilities server </p>
+<p>Capabilities server node that provides a ROS service capabilities API for managing capabilities. implements the <a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html" title="capabilities api mapping message based logic of capabilities to database models handles message conve...">CapabilitiesAPI</a> interface for core capabilities functionality. </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="aacf69c819dfe2d31895bd6a4b7831aea" name="aacf69c819dfe2d31895bd6a4b7831aea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aacf69c819dfe2d31895bd6a4b7831aea">&#9670;&#160;</a></span>CapabilitiesServer()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_server::CapabilitiesServer::CapabilitiesServer </td>
+          <td>(</td>
+          <td class="paramtype">const rclcpp::NodeOptions &amp;&#160;</td>
+          <td class="paramname"><em>options</em> = <code>rclcpp::NodeOptions()</code></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a03500d304d5fef27e356b30b5d23dece" name="a03500d304d5fef27e356b30b5d23dece"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a03500d304d5fef27e356b30b5d23dece">&#9670;&#160;</a></span>connect_capability_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::connect_capability_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa55cf315d13a4bbbff41439a4acb6eb7" name="aa55cf315d13a4bbbff41439a4acb6eb7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa55cf315d13a4bbbff41439a4acb6eb7">&#9670;&#160;</a></span>establish_bond_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::establish_bond_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae855a537f8007233ab225e22fb5eca04" name="ae855a537f8007233ab225e22fb5eca04"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae855a537f8007233ab225e22fb5eca04">&#9670;&#160;</a></span>free_capability_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::free_capability_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aed01fea6038bf10c20f4e23325e7b411" name="aed01fea6038bf10c20f4e23325e7b411"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aed01fea6038bf10c20f4e23325e7b411">&#9670;&#160;</a></span>get_capability_spec_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::get_capability_spec_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8bc0d2808af84412e1696f768366c114" name="a8bc0d2808af84412e1696f768366c114"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8bc0d2808af84412e1696f768366c114">&#9670;&#160;</a></span>get_capability_specs_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::get_capability_specs_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a1eee46a1f8874823530823183406e082" name="a1eee46a1f8874823530823183406e082"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1eee46a1f8874823530823183406e082">&#9670;&#160;</a></span>get_interfaces_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::get_interfaces_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afd5d1ff380148dbc66a57e04e92109e0" name="afd5d1ff380148dbc66a57e04e92109e0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afd5d1ff380148dbc66a57e04e92109e0">&#9670;&#160;</a></span>get_providers_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::get_providers_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a71728f43b140a67280d2eec2a18f00e4" name="a71728f43b140a67280d2eec2a18f00e4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a71728f43b140a67280d2eec2a18f00e4">&#9670;&#160;</a></span>get_remappings_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::get_remappings_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ad25368b49818a71d8bb5aefb64975fb5" name="ad25368b49818a71d8bb5aefb64975fb5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad25368b49818a71d8bb5aefb64975fb5">&#9670;&#160;</a></span>get_running_capabilities_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::get_running_capabilities_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae3299cfc91495fdff2fc8eb1513e7804" name="ae3299cfc91495fdff2fc8eb1513e7804"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae3299cfc91495fdff2fc8eb1513e7804">&#9670;&#160;</a></span>get_semantic_interfaces_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::get_semantic_interfaces_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ae560f31a113bbf9b1be05ec49c04e04e" name="ae560f31a113bbf9b1be05ec49c04e04e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae560f31a113bbf9b1be05ec49c04e04e">&#9670;&#160;</a></span>initialize()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::initialize </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Initializes the capabilities server node. </p>
+
+</div>
+</div>
+<a id="a58c477d3ba7423b273778842fe156dcc" name="a58c477d3ba7423b273778842fe156dcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a58c477d3ba7423b273778842fe156dcc">&#9670;&#160;</a></span>load_capabilities()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::load_capabilities </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>package_path</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a38bec3f55aab20fb4ef4be05ff20ee20" name="a38bec3f55aab20fb4ef4be05ff20ee20"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38bec3f55aab20fb4ef4be05ff20ee20">&#9670;&#160;</a></span>load_spec_content()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::load_spec_content </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>spec_file</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">capabilities2_msgs::msg::CapabilitySpec &amp;&#160;</td>
+          <td class="paramname"><em>capability_spec</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>load capability spec content from a file </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">spec_file</td><td></td></tr>
+    <tr><td class="paramname">capability_spec</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a5e0231cf2f4d4c16ec057e5603b0efd1" name="a5e0231cf2f4d4c16ec057e5603b0efd1"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5e0231cf2f4d4c16ec057e5603b0efd1">&#9670;&#160;</a></span>parse_package_xml()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::parse_package_xml </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>package_xml</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">tinyxml2::XMLDocument &amp;&#160;</td>
+          <td class="paramname"><em>doc</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>parse package.xml file </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">package_xml</td><td></td></tr>
+    <tr><td class="paramname">doc</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a71a42e1eaa2a7b030b8e0b1c90609315" name="a71a42e1eaa2a7b030b8e0b1c90609315"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a71a42e1eaa2a7b030b8e0b1c90609315">&#9670;&#160;</a></span>register_capability_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::register_capability_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a60a3176ebff35a89d8066a80e533637e" name="a60a3176ebff35a89d8066a80e533637e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a60a3176ebff35a89d8066a80e533637e">&#9670;&#160;</a></span>start_capability_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::start_capability_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aa23ec591bffe34a5b29a317de882c61d" name="aa23ec591bffe34a5b29a317de882c61d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa23ec591bffe34a5b29a317de882c61d">&#9670;&#160;</a></span>stop_capability_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::stop_capability_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a88e047d3b8f4947f2f89160eac2b34e3" name="a88e047d3b8f4947f2f89160eac2b34e3"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a88e047d3b8f4947f2f89160eac2b34e3">&#9670;&#160;</a></span>trigger_capability_cb()</h2>
+
+<div class="memitem">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::trigger_capability_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="ab351057325bd9c62bbd25657061505d6" name="ab351057325bd9c62bbd25657061505d6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab351057325bd9c62bbd25657061505d6">&#9670;&#160;</a></span>use_capability_cb()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::CapabilitiesServer::use_capability_cb </td>
+          <td>(</td>
+          <td class="paramtype">const std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Request &gt;&#160;</td>
+          <td class="paramname"><em>req</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Response &gt;&#160;</td>
+          <td class="paramname"><em>res</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a234c5773e90eebb05bd36fe2025f5503" name="a234c5773e90eebb05bd36fe2025f5503"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a234c5773e90eebb05bd36fe2025f5503">&#9670;&#160;</a></span>connect_capability_srv_</h2>
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+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4d626b97ce07ce813f045f334e0672bf">&#9670;&#160;</a></span>establish_bond_srv_</h2>
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+          <td class="memname">rclcpp::Service&lt;capabilities2_msgs::srv::EstablishBond&gt;::SharedPtr capabilities2_server::CapabilitiesServer::establish_bond_srv_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
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+
+</div>
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+          <td class="memname">rclcpp::Publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;::SharedPtr capabilities2_server::CapabilitiesServer::event_pub_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+
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+          <td class="memname">rclcpp::Service&lt;capabilities2_msgs::srv::FreeCapability&gt;::SharedPtr capabilities2_server::CapabilitiesServer::free_capability_srv_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+  </td>
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+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+  </td>
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+  </td>
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+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+  </td>
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+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+  </td>
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+          <td class="memname">double capabilities2_server::CapabilitiesServer::loop_hz_</td>
+        </tr>
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+  </td>
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+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+          <td class="memname">rclcpp::Service&lt;capabilities2_msgs::srv::StopCapability&gt;::SharedPtr capabilities2_server::CapabilitiesServer::stop_capability_srv_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab479dbd4ed2028355725f553dca81d4e">&#9670;&#160;</a></span>trigger_capability_srv_</h2>
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+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a152c07656d903772602e01a23b717c94" name="a152c07656d903772602e01a23b717c94"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a152c07656d903772602e01a23b717c94">&#9670;&#160;</a></span>use_capability_srv_</h2>
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+      <table class="memname">
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+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/<a class="el" href="capabilities__server_8hpp_source.html">capabilities_server.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
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+/* @license-end */
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+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1DBBase.html">DBBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::DBBase Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a33858ef496c7de81c1b6a4f5fe047dcc">apply_provider_remappings</a>(models::provider_model_t provider)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a3ce61c146ff1a5bbea444efc503fcac8">apply_remappings</a>(models::specification_model_t &amp;spec, const models::remappable_base_t &amp;remappable)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a8e6b541fd85a3a96fe9cf0f854786372">apply_semantic_remappings</a>(models::semantic_interface_model_t semantic)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#ae00a3ede155478862be6f4ba8881ff9c">close</a>()=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#aee888f726ca6acde1dbd6d7bbb67cd4a">create_tables</a>()=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#acaffd52c473cbfe7d744ba9bd8a289b2">DBBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">exists</a>(const std::string &amp;resource_name)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">exists_any</a>(const std::string &amp;resource_name)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">get_interface</a>(const std::string &amp;name)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">get_interfaces</a>()=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">get_provider</a>(const std::string &amp;name)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a76d7ce342e2a4d5930717437a190ec5b">get_providers</a>()=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a7e3aaa33b84b31afd25d2e60ff2b2e92">get_providers_by_interface</a>(const std::string &amp;interface_name)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">get_remappable</a>(const std::string &amp;name)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">get_run_config</a>(const std::string &amp;provider_name)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">get_running</a>(const std::string &amp;provider_name)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">get_semantic_interface</a>(const std::string &amp;name)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#aa568f8af482c3c94933baf37e4e94413">get_semantic_interfaces</a>()=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a55534cfabcb9d0f6434c9384ba413c66">get_semantic_interfaces_by_interface</a>(const std::string &amp;interface_name)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a2e631fa1b823bdeb503e5b4ebdf09b82">insert_interface</a>(const models::interface_model_t &amp;interface)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a9c164a0de5d6fe507d5c1a4a55544277">insert_provider</a>(const models::provider_model_t &amp;provider)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a26f67efa62c5964604f26ce926793134">insert_semantic_interface</a>(const models::semantic_interface_model_t &amp;semantic_interface)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a4f87c768118f852d3c0945d4d45d6c7b">open</a>()=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a8ef578c5c658448b2898eb8148c1c399">update_interface</a>(const models::interface_model_t &amp;interface)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a422b18b726f0afedba3532d416ba77f9">update_provider</a>(const models::provider_model_t &amp;provider)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a2f2ac558c6c1563e7f94c95594a04ef5">update_semantic_interface</a>(const models::semantic_interface_model_t &amp;semantic_interface)=0</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a3243648e7ac9ee0a7cd3e4fb35c920cb">~DBBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/classcapabilities2__server_1_1DBBase.html b/docs/html/classcapabilities2__server_1_1DBBase.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: capabilities2_server::DBBase Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1DBBase.html">DBBase</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pro-methods">Protected Member Functions</a> &#124;
+<a href="classcapabilities2__server_1_1DBBase-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::DBBase Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &quot;<a class="el" href="db__base_8hpp_source.html">db_base.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_server::DBBase:</div>
+<div class="dyncontent">
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:acaffd52c473cbfe7d744ba9bd8a289b2" id="r_acaffd52c473cbfe7d744ba9bd8a289b2"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1DBBase.html#acaffd52c473cbfe7d744ba9bd8a289b2">DBBase</a> ()=default</td></tr>
+<tr class="separator:acaffd52c473cbfe7d744ba9bd8a289b2"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a3243648e7ac9ee0a7cd3e4fb35c920cb" id="r_a3243648e7ac9ee0a7cd3e4fb35c920cb"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a3243648e7ac9ee0a7cd3e4fb35c920cb">~DBBase</a> ()=default</td></tr>
+<tr class="separator:a3243648e7ac9ee0a7cd3e4fb35c920cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a422b18b726f0afedba3532d416ba77f9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a55534cfabcb9d0f6434c9384ba413c66"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3ce61c146ff1a5bbea444efc503fcac8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8e6b541fd85a3a96fe9cf0f854786372" id="r_a8e6b541fd85a3a96fe9cf0f854786372"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a8e6b541fd85a3a96fe9cf0f854786372">apply_semantic_remappings</a> (<a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic)=0</td></tr>
+<tr class="separator:a8e6b541fd85a3a96fe9cf0f854786372"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1baa8d0c23479b279f326cd46066aefc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8039f4e932039c398c1f46cc3e018a70" id="r_a8039f4e932039c398c1f46cc3e018a70"><td class="memTemplParams" colspan="2">template&lt;typename T &gt; </td></tr>
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+<tr class="separator:a8039f4e932039c398c1f46cc3e018a70"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a357eee3862ce2b244753561bf43247af"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
+Protected Member Functions</h2></td></tr>
+<tr class="memitem:a4f87c768118f852d3c0945d4d45d6c7b" id="r_a4f87c768118f852d3c0945d4d45d6c7b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a4f87c768118f852d3c0945d4d45d6c7b">open</a> ()=0</td></tr>
+<tr class="separator:a4f87c768118f852d3c0945d4d45d6c7b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:ae00a3ede155478862be6f4ba8881ff9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aee888f726ca6acde1dbd6d7bbb67cd4a" id="r_aee888f726ca6acde1dbd6d7bbb67cd4a"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1DBBase.html#aee888f726ca6acde1dbd6d7bbb67cd4a">create_tables</a> ()=0</td></tr>
+<tr class="separator:aee888f726ca6acde1dbd6d7bbb67cd4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="acaffd52c473cbfe7d744ba9bd8a289b2" name="acaffd52c473cbfe7d744ba9bd8a289b2"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acaffd52c473cbfe7d744ba9bd8a289b2">&#9670;&#160;</a></span>DBBase()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_server::DBBase::DBBase </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a3243648e7ac9ee0a7cd3e4fb35c920cb" name="a3243648e7ac9ee0a7cd3e4fb35c920cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3243648e7ac9ee0a7cd3e4fb35c920cb">&#9670;&#160;</a></span>~DBBase()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual capabilities2_server::DBBase::~DBBase </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">virtual</span><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a33858ef496c7de81c1b6a4f5fe047dcc" name="a33858ef496c7de81c1b6a4f5fe047dcc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a33858ef496c7de81c1b6a4f5fe047dcc">&#9670;&#160;</a></span>apply_provider_remappings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> capabilities2_server::DBBase::apply_provider_remappings </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&#160;</td>
+          <td class="paramname"><em>provider</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a3ce61c146ff1a5bbea444efc503fcac8" name="a3ce61c146ff1a5bbea444efc503fcac8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3ce61c146ff1a5bbea444efc503fcac8">&#9670;&#160;</a></span>apply_remappings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::apply_remappings </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">models::specification_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>spec</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>remappable</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a8e6b541fd85a3a96fe9cf0f854786372" name="a8e6b541fd85a3a96fe9cf0f854786372"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8e6b541fd85a3a96fe9cf0f854786372">&#9670;&#160;</a></span>apply_semantic_remappings()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> capabilities2_server::DBBase::apply_semantic_remappings </td>
+          <td>(</td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&#160;</td>
+          <td class="paramname"><em>semantic</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a9ce49d71065acc667a5ce863a9e1f2a2">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="ae00a3ede155478862be6f4ba8881ff9c" name="ae00a3ede155478862be6f4ba8881ff9c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae00a3ede155478862be6f4ba8881ff9c">&#9670;&#160;</a></span>close()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::close </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="aee888f726ca6acde1dbd6d7bbb67cd4a" name="aee888f726ca6acde1dbd6d7bbb67cd4a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee888f726ca6acde1dbd6d7bbb67cd4a">&#9670;&#160;</a></span>create_tables()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::create_tables </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a8039f4e932039c398c1f46cc3e018a70" name="a8039f4e932039c398c1f46cc3e018a70"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8039f4e932039c398c1f46cc3e018a70">&#9670;&#160;</a></span>exists()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;typename T &gt; </div>
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_server::DBBase::exists </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>resource_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a357eee3862ce2b244753561bf43247af" name="a357eee3862ce2b244753561bf43247af"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a357eee3862ce2b244753561bf43247af">&#9670;&#160;</a></span>exists_any()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual bool capabilities2_server::DBBase::exists_any </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>resource_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abf14e11a090bdbe9fd96bc04f498b703" name="abf14e11a090bdbe9fd96bc04f498b703"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abf14e11a090bdbe9fd96bc04f498b703">&#9670;&#160;</a></span>get_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> capabilities2_server::DBBase::get_interface </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="ab62ed1810957d69e7c95198337e3a882" name="ab62ed1810957d69e7c95198337e3a882"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ab62ed1810957d69e7c95198337e3a882">&#9670;&#160;</a></span>get_interfaces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> &gt; capabilities2_server::DBBase::get_interfaces </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a87b94d8ecedda3792f2b69d669b82602" name="a87b94d8ecedda3792f2b69d669b82602"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a87b94d8ecedda3792f2b69d669b82602">&#9670;&#160;</a></span>get_provider()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> capabilities2_server::DBBase::get_provider </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a76d7ce342e2a4d5930717437a190ec5b" name="a76d7ce342e2a4d5930717437a190ec5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a76d7ce342e2a4d5930717437a190ec5b">&#9670;&#160;</a></span>get_providers()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> &gt; capabilities2_server::DBBase::get_providers </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a7e3aaa33b84b31afd25d2e60ff2b2e92" name="a7e3aaa33b84b31afd25d2e60ff2b2e92"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e3aaa33b84b31afd25d2e60ff2b2e92">&#9670;&#160;</a></span>get_providers_by_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> &gt; capabilities2_server::DBBase::get_providers_by_interface </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>interface_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a1cdfd02055ff2da5da686e6f1a18d13f" name="a1cdfd02055ff2da5da686e6f1a18d13f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1cdfd02055ff2da5da686e6f1a18d13f">&#9670;&#160;</a></span>get_remappable()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> capabilities2_server::DBBase::get_remappable </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get remappable model by name. </p>
+<p>remappable models are either semantic interfaces or providers</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">name</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd><a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html" title="remappable base model definition">models::remappable_base_t</a> </dd></dl>
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a1baa8d0c23479b279f326cd46066aefc" name="a1baa8d0c23479b279f326cd46066aefc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1baa8d0c23479b279f326cd46066aefc">&#9670;&#160;</a></span>get_run_config()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> capabilities2_server::DBBase::get_run_config </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>provider_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a86052bfef2ad74e6d00ad4139509000d" name="a86052bfef2ad74e6d00ad4139509000d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a86052bfef2ad74e6d00ad4139509000d">&#9670;&#160;</a></span>get_running()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> capabilities2_server::DBBase::get_running </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>provider_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="af2568e0f4a1c256cb2e8388eb9e020ac" name="af2568e0f4a1c256cb2e8388eb9e020ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af2568e0f4a1c256cb2e8388eb9e020ac">&#9670;&#160;</a></span>get_semantic_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> capabilities2_server::DBBase::get_semantic_interface </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="aa568f8af482c3c94933baf37e4e94413" name="aa568f8af482c3c94933baf37e4e94413"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa568f8af482c3c94933baf37e4e94413">&#9670;&#160;</a></span>get_semantic_interfaces()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> &gt; capabilities2_server::DBBase::get_semantic_interfaces </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a55534cfabcb9d0f6434c9384ba413c66" name="a55534cfabcb9d0f6434c9384ba413c66"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a55534cfabcb9d0f6434c9384ba413c66">&#9670;&#160;</a></span>get_semantic_interfaces_by_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> &gt; capabilities2_server::DBBase::get_semantic_interfaces_by_interface </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>interface_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a2e631fa1b823bdeb503e5b4ebdf09b82" name="a2e631fa1b823bdeb503e5b4ebdf09b82"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2e631fa1b823bdeb503e5b4ebdf09b82">&#9670;&#160;</a></span>insert_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::insert_interface </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>interface</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a9c164a0de5d6fe507d5c1a4a55544277" name="a9c164a0de5d6fe507d5c1a4a55544277"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9c164a0de5d6fe507d5c1a4a55544277">&#9670;&#160;</a></span>insert_provider()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::insert_provider </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>provider</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a26f67efa62c5964604f26ce926793134" name="a26f67efa62c5964604f26ce926793134"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a26f67efa62c5964604f26ce926793134">&#9670;&#160;</a></span>insert_semantic_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::insert_semantic_interface </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>semantic_interface</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4703582a0735e3a22ed0019164c02ed1">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a4f87c768118f852d3c0945d4d45d6c7b" name="a4f87c768118f852d3c0945d4d45d6c7b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4f87c768118f852d3c0945d4d45d6c7b">&#9670;&#160;</a></span>open()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::open </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a8ef578c5c658448b2898eb8148c1c399" name="a8ef578c5c658448b2898eb8148c1c399"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8ef578c5c658448b2898eb8148c1c399">&#9670;&#160;</a></span>update_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::update_interface </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>interface</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a422b18b726f0afedba3532d416ba77f9" name="a422b18b726f0afedba3532d416ba77f9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a422b18b726f0afedba3532d416ba77f9">&#9670;&#160;</a></span>update_provider()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::update_provider </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>provider</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<a id="a2f2ac558c6c1563e7f94c95594a04ef5" name="a2f2ac558c6c1563e7f94c95594a04ef5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2f2ac558c6c1563e7f94c95594a04ef5">&#9670;&#160;</a></span>update_semantic_interface()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual void capabilities2_server::DBBase::update_semantic_interface </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>semantic_interface</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">capabilities2_server::CapabilitiesDB</a>.</p>
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/<a class="el" href="db__base_8hpp_source.html">db_base.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
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+<title>Capabilities2: Member List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">RunnerCache</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::RunnerCache Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">add_connection</a>(const std::string &amp;capability, const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection, std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">add_runner</a>(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const models::run_config_model_t &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">get_running_capabilities</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">pid</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">provider</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">remove_runner</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a54ca36d2ea36c95783ed042c1ab31b7f">RunnerCache</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">started_by</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">trigger_runner</a>(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/classcapabilities2__server_1_1RunnerCache.html b/docs/html/classcapabilities2__server_1_1RunnerCache.html
new file mode 100644
index 0000000..3edba93
--- /dev/null
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: capabilities2_server::RunnerCache Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">RunnerCache</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pri-attribs">Private Attributes</a> &#124;
+<a href="classcapabilities2__server_1_1RunnerCache-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::RunnerCache Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use  
+ <a href="classcapabilities2__server_1_1RunnerCache.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="runner__cache_8hpp_source.html">runner_cache.hpp</a>&quot;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a54ca36d2ea36c95783ed042c1ab31b7f" id="r_a54ca36d2ea36c95783ed042c1ab31b7f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a54ca36d2ea36c95783ed042c1ab31b7f">RunnerCache</a> ()</td></tr>
+<tr class="separator:a54ca36d2ea36c95783ed042c1ab31b7f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aefd112af41b8ef36ccdce3cfebb5dd25" id="r_aefd112af41b8ef36ccdce3cfebb5dd25"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">add_runner</a> (rclcpp::Node::SharedPtr node, const std::string &amp;capability, const <a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> &amp;run_config)</td></tr>
+<tr class="memdesc:aefd112af41b8ef36ccdce3cfebb5dd25"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add a runner to the cache.  <br /></td></tr>
+<tr class="separator:aefd112af41b8ef36ccdce3cfebb5dd25"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aa3c38f7a92d055d73e3acb2422094f9a" id="r_aa3c38f7a92d055d73e3acb2422094f9a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">trigger_runner</a> (const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters)</td></tr>
+<tr class="memdesc:aa3c38f7a92d055d73e3acb2422094f9a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger a runner in the cache.  <br /></td></tr>
+<tr class="separator:aa3c38f7a92d055d73e3acb2422094f9a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aba905c19f2ffec5e72028d8a246a3edf" id="r_aba905c19f2ffec5e72028d8a246a3edf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">add_connection</a> (const std::string &amp;capability, const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection, std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt; event_emitter=nullptr)</td></tr>
+<tr class="memdesc:aba905c19f2ffec5e72028d8a246a3edf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Add state change connection between runners via an event.  <br /></td></tr>
+<tr class="separator:aba905c19f2ffec5e72028d8a246a3edf"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a38cd41426d0a9dbe36d3842e5ef0310c" id="r_a38cd41426d0a9dbe36d3842e5ef0310c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">remove_runner</a> (const std::string &amp;capability)</td></tr>
+<tr class="memdesc:a38cd41426d0a9dbe36d3842e5ef0310c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a given runner.  <br /></td></tr>
+<tr class="separator:a38cd41426d0a9dbe36d3842e5ef0310c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a245acdb1f0c4b4b81f1ed46906b446cb" id="r_a245acdb1f0c4b4b81f1ed46906b446cb"><td class="memItemLeft" align="right" valign="top">const std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">get_running_capabilities</a> ()</td></tr>
+<tr class="memdesc:a245acdb1f0c4b4b81f1ed46906b446cb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a list of active runners in the cache.  <br /></td></tr>
+<tr class="separator:a245acdb1f0c4b4b81f1ed46906b446cb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a20513c9b45a313ab7bdc6f2d15f490c8" id="r_a20513c9b45a313ab7bdc6f2d15f490c8"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">provider</a> (const std::string &amp;capability)</td></tr>
+<tr class="memdesc:a20513c9b45a313ab7bdc6f2d15f490c8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get provider of capability.  <br /></td></tr>
+<tr class="separator:a20513c9b45a313ab7bdc6f2d15f490c8"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ad07093aa785e7f24ef4e1648e46c7c0f" id="r_ad07093aa785e7f24ef4e1648e46c7c0f"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">started_by</a> (const std::string &amp;capability)</td></tr>
+<tr class="memdesc:ad07093aa785e7f24ef4e1648e46c7c0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">get started_by of capability  <br /></td></tr>
+<tr class="separator:ad07093aa785e7f24ef4e1648e46c7c0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a64a32e4605c82f06baf0902bd0bab746" id="r_a64a32e4605c82f06baf0902bd0bab746"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">pid</a> (const std::string &amp;capability)</td></tr>
+<tr class="memdesc:a64a32e4605c82f06baf0902bd0bab746"><td class="mdescLeft">&#160;</td><td class="mdescRight">get pid of capability  <br /></td></tr>
+<tr class="separator:a64a32e4605c82f06baf0902bd0bab746"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a278cd90fadd01341151fb48b8c93745e" id="r_a278cd90fadd01341151fb48b8c93745e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a> (const std::string &amp;capability)</td></tr>
+<tr class="memdesc:a278cd90fadd01341151fb48b8c93745e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if a capability has a runner.  <br /></td></tr>
+<tr class="separator:a278cd90fadd01341151fb48b8c93745e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
+Private Attributes</h2></td></tr>
+<tr class="memitem:ae72647019b3b65e02ee663652b208b32" id="r_ae72647019b3b65e02ee663652b208b32"><td class="memItemLeft" align="right" valign="top">std::map&lt; std::string, std::shared_ptr&lt; <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a> &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a></td></tr>
+<tr class="separator:ae72647019b3b65e02ee663652b208b32"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a4a485c20947d8e4808556630b593d6b4" id="r_a4a485c20947d8e4808556630b593d6b4"><td class="memItemLeft" align="right" valign="top">pluginlib::ClassLoader&lt; <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a></td></tr>
+<tr class="separator:a4a485c20947d8e4808556630b593d6b4"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use </p>
+<p>There are two main types of runners:</p><ol type="1">
+<li>launch file runner</li>
+<li>&lt;resource type&gt; runner - e.g. action, service, topic, etc. </li>
+</ol>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a54ca36d2ea36c95783ed042c1ab31b7f" name="a54ca36d2ea36c95783ed042c1ab31b7f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a54ca36d2ea36c95783ed042c1ab31b7f">&#9670;&#160;</a></span>RunnerCache()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_server::RunnerCache::RunnerCache </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="aba905c19f2ffec5e72028d8a246a3edf" name="aba905c19f2ffec5e72028d8a246a3edf"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba905c19f2ffec5e72028d8a246a3edf">&#9670;&#160;</a></span>add_connection()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::RunnerCache::add_connection </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>connection_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const capabilities2_msgs::msg::CapabilityConnection &amp;&#160;</td>
+          <td class="paramname"><em>connection</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt;&#160;</td>
+          <td class="paramname"><em>event_emitter</em> = <code>nullptr</code>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Add state change connection between runners via an event. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td>capability from where the event originates </td></tr>
+    <tr><td class="paramname">connection_id</td><td>unique id for the connection </td></tr>
+    <tr><td class="paramname">connection</td><td>connection options for the event </td></tr>
+    <tr><td class="paramname">event_emitter</td><td>event emitter to be used by this runner for emitting events on state changes to the target capability </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="aefd112af41b8ef36ccdce3cfebb5dd25" name="aefd112af41b8ef36ccdce3cfebb5dd25"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aefd112af41b8ef36ccdce3cfebb5dd25">&#9670;&#160;</a></span>add_runner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::RunnerCache::add_runner </td>
+          <td>(</td>
+          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
+          <td class="paramname"><em>node</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>run_config</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Add a runner to the cache. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">node</td><td>pointer to the origin node, generally the <a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a> </td></tr>
+    <tr><td class="paramname">capability</td><td>capability name to be loaded </td></tr>
+    <tr><td class="paramname">run_config</td><td>run_config of the runner to be loaded </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="a245acdb1f0c4b4b81f1ed46906b446cb" name="a245acdb1f0c4b4b81f1ed46906b446cb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a245acdb1f0c4b4b81f1ed46906b446cb">&#9670;&#160;</a></span>get_running_capabilities()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::vector&lt; std::string &gt; capabilities2_server::RunnerCache::get_running_capabilities </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get a list of active runners in the cache. </p>
+<dl class="section return"><dt>Returns</dt><dd>const std::vector&lt;std::string&gt; of runners </dd></dl>
+
+</div>
+</div>
+<a id="a64a32e4605c82f06baf0902bd0bab746" name="a64a32e4605c82f06baf0902bd0bab746"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a64a32e4605c82f06baf0902bd0bab746">&#9670;&#160;</a></span>pid()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_server::RunnerCache::pid </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get pid of capability </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td>capability of which the pid is requested </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>value of pid </dd></dl>
+
+</div>
+</div>
+<a id="a20513c9b45a313ab7bdc6f2d15f490c8" name="a20513c9b45a313ab7bdc6f2d15f490c8"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a20513c9b45a313ab7bdc6f2d15f490c8">&#9670;&#160;</a></span>provider()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_server::RunnerCache::provider </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get provider of capability. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td>capability of which the provider is requested </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>provider name </dd></dl>
+
+</div>
+</div>
+<a id="a38cd41426d0a9dbe36d3842e5ef0310c" name="a38cd41426d0a9dbe36d3842e5ef0310c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a38cd41426d0a9dbe36d3842e5ef0310c">&#9670;&#160;</a></span>remove_runner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::RunnerCache::remove_runner </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Remove a given runner. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td>capability to be removed </td></tr>
+    <tr><td class="paramname">bond_id</td><td>bond_id of the capability instance to be removed</td></tr>
+  </table>
+  </dd>
+</dl>
+<p>This will stop the runner and remove it from the cache. If the runner is not found then an error is thrown. </p>
+
+</div>
+</div>
+<a id="a278cd90fadd01341151fb48b8c93745e" name="a278cd90fadd01341151fb48b8c93745e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a278cd90fadd01341151fb48b8c93745e">&#9670;&#160;</a></span>running()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_server::RunnerCache::running </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Check if a capability has a runner. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td></td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true </dd>
+<dd>
+false </dd></dl>
+
+</div>
+</div>
+<a id="ad07093aa785e7f24ef4e1648e46c7c0f" name="ad07093aa785e7f24ef4e1648e46c7c0f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ad07093aa785e7f24ef4e1648e46c7c0f">&#9670;&#160;</a></span>started_by()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">const std::string capabilities2_server::RunnerCache::started_by </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>get started_by of capability </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td>capability of which the started_by is requested </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>name of the started_by </dd></dl>
+
+</div>
+</div>
+<a id="aa3c38f7a92d055d73e3acb2422094f9a" name="aa3c38f7a92d055d73e3acb2422094f9a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aa3c38f7a92d055d73e3acb2422094f9a">&#9670;&#160;</a></span>trigger_runner()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::RunnerCache::trigger_runner </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>bond_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>capability</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>instance_id</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
+          <td class="paramname"><em>parameters</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Trigger a runner in the cache. </p>
+<p>xml parameters are used</p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">capability</td><td>capability name to be loaded </td></tr>
+    <tr><td class="paramname">parameters</td><td>parameters related to the runner in std::string form for compatibility across various runners </td></tr>
+    <tr><td class="paramname">bond_id</td><td>unique identifier for the group on connections associated with this runner trigger </td></tr>
+    <tr><td class="paramname">instance_id</td><td>unique identifier for the instance of the capability </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae72647019b3b65e02ee663652b208b32" name="ae72647019b3b65e02ee663652b208b32"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae72647019b3b65e02ee663652b208b32">&#9670;&#160;</a></span>runner_cache_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, std::shared_ptr&lt;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a>&gt; &gt; capabilities2_server::RunnerCache::runner_cache_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a4a485c20947d8e4808556630b593d6b4" name="a4a485c20947d8e4808556630b593d6b4"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4a485c20947d8e4808556630b593d6b4">&#9670;&#160;</a></span>runner_loader_</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">pluginlib::ClassLoader&lt;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a>&gt; capabilities2_server::RunnerCache::runner_loader_</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">private</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/<a class="el" href="runner__cache_8hpp_source.html">runner_cache.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Member List</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
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+  $(document).ready(function() { init_search(); });
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+<div class="SRStatus" id="Loading">Loading...</div>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapability__registrar.html">capability_registrar</a></li><li class="navelem"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html">CapabilityRegistrar</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capability_registrar.CapabilityRegistrar Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html">capability_registrar.CapabilityRegistrar</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html#a87ea80c65743c70b84f83db52f9271ab">__init__</a>(self)</td><td class="entry"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html">capability_registrar.CapabilityRegistrar</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html#ace403fc5b5ae1f730ae85edf9e0fad82">register_capabilities</a>(self, RegisterCapability.Request req)</td><td class="entry"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html">capability_registrar.CapabilityRegistrar</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html#a9be42b9cef7268d635d5d55bd3a5bc4b">register_client</a></td><td class="entry"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html">capability_registrar.CapabilityRegistrar</a></td><td class="entry"></td></tr>
+</table></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/classcapability__registrar_1_1CapabilityRegistrar.html b/docs/html/classcapability__registrar_1_1CapabilityRegistrar.html
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--- /dev/null
+++ b/docs/html/classcapability__registrar_1_1CapabilityRegistrar.html
@@ -0,0 +1,191 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: capability_registrar.CapabilityRegistrar Class Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
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+<div id="SRIndex">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapability__registrar.html">capability_registrar</a></li><li class="navelem"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html">CapabilityRegistrar</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="classcapability__registrar_1_1CapabilityRegistrar-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capability_registrar.CapabilityRegistrar Class Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="dynheader">
+Inheritance diagram for capability_registrar.CapabilityRegistrar:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapability__registrar_1_1CapabilityRegistrar__inherit__graph.png" border="0" usemap="#acapability__registrar_8CapabilityRegistrar_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapability__registrar_8CapabilityRegistrar_inherit__map" id="acapability__registrar_8CapabilityRegistrar_inherit__map">
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+<div class="dynheader">
+Collaboration diagram for capability_registrar.CapabilityRegistrar:</div>
+<div class="dyncontent">
+<div class="center"><img src="classcapability__registrar_1_1CapabilityRegistrar__coll__graph.png" border="0" usemap="#acapability__registrar_8CapabilityRegistrar_coll__map" alt="Collaboration graph"/></div>
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+<table class="memberdecls">
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+<tr class="separator:a87ea80c65743c70b84f83db52f9271ab"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ace403fc5b5ae1f730ae85edf9e0fad82" id="r_ace403fc5b5ae1f730ae85edf9e0fad82"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html#ace403fc5b5ae1f730ae85edf9e0fad82">register_capabilities</a> (self, RegisterCapability.Request req)</td></tr>
+<tr class="separator:ace403fc5b5ae1f730ae85edf9e0fad82"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a9be42b9cef7268d635d5d55bd3a5bc4b" id="r_a9be42b9cef7268d635d5d55bd3a5bc4b"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html#a9be42b9cef7268d635d5d55bd3a5bc4b">register_client</a></td></tr>
+<tr class="separator:a9be42b9cef7268d635d5d55bd3a5bc4b"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">Capability Registrar Node
+</pre> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a87ea80c65743c70b84f83db52f9271ab" name="a87ea80c65743c70b84f83db52f9271ab"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a87ea80c65743c70b84f83db52f9271ab">&#9670;&#160;</a></span>__init__()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"> None capability_registrar.CapabilityRegistrar.__init__ </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ace403fc5b5ae1f730ae85edf9e0fad82" name="ace403fc5b5ae1f730ae85edf9e0fad82"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ace403fc5b5ae1f730ae85edf9e0fad82">&#9670;&#160;</a></span>register_capabilities()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.CapabilityRegistrar.register_capabilities </td>
+          <td>(</td>
+          <td class="paramtype">&#160;</td>
+          <td class="paramname"><em>self</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">RegisterCapability.Request&#160;</td>
+          <td class="paramname"><em>req</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">call register service with request
+</pre> 
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9be42b9cef7268d635d5d55bd3a5bc4b" name="a9be42b9cef7268d635d5d55bd3a5bc4b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9be42b9cef7268d635d5d55bd3a5bc4b">&#9670;&#160;</a></span>register_client</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.CapabilityRegistrar.register_client</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this class was generated from the following file:<ul>
+<li>capabilities2_server/scripts/<a class="el" href="capability__registrar_8py.html">capability_registrar.py</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li>  </ul>
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+<a href="db__base_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;<a class="code" href="interface_8hpp.html">capabilities2_server/models/interface.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="semantic__interface_8hpp.html">capabilities2_server/models/semantic_interface.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;<a class="code" href="provider_8hpp.html">capabilities2_server/models/provider.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="remappable__base_8hpp.html">capabilities2_server/models/remappable_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="running_8hpp.html">capabilities2_server/models/running.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="run__config_8hpp.html">capabilities2_server/models/run_config.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
+<div class="foldopen" id="foldopen00013" data-start="{" data-end="};">
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html">   13</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1DBBase.html">DBBase</a></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#acaffd52c473cbfe7d744ba9bd8a289b2">   16</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#acaffd52c473cbfe7d744ba9bd8a289b2">DBBase</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a3243648e7ac9ee0a7cd3e4fb35c920cb">   17</a></span>  <span class="keyword">virtual</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a3243648e7ac9ee0a7cd3e4fb35c920cb">~DBBase</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>  <span class="comment">/* inserters */</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>  <span class="comment">// insert interface</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a2e631fa1b823bdeb503e5b4ebdf09b82">   22</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a2e631fa1b823bdeb503e5b4ebdf09b82">insert_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&amp; interface) = 0;</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  <span class="comment">// insert semantic interface</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a26f67efa62c5964604f26ce926793134">   25</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a26f67efa62c5964604f26ce926793134">insert_semantic_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&amp; semantic_interface) = 0;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>  <span class="comment">// insert provider</span></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a9c164a0de5d6fe507d5c1a4a55544277">   28</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a9c164a0de5d6fe507d5c1a4a55544277">insert_provider</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&amp; provider) = 0;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>  <span class="comment">/* getters */</span></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  <span class="comment">// get interface</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">   33</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">get_interface</a>(<span class="keyword">const</span> std::string&amp; name) = 0;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  <span class="comment">// get interfaces</span></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">   36</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::interface_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">get_interfaces</a>() = 0;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  <span class="comment">// get semantic interface</span></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">   39</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">get_semantic_interface</a>(<span class="keyword">const</span> std::string&amp; name) = 0;</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>  <span class="comment">// get semantic interfaces</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#aa568f8af482c3c94933baf37e4e94413">   42</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::semantic_interface_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#aa568f8af482c3c94933baf37e4e94413">get_semantic_interfaces</a>() = 0;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>  <span class="comment">// get provider</span></div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">   45</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">get_provider</a>(<span class="keyword">const</span> std::string&amp; name) = 0;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  <span class="comment">// get providers</span></div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a76d7ce342e2a4d5930717437a190ec5b">   48</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::provider_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a76d7ce342e2a4d5930717437a190ec5b">get_providers</a>() = 0;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">   58</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">get_remappable</a>(<span class="keyword">const</span> std::string&amp; name) = 0;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>  <span class="comment">/* updaters */</span></div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  <span class="comment">// update interface</span></div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a8ef578c5c658448b2898eb8148c1c399">   63</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a8ef578c5c658448b2898eb8148c1c399">update_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&amp; interface) = 0;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>  <span class="comment">// update semantic interface</span></div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a2f2ac558c6c1563e7f94c95594a04ef5">   66</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a2f2ac558c6c1563e7f94c95594a04ef5">update_semantic_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&amp; semantic_interface) = 0;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>  <span class="comment">// update provider</span></div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a422b18b726f0afedba3532d416ba77f9">   69</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a422b18b726f0afedba3532d416ba77f9">update_provider</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&amp; provider) = 0;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>  <span class="comment">/* foreign keys */</span></div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>  <span class="comment">// get providers by interface</span></div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a7e3aaa33b84b31afd25d2e60ff2b2e92">   74</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::provider_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a7e3aaa33b84b31afd25d2e60ff2b2e92">get_providers_by_interface</a>(<span class="keyword">const</span> std::string&amp; interface_name) = 0;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>  <span class="comment">// get semantic interfaces by interface</span></div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>  <span class="keyword">virtual</span> std::vector&lt;models::semantic_interface_model_t&gt;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a55534cfabcb9d0f6434c9384ba413c66">   78</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a55534cfabcb9d0f6434c9384ba413c66">get_semantic_interfaces_by_interface</a>(<span class="keyword">const</span> std::string&amp; interface_name) = 0;</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>  <span class="comment">// get running model from provider</span></div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">   81</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">get_running</a>(<span class="keyword">const</span> std::string&amp; provider_name) = 0;</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  <span class="comment">// apply a remapping to a specification model</span></div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a3ce61c146ff1a5bbea444efc503fcac8">   84</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a3ce61c146ff1a5bbea444efc503fcac8">apply_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">models::specification_model_t</a>&amp; spec, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a>&amp; remappable) = 0;</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>  <span class="comment">// apply semantics to interface</span></div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a8e6b541fd85a3a96fe9cf0f854786372">   87</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a8e6b541fd85a3a96fe9cf0f854786372">apply_semantic_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic) = 0;</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>  <span class="comment">// apply provider remappings</span></div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a33858ef496c7de81c1b6a4f5fe047dcc">   90</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a33858ef496c7de81c1b6a4f5fe047dcc">apply_provider_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider) = 0;</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>  <span class="comment">// get run config model</span></div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">   93</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">get_run_config</a>(<span class="keyword">const</span> std::string&amp; provider_name) = 0;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>  <span class="comment">// exists in db templated by model type</span></div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
+<div class="foldopen" id="foldopen00097" data-start="{" data-end="}">
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">   97</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">exists</a>(<span class="keyword">const</span> std::string&amp; resource_name)</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>  {</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">// clearly not in db as it does not match a valid model type</span></div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;invalid model type&quot;</span>);</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>  }</div>
+</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>  <span class="comment">// exists in db anywhere</span></div>
+<div class="foldopen" id="foldopen00104" data-start="{" data-end="}">
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">  104</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">exists_any</a>(<span class="keyword">const</span> std::string&amp; resource_name)</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>  {</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    <span class="comment">// query all tables for name</span></div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="comment">// if name is in any table, then it exists</span></div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <span class="keywordflow">return</span> !<a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">get_interface</a>(resource_name).<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty() ||</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>           !<a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">get_semantic_interface</a>(resource_name).<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty() ||</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>           !<a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">get_provider</a>(resource_name).<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty();</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>  }</div>
+</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a4f87c768118f852d3c0945d4d45d6c7b">  114</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a4f87c768118f852d3c0945d4d45d6c7b">open</a>() = 0;</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#ae00a3ede155478862be6f4ba8881ff9c">  115</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#ae00a3ede155478862be6f4ba8881ff9c">close</a>() = 0;</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#aee888f726ca6acde1dbd6d7bbb67cd4a">  116</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#aee888f726ca6acde1dbd6d7bbb67cd4a">create_tables</a>() = 0;</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>};</div>
+</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span><span class="comment">// &#39;exists&#39; template specializations</span></div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span><span class="comment">// interface exists in db</span></div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span><span class="keyword">template</span> &lt;&gt;</div>
+<div class="foldopen" id="foldopen00122" data-start="{" data-end="}">
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#a6e3d2cbc55c111a6f09bb9adbbf91977">  122</a></span><span class="keywordtype">bool</span> DBBase::exists&lt;models::interface_model_t&gt;(<span class="keyword">const</span> std::string&amp; resource_name)</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>{</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>  <span class="keywordflow">return</span> !get_interface(resource_name).header.name.empty();</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>}</div>
+</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span><span class="comment">// semantic interface exists in db</span></div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span><span class="keyword">template</span> &lt;&gt;</div>
+<div class="foldopen" id="foldopen00129" data-start="{" data-end="}">
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#a01ea1d7937d31e53be0186ccbbded6cd">  129</a></span><span class="keywordtype">bool</span> DBBase::exists&lt;models::semantic_interface_model_t&gt;(<span class="keyword">const</span> std::string&amp; resource_name)</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>{</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>  <span class="keywordflow">return</span> !get_semantic_interface(resource_name).header.name.empty();</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>}</div>
+</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span><span class="comment">// provider exists in db</span></div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span><span class="keyword">template</span> &lt;&gt;</div>
+<div class="foldopen" id="foldopen00136" data-start="{" data-end="}">
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#a30c6a598ad096b7253c2b1217c9ddce6">  136</a></span><span class="keywordtype">bool</span> DBBase::exists&lt;models::provider_model_t&gt;(<span class="keyword">const</span> std::string&amp; resource_name)</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>{</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  <span class="keywordflow">return</span> !get_provider(resource_name).header.name.empty();</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>}</div>
+</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></div><div class="ttdef"><b>Definition</b> db_base.hpp:14</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a1baa8d0c23479b279f326cd46066aefc"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">capabilities2_server::DBBase::get_run_config</a></div><div class="ttdeci">virtual models::run_config_model_t get_run_config(const std::string &amp;provider_name)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a1cdfd02055ff2da5da686e6f1a18d13f"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">capabilities2_server::DBBase::get_remappable</a></div><div class="ttdeci">virtual models::remappable_base_t get_remappable(const std::string &amp;name)=0</div><div class="ttdoc">Get remappable model by name.</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a26f67efa62c5964604f26ce926793134"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a26f67efa62c5964604f26ce926793134">capabilities2_server::DBBase::insert_semantic_interface</a></div><div class="ttdeci">virtual void insert_semantic_interface(const models::semantic_interface_model_t &amp;semantic_interface)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a2e631fa1b823bdeb503e5b4ebdf09b82"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a2e631fa1b823bdeb503e5b4ebdf09b82">capabilities2_server::DBBase::insert_interface</a></div><div class="ttdeci">virtual void insert_interface(const models::interface_model_t &amp;interface)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a2f2ac558c6c1563e7f94c95594a04ef5"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a2f2ac558c6c1563e7f94c95594a04ef5">capabilities2_server::DBBase::update_semantic_interface</a></div><div class="ttdeci">virtual void update_semantic_interface(const models::semantic_interface_model_t &amp;semantic_interface)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a3243648e7ac9ee0a7cd3e4fb35c920cb"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a3243648e7ac9ee0a7cd3e4fb35c920cb">capabilities2_server::DBBase::~DBBase</a></div><div class="ttdeci">virtual ~DBBase()=default</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a33858ef496c7de81c1b6a4f5fe047dcc"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a33858ef496c7de81c1b6a4f5fe047dcc">capabilities2_server::DBBase::apply_provider_remappings</a></div><div class="ttdeci">virtual models::interface_model_t apply_provider_remappings(models::provider_model_t provider)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a357eee3862ce2b244753561bf43247af"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">capabilities2_server::DBBase::exists_any</a></div><div class="ttdeci">virtual bool exists_any(const std::string &amp;resource_name)</div><div class="ttdef"><b>Definition</b> db_base.hpp:104</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a3ce61c146ff1a5bbea444efc503fcac8"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a3ce61c146ff1a5bbea444efc503fcac8">capabilities2_server::DBBase::apply_remappings</a></div><div class="ttdeci">virtual void apply_remappings(models::specification_model_t &amp;spec, const models::remappable_base_t &amp;remappable)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a422b18b726f0afedba3532d416ba77f9"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a422b18b726f0afedba3532d416ba77f9">capabilities2_server::DBBase::update_provider</a></div><div class="ttdeci">virtual void update_provider(const models::provider_model_t &amp;provider)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a4f87c768118f852d3c0945d4d45d6c7b"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a4f87c768118f852d3c0945d4d45d6c7b">capabilities2_server::DBBase::open</a></div><div class="ttdeci">virtual void open()=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a55534cfabcb9d0f6434c9384ba413c66"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a55534cfabcb9d0f6434c9384ba413c66">capabilities2_server::DBBase::get_semantic_interfaces_by_interface</a></div><div class="ttdeci">virtual std::vector&lt; models::semantic_interface_model_t &gt; get_semantic_interfaces_by_interface(const std::string &amp;interface_name)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a76d7ce342e2a4d5930717437a190ec5b"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a76d7ce342e2a4d5930717437a190ec5b">capabilities2_server::DBBase::get_providers</a></div><div class="ttdeci">virtual std::vector&lt; models::provider_model_t &gt; get_providers()=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a7e3aaa33b84b31afd25d2e60ff2b2e92"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a7e3aaa33b84b31afd25d2e60ff2b2e92">capabilities2_server::DBBase::get_providers_by_interface</a></div><div class="ttdeci">virtual std::vector&lt; models::provider_model_t &gt; get_providers_by_interface(const std::string &amp;interface_name)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a8039f4e932039c398c1f46cc3e018a70"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">capabilities2_server::DBBase::exists</a></div><div class="ttdeci">bool exists(const std::string &amp;resource_name)</div><div class="ttdef"><b>Definition</b> db_base.hpp:97</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a86052bfef2ad74e6d00ad4139509000d"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">capabilities2_server::DBBase::get_running</a></div><div class="ttdeci">virtual models::running_model_t get_running(const std::string &amp;provider_name)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a87b94d8ecedda3792f2b69d669b82602"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">capabilities2_server::DBBase::get_provider</a></div><div class="ttdeci">virtual models::provider_model_t get_provider(const std::string &amp;name)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a8e6b541fd85a3a96fe9cf0f854786372"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a8e6b541fd85a3a96fe9cf0f854786372">capabilities2_server::DBBase::apply_semantic_remappings</a></div><div class="ttdeci">virtual models::interface_model_t apply_semantic_remappings(models::semantic_interface_model_t semantic)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a8ef578c5c658448b2898eb8148c1c399"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a8ef578c5c658448b2898eb8148c1c399">capabilities2_server::DBBase::update_interface</a></div><div class="ttdeci">virtual void update_interface(const models::interface_model_t &amp;interface)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a9c164a0de5d6fe507d5c1a4a55544277"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a9c164a0de5d6fe507d5c1a4a55544277">capabilities2_server::DBBase::insert_provider</a></div><div class="ttdeci">virtual void insert_provider(const models::provider_model_t &amp;provider)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_aa568f8af482c3c94933baf37e4e94413"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#aa568f8af482c3c94933baf37e4e94413">capabilities2_server::DBBase::get_semantic_interfaces</a></div><div class="ttdeci">virtual std::vector&lt; models::semantic_interface_model_t &gt; get_semantic_interfaces()=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_ab62ed1810957d69e7c95198337e3a882"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">capabilities2_server::DBBase::get_interfaces</a></div><div class="ttdeci">virtual std::vector&lt; models::interface_model_t &gt; get_interfaces()=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_abf14e11a090bdbe9fd96bc04f498b703"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">capabilities2_server::DBBase::get_interface</a></div><div class="ttdeci">virtual models::interface_model_t get_interface(const std::string &amp;name)=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_acaffd52c473cbfe7d744ba9bd8a289b2"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#acaffd52c473cbfe7d744ba9bd8a289b2">capabilities2_server::DBBase::DBBase</a></div><div class="ttdeci">DBBase()=default</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_ae00a3ede155478862be6f4ba8881ff9c"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#ae00a3ede155478862be6f4ba8881ff9c">capabilities2_server::DBBase::close</a></div><div class="ttdeci">virtual void close()=0</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_aee888f726ca6acde1dbd6d7bbb67cd4a"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#aee888f726ca6acde1dbd6d7bbb67cd4a">capabilities2_server::DBBase::create_tables</a></div><div class="ttdeci">virtual void create_tables()=0</div></div>
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+  <div class="headertitle"><div class="title">defineable_base.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="defineable__base_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="foldopen" id="foldopen00009" data-start="{" data-end="}">
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server_1_1models.html">    9</a></span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">   21</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">defineable_base_t</a></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  <span class="comment">// the definition stored as a string</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">   24</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a> = <span class="stringliteral">&quot;&quot;</span>;  <span class="comment">// optional property</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  <span class="comment">// is the definition valid</span></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a5d607a31ac2fa6e91c3503795336b8f0">   26</a></span>  <span class="keywordtype">bool</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a5d607a31ac2fa6e91c3503795336b8f0">valid</a> = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="foldopen" id="foldopen00028" data-start="{" data-end="}">
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">   28</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  {</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="comment">// try get the definition as a string</span></div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;definition&quot;</span>])</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>      <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a> = node[<span class="stringliteral">&quot;definition&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>      <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a5d607a31ac2fa6e91c3503795336b8f0">valid</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    }</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  }</div>
+</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="foldopen" id="foldopen00038" data-start="{" data-end="}">
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a1cdd384efe4e025a1e5d85438ab2bae1">   38</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a1cdd384efe4e025a1e5d85438ab2bae1">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    YAML::Node node;</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    node[<span class="stringliteral">&quot;definition&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a>;</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>  }</div>
+</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>  <span class="comment">// is the definition valid</span></div>
+<div class="foldopen" id="foldopen00046" data-start="{" data-end="}">
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">   46</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">defined</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a5d607a31ac2fa6e91c3503795336b8f0">valid</a>;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>  }</div>
+</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>};</div>
+</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>}  <span class="comment">// namespace models</span></div>
+</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">capabilities2_server::models::defineable_base_t</a></div><div class="ttdoc">defineable base</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:22</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a1cdd384efe4e025a1e5d85438ab2bae1"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a1cdd384efe4e025a1e5d85438ab2bae1">capabilities2_server::models::defineable_base_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:38</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a42cc3313c4a42b7024a455a6b1a4af8a"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">capabilities2_server::models::defineable_base_t::definition_str</a></div><div class="ttdeci">std::string definition_str</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a5d607a31ac2fa6e91c3503795336b8f0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a5d607a31ac2fa6e91c3503795336b8f0">capabilities2_server::models::defineable_base_t::valid</a></div><div class="ttdeci">bool valid</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:26</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a85af59696809d15f7c890864a80bee96"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">capabilities2_server::models::defineable_base_t::defined</a></div><div class="ttdeci">bool defined() const</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:46</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_ae1bfa5befe1ab21658aeb3e733471f63"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">capabilities2_server::models::defineable_base_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:28</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
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+<!-- end header part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/dir_000004_000000.html b/docs/html/dir_000004_000000.html
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--- /dev/null
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.8"/>
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+<title>Capabilities2: capabilities2_runner/include/capabilities2_runner -&gt; capabilities2_events Relation</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  <ul>
+<li class="navelem"><a class="el" href="dir_ae9b8f7772f36f75ddf7a4660dc4c659.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="dir_d596d1b13e10115fa0e063d9d8185b97.html">include</a></li><li class="navelem"><a class="el" href="dir_c88f82dd231ae0856530de318d7cb819.html">capabilities2_runner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="contents">
+<h3>capabilities2_runner &rarr; capabilities2_events Relation</h3><table class="dirtab"><tr class="dirtab"><th class="dirtab">File in capabilities2_runner/include/capabilities2_runner</th><th class="dirtab">Includes file in capabilities2_events</th></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="runner__base_8hpp.html">runner_base.hpp</a></td><td class="dirtab"><a class="el" href="dir_5d95c21bcb0e08e60d3c845ed072574e.html">include</a>&#160;/&#160;<a class="el" href="dir_930544a6b4d7294c7d05c1cc4fea3dca.html">capabilities2_events</a>&#160;/&#160;<a class="el" href="event__node_8hpp.html">event_node.hpp</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="runner__base_8hpp.html">runner_base.hpp</a></td><td class="dirtab"><a class="el" href="dir_5d95c21bcb0e08e60d3c845ed072574e.html">include</a>&#160;/&#160;<a class="el" href="dir_930544a6b4d7294c7d05c1cc4fea3dca.html">capabilities2_events</a>&#160;/&#160;<a class="el" href="event__parameters_8hpp.html">event_parameters.hpp</a></td></tr><tr class="dirtab"><td class="dirtab"><a class="el" href="threadtrigger__runner_8hpp.html">threadtrigger_runner.hpp</a></td><td class="dirtab"><a class="el" href="dir_5d95c21bcb0e08e60d3c845ed072574e.html">include</a>&#160;/&#160;<a class="el" href="dir_930544a6b4d7294c7d05c1cc4fea3dca.html">capabilities2_events</a>&#160;/&#160;<a class="el" href="uuid__generator_8hpp.html">uuid_generator.hpp</a></td></tr></table></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+
+.alphachar a{
+	color: var(--index-header-color);
+}
+
+.alphachar a:hover, .alphachar a:visited{
+	text-decoration: none;
+}
+
+.classindex dl {
+	padding: 25px;
+	column-count:1
+}
+
+.classindex dd {
+	display:inline-block;
+	margin-left: 50px;
+	width: 90%;
+	line-height: 1.15em;
+}
+
+.classindex dl.even {
+	background-color: var(--index-even-item-bg-color);
+}
+
+.classindex dl.odd {
+	background-color: var(--index-odd-item-bg-color);
+}
+
+@media(min-width: 1120px) {
+	.classindex dl {
+		column-count:2
+	}
+}
+
+@media(min-width: 1320px) {
+	.classindex dl {
+		column-count:3
+	}
+}
+
+
+/* @group Link Styling */
+
+a {
+	color: var(--page-link-color);
+	font-weight: normal;
+	text-decoration: none;
+}
+
+.contents a:visited {
+	color: var(--page-visited-link-color);
+}
+
+a:hover {
+	text-decoration: underline;
+}
+
+a.el {
+	font-weight: bold;
+}
+
+a.elRef {
+}
+
+a.code, a.code:visited, a.line, a.line:visited {
+	color: var(--code-link-color);
+}
+
+a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
+	color: var(--code-external-link-color);
+}
+
+a.code.hl_class { /* style for links to class names in code snippets */ }
+a.code.hl_struct { /* style for links to struct names in code snippets */ }
+a.code.hl_union { /* style for links to union names in code snippets */ }
+a.code.hl_interface { /* style for links to interface names in code snippets */ }
+a.code.hl_protocol { /* style for links to protocol names in code snippets */ }
+a.code.hl_category { /* style for links to category names in code snippets */ }
+a.code.hl_exception { /* style for links to exception names in code snippets */ }
+a.code.hl_service { /* style for links to service names in code snippets */ }
+a.code.hl_singleton { /* style for links to singleton names in code snippets */ }
+a.code.hl_concept { /* style for links to concept names in code snippets */ }
+a.code.hl_namespace { /* style for links to namespace names in code snippets */ }
+a.code.hl_package { /* style for links to package names in code snippets */ }
+a.code.hl_define { /* style for links to macro names in code snippets */ }
+a.code.hl_function { /* style for links to function names in code snippets */ }
+a.code.hl_variable { /* style for links to variable names in code snippets */ }
+a.code.hl_typedef { /* style for links to typedef names in code snippets */ }
+a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ }
+a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ }
+a.code.hl_signal { /* style for links to Qt signal names in code snippets */ }
+a.code.hl_slot { /* style for links to Qt slot names in code snippets */ }
+a.code.hl_friend { /* style for links to friend names in code snippets */ }
+a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ }
+a.code.hl_property { /* style for links to property names in code snippets */ }
+a.code.hl_event { /* style for links to event names in code snippets */ }
+a.code.hl_sequence { /* style for links to sequence names in code snippets */ }
+a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ }
+
+/* @end */
+
+dl.el {
+	margin-left: -1cm;
+}
+
+ul {
+  overflow: visible;
+}
+
+ul.multicol {
+        -moz-column-gap: 1em;
+        -webkit-column-gap: 1em;
+        column-gap: 1em;
+        -moz-column-count: 3;
+        -webkit-column-count: 3;
+        column-count: 3;
+        list-style-type: none;
+}
+
+#side-nav ul {
+  overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */
+}
+
+#main-nav ul {
+  overflow: visible; /* reset ul rule for the navigation bar drop down lists */
+}
+
+.fragment {
+  text-align: left;
+  direction: ltr;
+  overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/
+  overflow-y: hidden;
+}
+
+pre.fragment {
+        border: 1px solid var(--fragment-border-color);
+        background-color: var(--fragment-background-color);
+	color: var(--fragment-foreground-color);
+        padding: 4px 6px;
+        margin: 4px 8px 4px 2px;
+        overflow: auto;
+        word-wrap: break-word;
+        font-size:  9pt;
+        line-height: 125%;
+        font-family: var(--font-family-monospace);
+        font-size: 105%;
+}
+
+div.fragment {
+	padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/
+	margin: 4px 8px 4px 2px;
+	color: var(--fragment-foreground-color);
+	background-color: var(--fragment-background-color);
+	border: 1px solid var(--fragment-border-color);
+}
+
+div.line {
+	font-family: var(--font-family-monospace);
+        font-size: 13px;
+	min-height: 13px;
+	line-height: 1.2;
+	text-wrap: unrestricted;
+	white-space: -moz-pre-wrap; /* Moz */
+	white-space: -pre-wrap;     /* Opera 4-6 */
+	white-space: -o-pre-wrap;   /* Opera 7 */
+	white-space: pre-wrap;      /* CSS3  */
+	word-wrap: break-word;      /* IE 5.5+ */
+	text-indent: -53px;
+	padding-left: 53px;
+	padding-bottom: 0px;
+	margin: 0px;
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+div.line:after {
+    content:"\000A";
+    white-space: pre;
+}
+
+div.line.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 10px var(--glow-color);
+}
+
+span.fold {
+        margin-left: 5px;
+        margin-right: 1px;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+	display: inline-block;
+	width: 12px;
+	height: 12px;
+	background-repeat:no-repeat;
+        background-position:center;
+}
+
+span.lineno {
+	padding-right: 4px;
+        margin-right: 9px;
+	text-align: right;
+	border-right: 2px solid var(--fragment-lineno-border-color);
+	color: var(--fragment-lineno-foreground-color);
+	background-color: var(--fragment-lineno-background-color);
+        white-space: pre;
+}
+span.lineno a, span.lineno a:visited {
+	color: var(--fragment-lineno-link-fg-color);
+	background-color: var(--fragment-lineno-link-bg-color);
+}
+
+span.lineno a:hover {
+	color: var(--fragment-lineno-link-hover-fg-color);
+	background-color: var(--fragment-lineno-link-hover-bg-color);
+}
+
+.lineno {
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+div.classindex ul {
+        list-style: none;
+        padding-left: 0;
+}
+
+div.classindex span.ai {
+        display: inline-block;
+}
+
+div.groupHeader {
+	margin-left: 16px;
+	margin-top: 12px;
+	font-weight: bold;
+}
+
+div.groupText {
+	margin-left: 16px;
+	font-style: italic;
+}
+
+body {
+	color: var(--page-foreground-color);
+        margin: 0;
+}
+
+div.contents {
+	margin-top: 10px;
+	margin-left: 12px;
+	margin-right: 8px;
+}
+
+p.formulaDsp {
+	text-align: center;
+}
+
+img.dark-mode-visible {
+	display: none;
+}
+img.light-mode-visible {
+	display: none;
+}
+
+img.formulaDsp {
+	
+}
+
+img.formulaInl, img.inline {
+	vertical-align: middle;
+}
+
+div.center {
+	text-align: center;
+        margin-top: 0px;
+        margin-bottom: 0px;
+        padding: 0px;
+}
+
+div.center img {
+	border: 0px;
+}
+
+address.footer {
+	text-align: right;
+	padding-right: 12px;
+}
+
+img.footer {
+	border: 0px;
+	vertical-align: middle;
+	width: var(--footer-logo-width);
+}
+
+.compoundTemplParams {
+	color: var(--memdecl-template-color);
+	font-size: 80%;
+	line-height: 120%;
+}
+
+/* @group Code Colorization */
+
+span.keyword {
+	color: var(--code-keyword-color);
+}
+
+span.keywordtype {
+	color: var(--code-type-keyword-color);
+}
+
+span.keywordflow {
+	color: var(--code-flow-keyword-color);
+}
+
+span.comment {
+	color: var(--code-comment-color);
+}
+
+span.preprocessor {
+	color: var(--code-preprocessor-color);
+}
+
+span.stringliteral {
+	color: var(--code-string-literal-color);
+}
+
+span.charliteral {
+	color: var(--code-char-literal-color);
+}
+
+span.xmlcdata {
+	color: var(--code-xml-cdata-color);
+}
+
+span.vhdldigit { 
+	color: var(--code-vhdl-digit-color);
+}
+
+span.vhdlchar { 
+	color: var(--code-vhdl-char-color);
+}
+
+span.vhdlkeyword { 
+	color: var(--code-vhdl-keyword-color);
+}
+
+span.vhdllogic { 
+	color: var(--code-vhdl-logic-color);
+}
+
+blockquote {
+        background-color: var(--blockquote-background-color);
+        border-left: 2px solid var(--blockquote-border-color);
+        margin: 0 24px 0 4px;
+        padding: 0 12px 0 16px;
+}
+
+/* @end */
+
+td.tiny {
+	font-size: 75%;
+}
+
+.dirtab {
+	padding: 4px;
+	border-collapse: collapse;
+	border: 1px solid var(--table-cell-border-color);
+}
+
+th.dirtab {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-weight: bold;
+}
+
+hr {
+	height: 0px;
+	border: none;
+	border-top: 1px solid var(--separator-color);
+}
+
+hr.footer {
+	height: 1px;
+}
+
+/* @group Member Descriptions */
+
+table.memberdecls {
+	border-spacing: 0px;
+	padding: 0px;
+}
+
+.memberdecls td, .fieldtable tr {
+	-webkit-transition-property: background-color, box-shadow;
+	-webkit-transition-duration: 0.5s;
+	-moz-transition-property: background-color, box-shadow;
+	-moz-transition-duration: 0.5s;
+	-ms-transition-property: background-color, box-shadow;
+	-ms-transition-duration: 0.5s;
+	-o-transition-property: background-color, box-shadow;
+	-o-transition-duration: 0.5s;
+	transition-property: background-color, box-shadow;
+	transition-duration: 0.5s;
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+	background-color: var(--glow-color);
+	box-shadow: 0 0 15px var(--glow-color);
+}
+
+.mdescLeft, .mdescRight,
+.memItemLeft, .memItemRight,
+.memTemplItemLeft, .memTemplItemRight, .memTemplParams {
+	background-color: var(--memdecl-background-color);
+	border: none;
+	margin: 4px;
+	padding: 1px 0 0 8px;
+}
+
+.mdescLeft, .mdescRight {
+	padding: 0px 8px 4px 8px;
+	color: var(--memdecl-foreground-color);
+}
+
+.memSeparator {
+        border-bottom: 1px solid var(--memdecl-separator-color);
+        line-height: 1px;
+        margin: 0px;
+        padding: 0px;
+}
+
+.memItemLeft, .memTemplItemLeft {
+        white-space: nowrap;
+}
+
+.memItemRight, .memTemplItemRight {
+	width: 100%;
+}
+
+.memTemplParams {
+	color: var(--memdecl-template-color);
+        white-space: nowrap;
+	font-size: 80%;
+}
+
+/* @end */
+
+/* @group Member Details */
+
+/* Styles for detailed member documentation */
+
+.memtitle {
+	padding: 8px;
+	border-top: 1px solid var(--memdef-border-color);
+	border-left: 1px solid var(--memdef-border-color);
+	border-right: 1px solid var(--memdef-border-color);
+	border-top-right-radius: 4px;
+	border-top-left-radius: 4px;
+	margin-bottom: -1px;
+	background-image: var(--memdef-title-gradient-image);
+	background-repeat: repeat-x;
+	background-color: var(--memdef-title-background-color);
+	line-height: 1.25;
+	font-weight: 300;
+	float:left;
+}
+
+.permalink
+{
+        font-size: 65%;
+        display: inline-block;
+        vertical-align: middle;
+}
+
+.memtemplate {
+	font-size: 80%;
+	color: var(--memdef-template-color);
+	font-weight: normal;
+	margin-left: 9px;
+}
+
+.mempage {
+	width: 100%;
+}
+
+.memitem {
+	padding: 0;
+	margin-bottom: 10px;
+	margin-right: 5px;
+        -webkit-transition: box-shadow 0.5s linear;
+        -moz-transition: box-shadow 0.5s linear;
+        -ms-transition: box-shadow 0.5s linear;
+        -o-transition: box-shadow 0.5s linear;
+        transition: box-shadow 0.5s linear;
+        display: table !important;
+        width: 100%;
+}
+
+.memitem.glow {
+         box-shadow: 0 0 15px var(--glow-color);
+}
+
+.memname {
+        font-weight: 400;
+        margin-left: 6px;
+}
+
+.memname td {
+	vertical-align: bottom;
+}
+
+.memproto, dl.reflist dt {
+        border-top: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 0px 6px 0px;
+        color: var(--memdef-proto-text-color);
+        font-weight: bold;
+        text-shadow: var(--memdef-proto-text-shadow);
+        background-color: var(--memdef-proto-background-color);
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        border-top-right-radius: 4px;
+}
+
+.overload {
+        font-family: var(--font-family-monospace);
+	font-size: 65%;
+}
+
+.memdoc, dl.reflist dd {
+        border-bottom: 1px solid var(--memdef-border-color);
+        border-left: 1px solid var(--memdef-border-color);
+        border-right: 1px solid var(--memdef-border-color);
+        padding: 6px 10px 2px 10px;
+        border-top-width: 0;
+        background-image:url('nav_g.png');
+        background-repeat:repeat-x;
+        background-color: var(--memdef-doc-background-color);
+        /* opera specific markup */
+        border-bottom-left-radius: 4px;
+        border-bottom-right-radius: 4px;
+        box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+        /* firefox specific markup */
+        -moz-border-radius-bottomleft: 4px;
+        -moz-border-radius-bottomright: 4px;
+        -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px;
+        /* webkit specific markup */
+        -webkit-border-bottom-left-radius: 4px;
+        -webkit-border-bottom-right-radius: 4px;
+        -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+dl.reflist dt {
+        padding: 5px;
+}
+
+dl.reflist dd {
+        margin: 0px 0px 10px 0px;
+        padding: 5px;
+}
+
+.paramkey {
+	text-align: right;
+}
+
+.paramtype {
+	white-space: nowrap;
+}
+
+.paramname {
+	color: var(--memdef-param-name-color);
+	white-space: nowrap;
+}
+.paramname em {
+	font-style: normal;
+}
+.paramname code {
+        line-height: 14px;
+}
+
+.params, .retval, .exception, .tparams {
+        margin-left: 0px;
+        padding-left: 0px;
+}
+
+.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname {
+        font-weight: bold;
+        vertical-align: top;
+}
+
+.params .paramtype, .tparams .paramtype {
+        font-style: italic;
+        vertical-align: top;
+}
+
+.params .paramdir, .tparams .paramdir {
+        font-family: var(--font-family-monospace);
+        vertical-align: top;
+}
+
+table.mlabels {
+	border-spacing: 0px;
+}
+
+td.mlabels-left {
+	width: 100%;
+	padding: 0px;
+}
+
+td.mlabels-right {
+	vertical-align: bottom;
+	padding: 0px;
+	white-space: nowrap;
+}
+
+span.mlabels {
+        margin-left: 8px;
+}
+
+span.mlabel {
+        background-color: var(--label-background-color);
+        border-top:1px solid var(--label-left-top-border-color);
+        border-left:1px solid var(--label-left-top-border-color);
+        border-right:1px solid var(--label-right-bottom-border-color);
+        border-bottom:1px solid var(--label-right-bottom-border-color);
+	text-shadow: none;
+	color: var(--label-foreground-color);
+	margin-right: 4px;
+	padding: 2px 3px;
+	border-radius: 3px;
+	font-size: 7pt;
+	white-space: nowrap;
+	vertical-align: middle;
+}
+
+
+
+/* @end */
+
+/* these are for tree view inside a (index) page */
+
+div.directory {
+        margin: 10px 0px;
+        border-top: 1px solid var(--directory-separator-color);
+        border-bottom: 1px solid var(--directory-separator-color);
+        width: 100%;
+}
+
+.directory table {
+        border-collapse:collapse;
+}
+
+.directory td {
+        margin: 0px;
+        padding: 0px;
+	vertical-align: top;
+}
+
+.directory td.entry {
+        white-space: nowrap;
+        padding-right: 6px;
+	padding-top: 3px;
+}
+
+.directory td.entry a {
+        outline:none;
+}
+
+.directory td.entry a img {
+        border: none;
+}
+
+.directory td.desc {
+        width: 100%;
+        padding-left: 6px;
+	padding-right: 6px;
+	padding-top: 3px;
+	border-left: 1px solid rgba(0,0,0,0.05);
+}
+
+.directory tr.odd {
+	padding-left: 6px;
+	background-color: var(--index-odd-item-bg-color);
+}
+
+.directory tr.even {
+	padding-left: 6px;
+	background-color: var(--index-even-item-bg-color);
+}
+
+.directory img {
+	vertical-align: -30%;
+}
+
+.directory .levels {
+        white-space: nowrap;
+        width: 100%;
+        text-align: right;
+        font-size: 9pt;
+}
+
+.directory .levels span {
+        cursor: pointer;
+        padding-left: 2px;
+        padding-right: 2px;
+	color: var(--page-link-color);
+}
+
+.arrow {
+    color: var(--nav-arrow-color);
+    -webkit-user-select: none;
+    -khtml-user-select: none;
+    -moz-user-select: none;
+    -ms-user-select: none;
+    user-select: none;
+    cursor: pointer;
+    font-size: 80%;
+    display: inline-block;
+    width: 16px;
+    height: 22px;
+}
+
+.icon {
+    font-family: var(--font-family-icon);
+    line-height: normal;
+    font-weight: bold;
+    font-size: 12px;
+    height: 14px;
+    width: 16px;
+    display: inline-block;
+    background-color: var(--icon-background-color);
+    color: var(--icon-foreground-color);
+    text-align: center;
+    border-radius: 4px;
+    margin-left: 2px;
+    margin-right: 2px;
+}
+
+.icona {
+    width: 24px;
+    height: 22px;
+    display: inline-block;
+}
+
+.iconfopen {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-folder-open-image);
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.iconfclosed {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-folder-closed-image);
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+.icondoc {
+    width: 24px;
+    height: 18px;
+    margin-bottom: 4px;
+    background-image:var(--icon-doc-image);
+    background-position: 0px -4px;
+    background-repeat: repeat-y;
+    vertical-align:top;
+    display: inline-block;
+}
+
+/* @end */
+
+div.dynheader {
+        margin-top: 8px;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+address {
+	font-style: normal;
+	color: var(--footer-foreground-color);
+}
+
+table.doxtable caption {
+	caption-side: top;
+}
+
+table.doxtable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.doxtable td, table.doxtable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.doxtable th {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+table.fieldtable {
+        margin-bottom: 10px;
+        border: 1px solid var(--memdef-border-color);
+        border-spacing: 0px;
+        border-radius: 4px;
+        box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
+}
+
+.fieldtable td, .fieldtable th {
+        padding: 3px 7px 2px;
+}
+
+.fieldtable td.fieldtype, .fieldtable td.fieldname {
+        white-space: nowrap;
+        border-right: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid var(--memdef-border-color);
+        vertical-align: top;
+}
+
+.fieldtable td.fieldname {
+        padding-top: 3px;
+}
+
+.fieldtable td.fielddoc {
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+.fieldtable td.fielddoc p:first-child {
+        margin-top: 0px;
+}
+
+.fieldtable td.fielddoc p:last-child {
+        margin-bottom: 2px;
+}
+
+.fieldtable tr:last-child td {
+        border-bottom: none;
+}
+
+.fieldtable th {
+        background-image: var(--memdef-title-gradient-image);
+        background-repeat:repeat-x;
+        background-color: var(--memdef-title-background-color);
+        font-size: 90%;
+        color: var(--memdef-proto-text-color);
+        padding-bottom: 4px;
+        padding-top: 5px;
+        text-align:left;
+        font-weight: 400;
+        border-top-left-radius: 4px;
+        border-top-right-radius: 4px;
+        border-bottom: 1px solid var(--memdef-border-color);
+}
+
+
+.tabsearch {
+	top: 0px;
+	left: 10px;
+	height: 36px;
+	background-image: var(--nav-gradient-image);
+	z-index: 101;
+	overflow: hidden;
+	font-size: 13px;
+}
+
+.navpath ul
+{
+	font-size: 11px;
+	background-image: var(--nav-gradient-image);
+	background-repeat:repeat-x;
+	background-position: 0 -5px;
+	height:30px;
+	line-height:30px;
+	color:var(--nav-text-normal-color);
+	border:solid 1px var(--nav-breadcrumb-border-color);
+	overflow:hidden;
+	margin:0px;
+	padding:0px;
+}
+
+.navpath li
+{
+	list-style-type:none;
+	float:left;
+	padding-left:10px;
+	padding-right:15px;
+	background-image:var(--nav-breadcrumb-image);
+	background-repeat:no-repeat;
+	background-position:right;
+	color: var(--nav-foreground-color);
+}
+
+.navpath li.navelem a
+{
+	height:32px;
+	display:block;
+	text-decoration: none;
+	outline: none;
+	color: var(--nav-text-normal-color);
+	font-family: var(--font-family-nav);
+	text-shadow: var(--nav-text-normal-shadow);
+	text-decoration: none;
+}
+
+.navpath li.navelem a:hover
+{
+	color: var(--nav-text-hover-color);
+	text-shadow: var(--nav-text-hover-shadow);
+}
+
+.navpath li.footer
+{
+        list-style-type:none;
+        float:right;
+        padding-left:10px;
+        padding-right:15px;
+        background-image:none;
+        background-repeat:no-repeat;
+        background-position:right;
+        color: var(--footer-foreground-color);
+        font-size: 8pt;
+}
+
+
+div.summary
+{
+	float: right;
+	font-size: 8pt;
+	padding-right: 5px;
+	width: 50%;
+	text-align: right;
+}
+
+div.summary a
+{
+	white-space: nowrap;
+}
+
+table.classindex
+{
+        margin: 10px;
+        white-space: nowrap;
+        margin-left: 3%;
+        margin-right: 3%;
+        width: 94%;
+        border: 0;
+        border-spacing: 0;
+        padding: 0;
+}
+
+div.ingroups
+{
+	font-size: 8pt;
+	width: 50%;
+	text-align: left;
+}
+
+div.ingroups a
+{
+	white-space: nowrap;
+}
+
+div.header
+{
+        background-image: var(--header-gradient-image);
+        background-repeat:repeat-x;
+	background-color: var(--header-background-color);
+	margin:  0px;
+	border-bottom: 1px solid var(--header-separator-color);
+}
+
+div.headertitle
+{
+	padding: 5px 5px 5px 10px;
+}
+
+.PageDocRTL-title div.headertitle {
+  text-align: right;
+  direction: rtl;
+}
+
+dl {
+        padding: 0 0 0 0;
+}
+
+/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */
+dl.section {
+	margin-left: 0px;
+	padding-left: 0px;
+}
+
+dl.note {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #D0C000;
+}
+
+dl.warning, dl.attention {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #FF0000;
+}
+
+dl.pre, dl.post, dl.invariant {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00D000;
+}
+
+dl.deprecated {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #505050;
+}
+
+dl.todo {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #00C0E0;
+}
+
+dl.test {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #3030E0;
+}
+
+dl.bug {
+  margin-left: -7px;
+  padding-left: 3px;
+  border-left: 4px solid;
+  border-color: #C08050;
+}
+
+dl.section dd {
+	margin-bottom: 6px;
+}
+
+
+#projectrow
+{
+	height: 56px;
+}
+
+#projectlogo
+{
+	text-align: center;
+	vertical-align: bottom;
+	border-collapse: separate;
+}
+ 
+#projectlogo img
+{ 
+	border: 0px none;
+}
+ 
+#projectalign
+{
+        vertical-align: middle;
+        padding-left: 0.5em;
+}
+
+#projectname
+{
+	font-size: 200%;
+	font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 2px 0px;
+}
+
+#projectbrief
+{
+	font-size: 90%;
+        font-family: var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#projectnumber
+{
+	font-size: 50%;
+	font-family: 50% var(--font-family-title);
+	margin: 0px;
+	padding: 0px;
+}
+
+#titlearea
+{
+	padding: 0px;
+	margin: 0px;
+	width: 100%;
+	border-bottom: 1px solid var(--title-separator-color);
+	background-color: var(--title-background-color);
+}
+
+.image
+{
+        text-align: center;
+}
+
+.dotgraph
+{
+        text-align: center;
+}
+
+.mscgraph
+{
+        text-align: center;
+}
+
+.plantumlgraph
+{
+        text-align: center;
+}
+
+.diagraph
+{
+        text-align: center;
+}
+
+.caption
+{
+	font-weight: bold;
+}
+
+dl.citelist {
+        margin-bottom:50px;
+}
+
+dl.citelist dt {
+        color:var(--citation-label-color);
+        float:left;
+        font-weight:bold;
+        margin-right:10px;
+        padding:5px;
+        text-align:right;
+        width:52px;
+}
+
+dl.citelist dd {
+        margin:2px 0 2px 72px;
+        padding:5px 0;
+}
+
+div.toc {
+        padding: 14px 25px;
+        background-color: var(--toc-background-color);
+        border: 1px solid var(--toc-border-color);
+        border-radius: 7px 7px 7px 7px;
+        float: right;
+        height: auto;
+        margin: 0 8px 10px 10px;
+        width: 200px;
+}
+
+div.toc li {
+        background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 var(--font-family-toc);
+        margin-top: 5px;
+        padding-left: 10px;
+        padding-top: 2px;
+}
+
+div.toc h3 {
+        font: bold 12px/1.2 var(--font-family-toc);
+	color: var(--toc-header-color);
+        border-bottom: 0 none;
+        margin: 0;
+}
+
+div.toc ul {
+        list-style: none outside none;
+        border: medium none;
+        padding: 0px;
+}
+
+div.toc li.level1 {
+        margin-left: 0px;
+}
+
+div.toc li.level2 {
+        margin-left: 15px;
+}
+
+div.toc li.level3 {
+        margin-left: 15px;
+}
+
+div.toc li.level4 {
+        margin-left: 15px;
+}
+
+span.emoji {
+        /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html
+         * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort;
+         */
+}
+
+span.obfuscator {
+  display: none;
+}
+
+.inherit_header {
+        font-weight: bold;
+        color: var(--inherit-header-color);
+        cursor: pointer;
+	-webkit-touch-callout: none;
+	-webkit-user-select: none;
+	-khtml-user-select: none;
+	-moz-user-select: none;
+	-ms-user-select: none;
+	user-select: none;
+}
+
+.inherit_header td {
+        padding: 6px 0px 2px 5px;
+}
+
+.inherit {
+        display: none;
+}
+
+tr.heading h2 {
+        margin-top: 12px;
+        margin-bottom: 4px;
+}
+
+/* tooltip related style info */
+
+.ttc {
+        position: absolute;
+        display: none;
+}
+
+#powerTip {
+	cursor: default;
+	/*white-space: nowrap;*/
+        color: var(--tooltip-foreground-color);
+	background-color: var(--tooltip-background-color);
+	border: 1px solid var(--tooltip-border-color);
+	border-radius: 4px 4px 4px 4px;
+	box-shadow: var(--tooltip-shadow);
+	display: none;
+	font-size: smaller;
+	max-width: 80%;
+	opacity: 0.9;
+	padding: 1ex 1em 1em;
+	position: absolute;
+	z-index: 2147483647;
+}
+
+#powerTip div.ttdoc {
+        color: var(--tooltip-doc-color);
+	font-style: italic;
+}
+
+#powerTip div.ttname a {
+        font-weight: bold;
+}
+
+#powerTip a {
+	color: var(--tooltip-link-color);
+}
+
+#powerTip div.ttname {
+        font-weight: bold;
+}
+
+#powerTip div.ttdeci {
+        color: var(--tooltip-declaration-color);
+}
+
+#powerTip div {
+        margin: 0px;
+        padding: 0px;
+        font-size: 12px;
+       	font-family: var(--font-family-tooltip);
+	line-height: 16px;
+}
+
+#powerTip:before, #powerTip:after {
+	content: "";
+	position: absolute;
+	margin: 0px;
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.w:after,  #powerTip.w:before,
+#powerTip.e:after,  #powerTip.e:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.nw:after, #powerTip.nw:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	border: solid transparent;
+	content: " ";
+	height: 0;
+	width: 0;
+	position: absolute;
+}
+
+#powerTip.n:after,  #powerTip.s:after,
+#powerTip.w:after,  #powerTip.e:after,
+#powerTip.nw:after, #powerTip.ne:after,
+#powerTip.sw:after, #powerTip.se:after {
+	border-color: rgba(255, 255, 255, 0);
+}
+
+#powerTip.n:before,  #powerTip.s:before,
+#powerTip.w:before,  #powerTip.e:before,
+#powerTip.nw:before, #powerTip.ne:before,
+#powerTip.sw:before, #powerTip.se:before {
+	border-color: rgba(128, 128, 128, 0);
+}
+
+#powerTip.n:after,  #powerTip.n:before,
+#powerTip.ne:after, #powerTip.ne:before,
+#powerTip.nw:after, #powerTip.nw:before {
+	top: 100%;
+}
+
+#powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
+	border-top-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+#powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before {
+	border-top-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+#powerTip.n:after, #powerTip.n:before {
+	left: 50%;
+}
+
+#powerTip.nw:after, #powerTip.nw:before {
+	right: 14px;
+}
+
+#powerTip.ne:after, #powerTip.ne:before {
+	left: 14px;
+}
+
+#powerTip.s:after,  #powerTip.s:before,
+#powerTip.se:after, #powerTip.se:before,
+#powerTip.sw:after, #powerTip.sw:before {
+	bottom: 100%;
+}
+
+#powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
+	border-bottom-color: var(--tooltip-background-color);
+	border-width: 10px;
+	margin: 0px -10px;
+}
+
+#powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
+	border-bottom-color: var(--tooltip-border-color);
+	border-width: 11px;
+	margin: 0px -11px;
+}
+
+#powerTip.s:after, #powerTip.s:before {
+	left: 50%;
+}
+
+#powerTip.sw:after, #powerTip.sw:before {
+	right: 14px;
+}
+
+#powerTip.se:after, #powerTip.se:before {
+	left: 14px;
+}
+
+#powerTip.e:after, #powerTip.e:before {
+	left: 100%;
+}
+#powerTip.e:after {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.e:before {
+	border-left-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+#powerTip.w:after, #powerTip.w:before {
+	right: 100%;
+}
+#powerTip.w:after {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 10px;
+	top: 50%;
+	margin-top: -10px;
+}
+#powerTip.w:before {
+	border-right-color: var(--tooltip-border-color);
+	border-width: 11px;
+	top: 50%;
+	margin-top: -11px;
+}
+
+@media print
+{
+  #top { display: none; }
+  #side-nav { display: none; }
+  #nav-path { display: none; }
+  body { overflow:visible; }
+  h1, h2, h3, h4, h5, h6 { page-break-after: avoid; }
+  .summary { display: none; }
+  .memitem { page-break-inside: avoid; }
+  #doc-content
+  {
+    margin-left:0 !important;
+    height:auto !important;
+    width:auto !important;
+    overflow:inherit;
+    display:inline;
+  }
+}
+
+/* @group Markdown */
+
+table.markdownTable {
+	border-collapse:collapse;
+        margin-top: 4px;
+        margin-bottom: 4px;
+}
+
+table.markdownTable td, table.markdownTable th {
+	border: 1px solid var(--table-cell-border-color);
+	padding: 3px 7px 2px;
+}
+
+table.markdownTable tr {
+}
+
+th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
+	background-color: var(--table-header-background-color);
+	color: var(--table-header-foreground-color);
+	font-size: 110%;
+	padding-bottom: 4px;
+	padding-top: 5px;
+}
+
+th.markdownTableHeadLeft, td.markdownTableBodyLeft {
+	text-align: left
+}
+
+th.markdownTableHeadRight, td.markdownTableBodyRight {
+	text-align: right
+}
+
+th.markdownTableHeadCenter, td.markdownTableBodyCenter {
+	text-align: center
+}
+
+tt, code, kbd, samp
+{
+  display: inline-block;
+}
+/* @end */
+
+u {
+	text-decoration: underline;
+}
+
+details>summary {
+  list-style-type: none;
+}
+
+details > summary::-webkit-details-marker {
+    display: none;
+}
+
+details>summary::before {
+    content: "\25ba";
+    padding-right:4px;
+    font-size: 80%;
+}
+
+details[open]>summary::before {
+    content: "\25bc";
+    padding-right:4px;
+    font-size: 80%;
+}
+
+body {
+    scrollbar-color: var(--scrollbar-thumb-color) var(--scrollbar-background-color);
+}
+
+::-webkit-scrollbar {
+        background-color: var(--scrollbar-background-color);
+        height: 12px;
+        width: 12px;
+}
+::-webkit-scrollbar-thumb {
+        border-radius: 6px;
+        box-shadow: inset 0 0 12px 12px var(--scrollbar-thumb-color);
+        border: solid 2px transparent;
+}
+::-webkit-scrollbar-corner {
+        background-color: var(--scrollbar-background-color);
+}
+
diff --git a/docs/html/doxygen.svg b/docs/html/doxygen.svg
new file mode 100644
index 0000000..79a7635
--- /dev/null
+++ b/docs/html/doxygen.svg
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+ "https://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg version="1.1" viewBox="0 0 104 31" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
+ <defs>
+  <linearGradient id="a">
+   <stop stop-color="#5373B4" offset="0"/>
+   <stop stop-color="#7C95C6" offset="1"/>
+  </linearGradient>
+  <linearGradient id="d" x1="31.474" x2="31.474" y1="24.821" y2="26.773" gradientUnits="userSpaceOnUse" xlink:href="#a"/>
+  <linearGradient id="c" x1="31.474" x2="31.474" y1="24.821" y2="26.773" gradientTransform="matrix(.6816 0 0 1.0248 72.391 -.91809)" gradientUnits="userSpaceOnUse" xlink:href="#a"/>
+  <linearGradient id="b" x1="56.295" x2="56.295" y1="24.622" y2="26.574" gradientUnits="userSpaceOnUse" xlink:href="#a"/>
+  <linearGradient id="e" x1="49.067" x2="48.956" y1="19.719" y2="9.5227" gradientTransform="matrix(.97968 0 0 1.0207 -.25579 -.25579)" gradientUnits="userSpaceOnUse">
+   <stop stop-color="#C0CCE3" offset="0"/>
+   <stop stop-color="#EEF1F7" offset="1"/>
+  </linearGradient>
+  <filter id="f" x="-.010676" y="-.045304" width="1.0214" height="1.0906" color-interpolation-filters="sRGB">
+   <feGaussianBlur stdDeviation="0.45293203"/>
+  </filter>
+ </defs>
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diff --git a/docs/html/dynsections.js b/docs/html/dynsections.js
new file mode 100644
index 0000000..b73c828
--- /dev/null
+++ b/docs/html/dynsections.js
@@ -0,0 +1,192 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function toggleVisibility(linkObj)
+{
+ var base = $(linkObj).attr('id');
+ var summary = $('#'+base+'-summary');
+ var content = $('#'+base+'-content');
+ var trigger = $('#'+base+'-trigger');
+ var src=$(trigger).attr('src');
+ if (content.is(':visible')===true) {
+   content.hide();
+   summary.show();
+   $(linkObj).addClass('closed').removeClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
+ } else {
+   content.show();
+   summary.hide();
+   $(linkObj).removeClass('closed').addClass('opened');
+   $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
+ }
+ return false;
+}
+
+function updateStripes()
+{
+  $('table.directory tr').
+       removeClass('even').filter(':visible:even').addClass('even');
+  $('table.directory tr').
+       removeClass('odd').filter(':visible:odd').addClass('odd');
+}
+
+function toggleLevel(level)
+{
+  $('table.directory tr').each(function() {
+    var l = this.id.split('_').length-1;
+    var i = $('#img'+this.id.substring(3));
+    var a = $('#arr'+this.id.substring(3));
+    if (l<level+1) {
+      i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
+      a.html('&#9660;');
+      $(this).show();
+    } else if (l==level+1) {
+      i.removeClass('iconfclosed iconfopen').addClass('iconfclosed');
+      a.html('&#9658;');
+      $(this).show();
+    } else {
+      $(this).hide();
+    }
+  });
+  updateStripes();
+}
+
+function toggleFolder(id)
+{
+  // the clicked row
+  var currentRow = $('#row_'+id);
+
+  // all rows after the clicked row
+  var rows = currentRow.nextAll("tr");
+
+  var re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
+
+  // only match elements AFTER this one (can't hide elements before)
+  var childRows = rows.filter(function() { return this.id.match(re); });
+
+  // first row is visible we are HIDING
+  if (childRows.filter(':first').is(':visible')===true) {
+    // replace down arrow by right arrow for current row
+    var currentRowSpans = currentRow.find("span");
+    currentRowSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+    currentRowSpans.filter(".arrow").html('&#9658;');
+    rows.filter("[id^=row_"+id+"]").hide(); // hide all children
+  } else { // we are SHOWING
+    // replace right arrow by down arrow for current row
+    var currentRowSpans = currentRow.find("span");
+    currentRowSpans.filter(".iconfclosed").removeClass("iconfclosed").addClass("iconfopen");
+    currentRowSpans.filter(".arrow").html('&#9660;');
+    // replace down arrows by right arrows for child rows
+    var childRowsSpans = childRows.find("span");
+    childRowsSpans.filter(".iconfopen").removeClass("iconfopen").addClass("iconfclosed");
+    childRowsSpans.filter(".arrow").html('&#9658;');
+    childRows.show(); //show all children
+  }
+  updateStripes();
+}
+
+
+function toggleInherit(id)
+{
+  var rows = $('tr.inherit.'+id);
+  var img = $('tr.inherit_header.'+id+' img');
+  var src = $(img).attr('src');
+  if (rows.filter(':first').is(':visible')===true) {
+    rows.css('display','none');
+    $(img).attr('src',src.substring(0,src.length-8)+'closed.png');
+  } else {
+    rows.css('display','table-row'); // using show() causes jump in firefox
+    $(img).attr('src',src.substring(0,src.length-10)+'open.png');
+  }
+}
+
+var opened=true;
+// in case HTML_COLORSTYLE is LIGHT or DARK the vars will be replaced, so we write them out explicitly and use double quotes
+var plusImg  = [ "var(--fold-plus-image)",  "var(--fold-plus-image-relpath)" ];
+var minusImg = [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ];
+
+// toggle all folding blocks
+function codefold_toggle_all(relPath) {
+ if (opened) {
+   $('#fold_all').css('background-image',plusImg[relPath]);
+   $('div[id^=foldopen]').hide();
+   $('div[id^=foldclosed]').show();
+ } else {
+   $('#fold_all').css('background-image',minusImg[relPath]);
+   $('div[id^=foldopen]').show();
+   $('div[id^=foldclosed]').hide();
+ }
+ opened=!opened;
+}
+
+// toggle single folding block
+function codefold_toggle(id) {
+  $('#foldopen'+id).toggle();
+  $('#foldclosed'+id).toggle();
+}
+function init_codefold(relPath) {
+  $('span[class=lineno]').css(
+    {'padding-right':'4px',
+     'margin-right':'2px',
+     'display':'inline-block',
+     'width':'54px',
+     'background':'linear-gradient(var(--fold-line-color),var(--fold-line-color)) no-repeat 46px/2px 100%'
+    });
+  // add global toggle to first line
+  $('span[class=lineno]:first').append('<span class="fold" id="fold_all" '+
+                                             'onclick="javascript:codefold_toggle_all('+relPath+');" '+
+                                             'style="background-image:'+minusImg[relPath]+';"></span>');
+  // add vertical lines to other rows
+  $('span[class=lineno]').not(':eq(0)').append('<span class="fold"></span>');
+  // add toggle controls to lines with fold divs
+  $('div[class=foldopen]').each(function() {
+    // extract specific id to use
+    var id    = $(this).attr('id').replace('foldopen','');
+    // extract start and end foldable fragment attributes
+    var start = $(this).attr('data-start');
+    var end   = $(this).attr('data-end');
+    // replace normal fold span with controls for the first line of a foldable fragment
+    $(this).find('span[class=fold]:first').replaceWith('<span class="fold" '+
+                                                       'onclick="javascript:codefold_toggle(\''+id+'\');" '+
+                                                       'style="background-image:'+minusImg[relPath]+';"></span>');
+    // append div for folded (closed) representation
+    $(this).after('<div id="foldclosed'+id+'" class="foldclosed" style="display:none;"></div>');
+    // extract the first line from the "open" section to represent closed content
+    var line = $(this).children().first().clone();
+    // remove any glow that might still be active on the original line
+    $(line).removeClass('glow');
+    if (start) {
+      // if line already ends with a start marker (e.g. trailing {), remove it
+      $(line).html($(line).html().replace(new RegExp('\\s*'+start+'\\s*$','g'),''));
+    }
+    // replace minus with plus symbol
+    $(line).find('span[class=fold]').css('background-image',plusImg[relPath]);
+    // append ellipsis
+    $(line).append(' '+start+'<a href="javascript:codefold_toggle(\''+id+'\')">&#8230;</a>'+end);
+    // insert constructed line into closed div
+    $('#foldclosed'+id).html(line);
+  });
+}
+
+/* @license-end */
diff --git a/docs/html/encap__runner_8hpp.html b/docs/html/encap__runner_8hpp.html
new file mode 100644
index 0000000..d4c9886
--- /dev/null
+++ b/docs/html/encap__runner_8hpp.html
@@ -0,0 +1,116 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: capabilities2_runner/include/capabilities2_runner/encap_runner.hpp File Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<a href="#nested-classes">Classes</a> &#124;
+<a href="#namespaces">Namespaces</a>  </div>
+  <div class="headertitle"><div class="title">encap_runner.hpp File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;capabilities2_runner/notrigger_action_runner.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/action/capability.hpp&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
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+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">encapsulated capability runner  <a href="classcapabilities2__runner_1_1EnCapRunner.html#details">More...</a><br /></td></tr>
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+<li class="navelem"><a class="el" href="dir_ae9b8f7772f36f75ddf7a4660dc4c659.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="dir_d596d1b13e10115fa0e063d9d8185b97.html">include</a></li><li class="navelem"><a class="el" href="dir_c88f82dd231ae0856530de318d7cb819.html">capabilities2_runner</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">encap_runner.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="encap__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;capabilities2_runner/notrigger_action_runner.hpp&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;capabilities2_msgs/action/capability.hpp&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> ActionT&gt;</div>
+<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html">   21</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1EnCapRunner.html">EnCapRunner</a> : <span class="keyword">public</span> NoTriggerActionRunner&lt;ActionT&gt;</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a0bbf60f7f885bc1dddffe90635854bad">   24</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a0bbf60f7f885bc1dddffe90635854bad">EnCapRunner</a>() : NoTriggerActionRunner()</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  {</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>  }</div>
+</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="foldopen" id="foldopen00040" data-start="{" data-end="}">
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a7782f8488a37196d1246fef965c75443">   40</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a7782f8488a37196d1246fef965c75443">init_encapsulated_action</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config,</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>                                        <span class="keyword">const</span> std::string&amp; action_name, std::function&lt;<span class="keywordtype">void</span>(Event&amp;)&gt; print)</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>  {</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// init the base action runner</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    init_action(node, run_config, action_name, print);</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="comment">// create an encapsulating action server</span></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a> = rclcpp_action::create_server&lt;capabilities2_msgs::action::Capability&gt;(</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        node_, <span class="stringliteral">&quot;~/encap/&quot;</span> + get_provider(),</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">EnCapRunner::handle_goal</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2),</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">EnCapRunner::handle_cancel</a>, <span class="keyword">this</span>, std::placeholders::_1),</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">EnCapRunner::handle_accepted</a>, <span class="keyword">this</span>, std::placeholders::_1));</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>  }</div>
+</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="foldopen" id="foldopen00060" data-start="{" data-end="}">
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a68e87f8c49301e1e001c232a80fa2f16">   60</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a68e87f8c49301e1e001c232a80fa2f16">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// stop the encapsulating action server</span></div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a>-&gt;cancel_all_goals();</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a>.reset();</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="comment">// stop the base class</span></div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">ActionRunner::stop</a>(bond_id, instance_id);</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="comment">// emit stopped event</span></div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    emit_stopped(bond_id, instance_id, param_on_stopped());</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>  }</div>
+</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>  <span class="comment">// encapsulated action server related functions</span></div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">   80</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">handle_goal</a>(<span class="keyword">const</span> rclcpp_action::GoalUUID&amp; uuid,</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>                           std::shared_ptr&lt;const capabilities2_msgs::action::Capability::Goal&gt; goal);</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">   88</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">handle_cancel</a>(</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>      <span class="keyword">const</span> std::shared_ptr&lt;rclcpp_action::ServerGoalHandle&lt;capabilities2_msgs::action::Capability&gt;&gt; goal_handle);</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">   96</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">handle_accepted</a>(</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>      <span class="keyword">const</span> std::shared_ptr&lt;rclcpp_action::ServerGoalHandle&lt;capabilities2_msgs::action::Capability&gt;&gt; goal_handle);</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">  101</a></span>  std::shared_ptr&lt;rclcpp_action::Server&lt;capabilities2_msgs::action::Capability&gt;&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a>;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>};</div>
+</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a0417718f4ad7a9318169a14abb182fa5"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">capabilities2_runner::ActionRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> action_runner.hpp:68</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a></div><div class="ttdoc">encapsulated capability runner</div><div class="ttdef"><b>Definition</b> encap_runner.hpp:22</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html_a0bbf60f7f885bc1dddffe90635854bad"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html#a0bbf60f7f885bc1dddffe90635854bad">capabilities2_runner::EnCapRunner::EnCapRunner</a></div><div class="ttdeci">EnCapRunner()</div><div class="ttdef"><b>Definition</b> encap_runner.hpp:24</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html_a25706ef80e4653174c2160d92c6b2d43"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">capabilities2_runner::EnCapRunner::handle_cancel</a></div><div class="ttdeci">virtual void handle_cancel(const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt; goal_handle)</div><div class="ttdoc">handle encap action cancel goal</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html_a68e87f8c49301e1e001c232a80fa2f16"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html#a68e87f8c49301e1e001c232a80fa2f16">capabilities2_runner::EnCapRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop the encapsulated action server</div><div class="ttdef"><b>Definition</b> encap_runner.hpp:60</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html_a7782f8488a37196d1246fef965c75443"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html#a7782f8488a37196d1246fef965c75443">capabilities2_runner::EnCapRunner::init_encapsulated_action</a></div><div class="ttdeci">virtual void init_encapsulated_action(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;action_name, std::function&lt; void(Event &amp;)&gt; print)</div><div class="ttdoc">init encapsulated action</div><div class="ttdef"><b>Definition</b> encap_runner.hpp:40</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html_a7b6879449e5623ebc4cf78a5e8c9dd02"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">capabilities2_runner::EnCapRunner::encap_action_</a></div><div class="ttdeci">std::shared_ptr&lt; rclcpp_action::Server&lt; capabilities2_msgs::action::Capability &gt; &gt; encap_action_</div><div class="ttdef"><b>Definition</b> encap_runner.hpp:101</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html_ab198a797528098b90802453b8878dc58"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">capabilities2_runner::EnCapRunner::handle_accepted</a></div><div class="ttdeci">virtual void handle_accepted(const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt; goal_handle)</div><div class="ttdoc">handle encap action accepted</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html_abdb6db0942e157b1776dff2cea32de55"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">capabilities2_runner::EnCapRunner::handle_goal</a></div><div class="ttdeci">virtual void handle_goal(const rclcpp_action::GoalUUID &amp;uuid, std::shared_ptr&lt; const capabilities2_msgs::action::Capability::Goal &gt; goal)</div><div class="ttdoc">handle encap action goal</div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
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+<li class="navelem"><a class="el" href="dir_893eca9b61704b59497c2543c6de837c.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="dir_5d95c21bcb0e08e60d3c845ed072574e.html">include</a></li><li class="navelem"><a class="el" href="dir_930544a6b4d7294c7d05c1cc4fea3dca.html">capabilities2_events</a></li>  </ul>
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+<a href="#namespaces">Namespaces</a>  </div>
+  <div class="headertitle"><div class="title">event_base.hpp File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;stdexcept&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;functional&gt;</code><br />
+<code>#include &lt;rclcpp/rclcpp.hpp&gt;</code><br />
+<code>#include &lt;<a class="el" href="event__parameters_8hpp_source.html">capabilities2_events/event_parameters.hpp</a>&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability_event.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability_event_code.hpp&gt;</code><br />
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">event base class  <a href="classcapabilities2__events_1_1EventBase.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<li class="navelem"><a class="el" href="dir_893eca9b61704b59497c2543c6de837c.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="dir_5d95c21bcb0e08e60d3c845ed072574e.html">include</a></li><li class="navelem"><a class="el" href="dir_930544a6b4d7294c7d05c1cc4fea3dca.html">capabilities2_events</a></li>  </ul>
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+  <div class="headertitle"><div class="title">event_base.hpp</div></div>
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+<div class="contents">
+<a href="event__base_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;stdexcept&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="event__parameters_8hpp.html">capabilities2_events/event_parameters.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_event.hpp&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_event_code.hpp&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="foldopen" id="foldopen00013" data-start="{" data-end="}">
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="namespacecapabilities2__events.html">   13</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__events.html">capabilities2_events</a></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
+<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1event__exception.html">   21</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__events_1_1event__exception.html">event_exception</a> : <span class="keyword">public</span> std::runtime_error</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  <span class="keyword">using </span>std::runtime_error::runtime_error;</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="foldopen" id="foldopen00025" data-start="{" data-end="}">
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1event__exception.html#ad7d805afcac28ab78f9323bd6a740962">   25</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1event__exception.html#ad7d805afcac28ab78f9323bd6a740962">event_exception</a>(<span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">what</a>) : std::runtime_error(<a class="code hl_function" href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">what</a>)</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>  {</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>  }</div>
+</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="foldopen" id="foldopen00029" data-start="{" data-end="}">
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">   29</a></span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">what</a>() const noexcept<span class="keyword"> override</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <span class="keywordflow">return</span> std::runtime_error::what();</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  }</div>
+</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>};</div>
+</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="foldopen" id="foldopen00042" data-start="{" data-end="};">
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html">   42</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__events_1_1EventBase.html">EventBase</a></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>{</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">   45</a></span>  <span class="keyword">typedef</span> std::string <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a>;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">   46</a></span>  <span class="keyword">typedef</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">parameter_t</a>;</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">   47</a></span>  <span class="keyword">typedef</span> std::string <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a>;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">   48</a></span>  <span class="keyword">typedef</span> std::string <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a>;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">   49</a></span>  <span class="keyword">typedef</span> std::function&lt;void(<span class="keyword">const</span> <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a>&amp;, <span class="keyword">const</span> <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a>&amp;, <span class="keyword">const</span> <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a>&amp;, <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">parameter_t</a>)&gt; <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a>;</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00052" data-start="{" data-end="}">
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">   52</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">EventBase</a>()</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>  {</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  }</div>
+</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">   56</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">~EventBase</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
+<div class="foldopen" id="foldopen00071" data-start="{" data-end="}">
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">   71</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">emit</a>(<span class="keyword">const</span> std::string&amp; connection_id, <span class="keyword">const</span> uint8_t&amp; event_code,</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>                    <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; source,</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                    <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; target, <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a> callback)</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>  {</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// extract bond_id from connection_id (format: &quot;bond_id/instance_id/target_instance_id&quot;)</span></div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">size_t</span> first_pos = connection_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    std::string bond_id = (first_pos != std::string::npos) ? connection_id.substr(0, first_pos) : connection_id;</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="comment">// do callback with bond_id for access control</span></div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordflow">if</span> (callback)</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    {</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      callback(bond_id, target.capability, target.instance_id, <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>(target));</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    }</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>  }</div>
+</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#af933897ae9b7098b051cc1fcdb74968f">   92</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#af933897ae9b7098b051cc1fcdb74968f">on_server_ready</a>(<span class="keyword">const</span> std::string&amp; msg) = 0;</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a9a583f7cfb886ba392d2c76e83e30bfb">   99</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a9a583f7cfb886ba392d2c76e83e30bfb">on_process_launched</a>(<span class="keyword">const</span> std::string&amp; pid) = 0;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a021776e08657b8cf8f1b1f9926201f97">  106</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a021776e08657b8cf8f1b1f9926201f97">on_process_terminated</a>(<span class="keyword">const</span> std::string&amp; pid) = 0;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#afad67998148a34956d1e68aa93c57ce0">  113</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#afad67998148a34956d1e68aa93c57ce0">on_triggered</a>(<span class="keyword">const</span> std::string&amp; trigger_id) = 0;</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a6deb16537eaa81d11acf71bc47c1a900">  121</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a6deb16537eaa81d11acf71bc47c1a900">on_connected</a>(<span class="keyword">const</span> std::string&amp; source, <span class="keyword">const</span> std::string&amp; target) = 0;</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#ab49fc1628a210ce16cb2c9e79e27f528">  129</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#ab49fc1628a210ce16cb2c9e79e27f528">on_disconnected</a>(<span class="keyword">const</span> std::string&amp; source, <span class="keyword">const</span> std::string&amp; target) = 0;</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>};</div>
+</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>}  <span class="comment">// namespace capabilities2_events</span></div>
+</div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></div><div class="ttdoc">event base class</div><div class="ttdef"><b>Definition</b> event_base.hpp:43</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a01410f9659983468b791d4aaf0c563f7"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">capabilities2_events::EventBase::~EventBase</a></div><div class="ttdeci">~EventBase()=default</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a01f110c6b7c9517f8f8ae134b8b22c8e"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">capabilities2_events::EventBase::event_callback_t</a></div><div class="ttdeci">std::function&lt; void(const access_id_t &amp;, const capability_str_t &amp;, const target_instance_id_t &amp;, parameter_t)&gt; event_callback_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:49</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a021776e08657b8cf8f1b1f9926201f97"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a021776e08657b8cf8f1b1f9926201f97">capabilities2_events::EventBase::on_process_terminated</a></div><div class="ttdeci">virtual void on_process_terminated(const std::string &amp;pid)=0</div><div class="ttdoc">on process terminated event</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a0d2aa907ed227b7b6042b698ed0bf77b"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">capabilities2_events::EventBase::access_id_t</a></div><div class="ttdeci">std::string access_id_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:47</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a0fadc2464ce9a54a913aa55e806b7d8c"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">capabilities2_events::EventBase::emit</a></div><div class="ttdeci">virtual void emit(const std::string &amp;connection_id, const uint8_t &amp;event_code, const capabilities2_msgs::msg::Capability &amp;source, const capabilities2_msgs::msg::Capability &amp;target, event_callback_t callback)</div><div class="ttdoc">emit an event</div><div class="ttdef"><b>Definition</b> event_base.hpp:71</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a19f418e37fa9e7c9fe06680b265ceeef"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">capabilities2_events::EventBase::EventBase</a></div><div class="ttdeci">EventBase()</div><div class="ttdef"><b>Definition</b> event_base.hpp:52</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a62651f0f057c4b561ae19578ba5c5822"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capabilities2_events::EventBase::capability_str_t</a></div><div class="ttdeci">std::string capability_str_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:45</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a6deb16537eaa81d11acf71bc47c1a900"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a6deb16537eaa81d11acf71bc47c1a900">capabilities2_events::EventBase::on_connected</a></div><div class="ttdeci">virtual void on_connected(const std::string &amp;source, const std::string &amp;target)=0</div><div class="ttdoc">on connected event from server</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a76b5029a3a39b00c5a322b60c0562c97"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">capabilities2_events::EventBase::parameter_t</a></div><div class="ttdeci">capabilities2_events::EventParameters parameter_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:46</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a9a583f7cfb886ba392d2c76e83e30bfb"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a9a583f7cfb886ba392d2c76e83e30bfb">capabilities2_events::EventBase::on_process_launched</a></div><div class="ttdeci">virtual void on_process_launched(const std::string &amp;pid)=0</div><div class="ttdoc">on process launched event</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_ab49fc1628a210ce16cb2c9e79e27f528"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#ab49fc1628a210ce16cb2c9e79e27f528">capabilities2_events::EventBase::on_disconnected</a></div><div class="ttdeci">virtual void on_disconnected(const std::string &amp;source, const std::string &amp;target)=0</div><div class="ttdoc">on disconnected event from server</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_ada022c0828aaa8cd023f4cebda9b8209"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">capabilities2_events::EventBase::target_instance_id_t</a></div><div class="ttdeci">std::string target_instance_id_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:48</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_af933897ae9b7098b051cc1fcdb74968f"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#af933897ae9b7098b051cc1fcdb74968f">capabilities2_events::EventBase::on_server_ready</a></div><div class="ttdeci">virtual void on_server_ready(const std::string &amp;msg)=0</div><div class="ttdoc">on server ready event</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_afad67998148a34956d1e68aa93c57ce0"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#afad67998148a34956d1e68aa93c57ce0">capabilities2_events::EventBase::on_triggered</a></div><div class="ttdeci">virtual void on_triggered(const std::string &amp;trigger_id)=0</div><div class="ttdoc">on triggered event from server</div></div>
+<div class="ttc" id="aevent__parameters_8hpp_html"><div class="ttname"><a href="event__parameters_8hpp.html">event_parameters.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html"><div class="ttname"><a href="namespacecapabilities2__events.html">capabilities2_events</a></div><div class="ttdef"><b>Definition</b> event_base.hpp:14</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html">capabilities2_events::event_exception</a></div><div class="ttdoc">event exception</div><div class="ttdef"><b>Definition</b> event_base.hpp:22</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html_a44b87bc6a5964f8f3eeadf062df8fbe3"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">capabilities2_events::event_exception::what</a></div><div class="ttdeci">virtual const char * what() const noexcept override</div><div class="ttdef"><b>Definition</b> event_base.hpp:29</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html_ad7d805afcac28ab78f9323bd6a740962"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html#ad7d805afcac28ab78f9323bd6a740962">capabilities2_events::event_exception::event_exception</a></div><div class="ttdeci">event_exception(const std::string &amp;what)</div><div class="ttdef"><b>Definition</b> event_base.hpp:25</div></div>
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<a href="#nested-classes">Classes</a> &#124;
+<a href="#namespaces">Namespaces</a>  </div>
+  <div class="headertitle"><div class="title">event_node.hpp File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;map&gt;</code><br />
+<code>#include &lt;memory&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;rclcpp/rclcpp.hpp&gt;</code><br />
+<code>#include &lt;<a class="el" href="uuid__generator_8hpp_source.html">capabilities2_events/uuid_generator.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="event__base_8hpp_source.html">capabilities2_events/event_base.hpp</a>&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability_event_code.hpp&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability_connection.hpp&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
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+  <div class="headertitle"><div class="title">event_node.hpp</div></div>
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+<div class="contents">
+<a href="event__node_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="uuid__generator_8hpp.html">capabilities2_events/uuid_generator.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;<a class="code" href="event__base_8hpp.html">capabilities2_events/event_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_event_code.hpp&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_connection.hpp&gt;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__events.html">capabilities2_events</a></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>{</div>
+<div class="foldopen" id="foldopen00025" data-start="{" data-end="};">
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html">   25</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__events_1_1EventNode.html">EventNode</a></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>{</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="keyword">private</span>:</div>
+<div class="foldopen" id="foldopen00035" data-start="{" data-end="};">
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">   35</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">EventPipe</a></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  {</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="comment">// connection type</span></div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a6ba64f70d3638982a9ed986a57b30e5b">   38</a></span>    capabilities2_msgs::msg::CapabilityEventCode <a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a6ba64f70d3638982a9ed986a57b30e5b">type</a>;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="comment">// connection target</span></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a94675fdb0b3dd0e0f490b2878da45b33">   41</a></span>    capabilities2_msgs::msg::Capability <a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a94675fdb0b3dd0e0f490b2878da45b33">target</a>;</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// event callback with signature: (capability, parameters, bond_id)</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a16c36ae362fd1de3c6046acbe0307c40">   44</a></span>    <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> <a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a16c36ae362fd1de3c6046acbe0307c40">callback</a>;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>  };</div>
+</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">   48</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt;EventBase&gt; event_emitter = <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    : <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a>(<a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a>::gen_uuid_str()), <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>(), <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>(event_emitter), <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>()</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  {</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>  }</div>
+</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">   53</a></span>  <span class="keyword">virtual</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="foldopen" id="foldopen00064" data-start="{" data-end="}">
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">   64</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id, <span class="keyword">const</span> uint8_t&amp; event_type,</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>                  <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  {</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// check if event emitter is set</span></div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>)</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    {</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <span class="comment">// No event emitter configured - silently skip</span></div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      <span class="comment">// This allows runners to work without event system if needed</span></div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    }</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// check each connection</span></div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; [conn_id, connection] : <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>)</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    {</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      <span class="comment">// extract bond_id from connection_id (format: &quot;bond_id/instance_id/target_instance_id&quot;)</span></div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>      <span class="keywordtype">size_t</span> first_pos = conn_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>      <span class="keywordtype">size_t</span> second_pos = conn_id.find(<span class="charliteral">&#39;/&#39;</span>, first_pos + 1);</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>      std::string conn_bond_id = (first_pos != std::string::npos) ? conn_id.substr(0, first_pos) : conn_id;</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      std::string conn_instance_id =</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>          (second_pos != std::string::npos) ? conn_id.substr(first_pos + 1, second_pos - first_pos - 1) : <span class="stringliteral">&quot;&quot;</span>;</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>      <span class="comment">// get targets for this event type and id namespace</span></div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>      <span class="keywordflow">if</span> (connection.type.code == event_type &amp;&amp; bond_id == conn_bond_id &amp;&amp; instance_id == conn_instance_id)</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>      {</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>        <span class="comment">// parameterise target capability with parameters from the trigger</span></div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>        <span class="keyword">auto</span> old_parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>(connection.target);</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="comment">// extend or replace parameters of the target capability if any non empty parameters are provided</span></div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>        <span class="keywordflow">if</span> (!parameters.is_empty())</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>          <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; option : parameters.options)</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>            old_parameters.set_value(option.key, option.get_value(), option.type);</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>        <span class="comment">// create a new target capability message with updated parameters to emit with the event</span></div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        <span class="keyword">auto</span> target_with_params = old_parameters.toMsg();</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span> </div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>        <span class="comment">// copy capability and provider from original target as parameters only contains the options</span></div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        target_with_params.capability = connection.target.capability;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        target_with_params.provider = connection.target.provider;</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>        target_with_params.instance_id = connection.target.instance_id;</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        <span class="comment">// emit event via event api</span></div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        <span class="comment">// NOTE: callback invocation is handled by event api</span></div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        <span class="comment">// this allows the nodes to be decoupled</span></div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        <span class="comment">// nodes just keep track of connections</span></div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        <span class="comment">// modifying execution of other nodes is not owned by this class</span></div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        <span class="comment">// this lets the execution flow be made thread-safe</span></div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        <span class="comment">// in the scope where the thread is owned</span></div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>        <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>-&gt;emit(conn_id, event_type, <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>, target_with_params, connection.callback);</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>      }</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    }</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>  }</div>
+</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span><span class="keyword">protected</span>:</div>
+<div class="foldopen" id="foldopen00123" data-start="{" data-end="}">
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">  123</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(<span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; src)</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>  {</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a> = src;</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>  }</div>
+</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
+<div class="foldopen" id="foldopen00135" data-start="{" data-end="}">
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">  135</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt;EventBase&gt; event_emitter)</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>  {</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a> = event_emitter;</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  }</div>
+</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
+<div class="foldopen" id="foldopen00154" data-start="{" data-end="}">
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">  154</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a>(<span class="keyword">const</span> std::string&amp; connection_id, <span class="keyword">const</span> capabilities2_msgs::msg::CapabilityEventCode&amp; type,</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>                      <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; target, <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>  {</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="comment">// validate connection id</span></div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.find(connection_id) != <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.end())</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    {</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1event__exception.html">event_exception</a>(<span class="stringliteral">&quot;connection with id: &quot;</span> + connection_id + <span class="stringliteral">&quot; already exists&quot;</span>);</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    }</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="comment">// set up an event pipe</span></div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <a class="code hl_struct" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">EventPipe</a> conn;</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    conn.<a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a6ba64f70d3638982a9ed986a57b30e5b">type</a> = type;</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    conn.<a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a94675fdb0b3dd0e0f490b2878da45b33">target</a> = target;</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    conn.<a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a16c36ae362fd1de3c6046acbe0307c40">callback</a> = event_cb;</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    <span class="comment">// add connection</span></div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>[connection_id] = conn;</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>)</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    {</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>      <span class="comment">// emit connected event</span></div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>      <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>-&gt;on_connected(<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>.capability, target.capability);</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    }</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>  }</div>
+</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
+<div class="foldopen" id="foldopen00184" data-start="{" data-end="}">
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">  184</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(<span class="keyword">const</span> std::string&amp; connection_id)</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>  {</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="comment">// remove connection</span></div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    <span class="keyword">auto</span> it = <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.find(connection_id);</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="keywordflow">if</span> (it == <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.end())</div>
+<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    {</div>
+<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1event__exception.html">event_exception</a>(<span class="stringliteral">&quot;connection with id: &quot;</span> + connection_id + <span class="stringliteral">&quot; does not exist&quot;</span>);</div>
+<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    }</div>
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    <span class="keyword">auto</span> target = it-&gt;second.target;</div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.erase(connection_id);</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="comment">// emit disconnected event</span></div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>)</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    {</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>      <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>-&gt;on_disconnected(<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>.capability, target.capability);</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    }</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>  }</div>
+</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span> </div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>  <span class="comment">// helper members</span></div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span> </div>
+<div class="foldopen" id="foldopen00207" data-start="{" data-end="}">
+<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">  207</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</div>
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>  {</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.clear();</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>  }</div>
+</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
+<div class="foldopen" id="foldopen00217" data-start="{" data-end="}">
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">  217</a></span>  std::vector&lt;capabilities2_msgs::msg::CapabilityConnection&gt; <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    std::vector&lt;capabilities2_msgs::msg::CapabilityConnection&gt; conns;</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span> </div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; [conn_id, connection] : <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>)</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    {</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>      capabilities2_msgs::msg::CapabilityConnection c;</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>      c.type = connection.type;</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>      c.source = <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>;</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>      c.target = connection.target;</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>      conns.push_back(c);</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    }</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>    <span class="keywordflow">return</span> conns;</div>
+<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>  }</div>
+</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
+<div class="foldopen" id="foldopen00240" data-start="{" data-end="}">
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">  240</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(<span class="keyword">const</span> std::string&amp; connection_id)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.find(connection_id) != <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.end();</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>  }</div>
+</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span> </div>
+<div class="foldopen" id="foldopen00250" data-start="{" data-end="}">
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">  250</a></span>  <span class="keywordtype">size_t</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.size();</div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>  }</div>
+</div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span> </div>
+<div class="foldopen" id="foldopen00260" data-start="{" data-end="}">
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">  260</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a>;</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>  }</div>
+</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span> </div>
+<div class="foldopen" id="foldopen00270" data-start="{" data-end="}">
+<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">  270</a></span>  <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>;</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>  }</div>
+</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span> </div>
+<div class="foldopen" id="foldopen00278" data-start="{" data-end="}">
+<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">  278</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a> != <span class="keyword">nullptr</span>;</div>
+<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>  }</div>
+</div>
+<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span> </div>
+<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>  <span class="comment">// unique id of the event node</span></div>
+<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>  <span class="comment">// using uuid string</span></div>
+<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">  286</a></span>  std::string <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a>;</div>
+<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span> </div>
+<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>  <span class="comment">// source capability of this event node</span></div>
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">  289</a></span>  capabilities2_msgs::msg::Capability <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>;</div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span> </div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>  <span class="comment">// event emitter used to emit events</span></div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>  <span class="comment">// store as member to avoid passing around</span></div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">  293</a></span>  std::shared_ptr&lt;EventBase&gt; <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>;</div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span> </div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>  <span class="comment">// connections from this event node to target capabilities</span></div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>  <span class="comment">// Key: connection_id (format: &quot;bond_id/trigger_id&quot;)</span></div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>  <span class="comment">// Value: EventPipe with type, target, callback</span></div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">  298</a></span>  std::map&lt;std::string, EventPipe&gt; <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>;</div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>};</div>
+</div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>}  <span class="comment">// namespace capabilities2_events</span></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a01f110c6b7c9517f8f8ae134b8b22c8e"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">capabilities2_events::EventBase::event_callback_t</a></div><div class="ttdeci">std::function&lt; void(const access_id_t &amp;, const capability_str_t &amp;, const target_instance_id_t &amp;, parameter_t)&gt; event_callback_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:49</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></div><div class="ttdoc">an event node is a source of an event</div><div class="ttdef"><b>Definition</b> event_node.hpp:26</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a0af021d2aadac8d3b930fcdfc7b69da8"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">capabilities2_events::EventNode::get_source</a></div><div class="ttdeci">const capabilities2_msgs::msg::Capability &amp; get_source() const</div><div class="ttdoc">source capability of this event node</div><div class="ttdef"><b>Definition</b> event_node.hpp:270</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a0aff474ac782cae10ca79d37c1f17a44"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">capabilities2_events::EventNode::event_emitter_</a></div><div class="ttdeci">std::shared_ptr&lt; EventBase &gt; event_emitter_</div><div class="ttdef"><b>Definition</b> event_node.hpp:293</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a0e58130ead683f82e421ea373f670fd0"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">capabilities2_events::EventNode::~EventNode</a></div><div class="ttdeci">virtual ~EventNode()=default</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a10f7d884696c76f58fa43a03d69369f4"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">capabilities2_events::EventNode::set_source</a></div><div class="ttdeci">void set_source(const capabilities2_msgs::msg::Capability &amp;src)</div><div class="ttdoc">Set the source object.</div><div class="ttdef"><b>Definition</b> event_node.hpp:123</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a17cab4cfcc38f312fb7f37698c43d6b1"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">capabilities2_events::EventNode::get_id</a></div><div class="ttdeci">const std::string &amp; get_id() const</div><div class="ttdoc">unique id of this event node</div><div class="ttdef"><b>Definition</b> event_node.hpp:260</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a1ae8d0a9622e781f9d8891018c5239a8"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">capabilities2_events::EventNode::list_connections</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt; list_connections() const</div><div class="ttdoc">List all connections from this event node.</div><div class="ttdef"><b>Definition</b> event_node.hpp:217</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a1aefc3465612e5a4662190ae251f9ded"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">capabilities2_events::EventNode::remove_connection</a></div><div class="ttdeci">void remove_connection(const std::string &amp;connection_id)</div><div class="ttdoc">Remove a connection by its id.</div><div class="ttdef"><b>Definition</b> event_node.hpp:184</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a1ee75f7c81c01519c250045ade85eaf7"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">capabilities2_events::EventNode::clear_connections</a></div><div class="ttdeci">void clear_connections()</div><div class="ttdoc">clear all connections from this event node</div><div class="ttdef"><b>Definition</b> event_node.hpp:207</div></div>
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+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a3cd9380c3e2739278c1601d844aa5fc9"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">capabilities2_events::EventNode::EventNode</a></div><div class="ttdeci">EventNode(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</div><div class="ttdef"><b>Definition</b> event_node.hpp:48</div></div>
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+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a53f3a0dad63b42456ad2a6dd4bddc7ab"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">capabilities2_events::EventNode::has_connection</a></div><div class="ttdeci">bool has_connection(const std::string &amp;connection_id) const</div><div class="ttdoc">Check if a connection exists.</div><div class="ttdef"><b>Definition</b> event_node.hpp:240</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a54192391a09d30e778b5ef73a07e5476"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a></div><div class="ttdeci">void add_connection(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</div><div class="ttdoc">make EventNode::add_connection public method on runner api.</div><div class="ttdef"><b>Definition</b> event_node.hpp:154</div></div>
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+<div class="ttc" id="anamespacecapabilities2__events_html"><div class="ttname"><a href="namespacecapabilities2__events.html">capabilities2_events</a></div><div class="ttdef"><b>Definition</b> event_base.hpp:14</div></div>
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+<code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;any&gt;</code><br />
+<code>#include &lt;stdexcept&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</code><br />
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+  <div class="headertitle"><div class="title">event_parameters.hpp</div></div>
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+<div class="contents">
+<a href="event__parameters_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;any&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;stdexcept&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_parameter.hpp&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__events.html">capabilities2_events</a></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>{</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="foldopen" id="foldopen00013" data-start="{" data-end="};">
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1options__exception.html">   13</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__events_1_1options__exception.html">options_exception</a> : <span class="keyword">public</span> std::runtime_error</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>  <span class="keyword">using </span>std::runtime_error::runtime_error;</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="foldopen" id="foldopen00017" data-start="{" data-end="}">
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1options__exception.html#af6cd097f7264ece12deaa7ae6cc9f0dc">   17</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1options__exception.html#af6cd097f7264ece12deaa7ae6cc9f0dc">options_exception</a>(<span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">what</a>) : std::runtime_error(<a class="code hl_function" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">what</a>)</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  {</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>  }</div>
+</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="foldopen" id="foldopen00021" data-start="{" data-end="}">
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">   21</a></span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">what</a>() const noexcept<span class="keyword"> override</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="keywordflow">return</span> std::runtime_error::what();</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  }</div>
+</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>};</div>
+</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="foldopen" id="foldopen00027" data-start="{" data-end="};">
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">   27</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>{</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5">BOOL</a>,</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229">DOUBLE</a>,</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92">INT</a>,</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949">STRING</a>,</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2">UNCONVERTED</a>,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424">VECTOR_BOOL</a>,</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe">VECTOR_DOUBLE</a>,</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8">VECTOR_INT</a>,</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">VECTOR_STRING</a></div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>};</div>
+</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="foldopen" id="foldopen00046" data-start="{" data-end="};">
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html">   46</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__events_1_1Parameter.html">Parameter</a></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>{</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">   48</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a>;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">   49</a></span>  std::vector&lt;std::string&gt; <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>;</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">   50</a></span>  <a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a> <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a>;</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a3fd3f8d62c0e49aa657535e3df9c8430">   52</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a3fd3f8d62c0e49aa657535e3df9c8430">Parameter</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="foldopen" id="foldopen00054" data-start="{" data-end="}">
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a097dc936b8692fa57498b7975a3fe8a9">   54</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a097dc936b8692fa57498b7975a3fe8a9">Parameter</a>(<span class="keyword">const</span> capabilities2_msgs::msg::CapabilityParameter&amp; msg)</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>  {</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a> = msg.key;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a> = msg.value;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a> = <span class="keyword">static_cast&lt;</span><a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a><span class="keyword">&gt;</span>(msg.type);</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>  }</div>
+</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="foldopen" id="foldopen00061" data-start="{" data-end="}">
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a3b30e4d048001e9cd6e25df5f8ebc392">   61</a></span>  std::any <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a3b30e4d048001e9cd6e25df5f8ebc392">get_value</a>()</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  {</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordflow">switch</span> (<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a>)</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    {</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5">OptionType::BOOL</a>:</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>[0] == <span class="stringliteral">&quot;true&quot;</span>;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229">OptionType::DOUBLE</a>:</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordflow">return</span> std::stod(<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>[0]);</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92">OptionType::INT</a>:</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <span class="keywordflow">return</span> std::stoi(<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>[0]);</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949">OptionType::STRING</a>:</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>[0];</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424">OptionType::VECTOR_BOOL</a>: {</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        std::vector&lt;bool&gt; vec;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>)</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>          vec.push_back(v == <span class="stringliteral">&quot;true&quot;</span>);</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="keywordflow">return</span> vec;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      }</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe">OptionType::VECTOR_DOUBLE</a>: {</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        std::vector&lt;double&gt; vec;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>)</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>          vec.push_back(std::stod(v));</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        <span class="keywordflow">return</span> vec;</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>      }</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8">OptionType::VECTOR_INT</a>: {</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        std::vector&lt;int&gt; vec;</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>)</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>          vec.push_back(std::stoi(v));</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>        <span class="keywordflow">return</span> vec;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>      }</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">OptionType::VECTOR_STRING</a>:</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>;</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    }</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>  }</div>
+</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="foldopen" id="foldopen00096" data-start="{" data-end="}">
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a7e297cd1d51c0c23a56146275f41c431">   96</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a7e297cd1d51c0c23a56146275f41c431">set_value</a>(std::string new_key, std::any new_value, <a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a> new_type)</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>  {</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a> = new_key;</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a> = new_type;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordflow">switch</span> (<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a>)</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    {</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5">OptionType::BOOL</a>:</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::any_cast&lt;bool&gt;(new_value) ? <span class="stringliteral">&quot;true&quot;</span> : <span class="stringliteral">&quot;false&quot;</span>);</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229">OptionType::DOUBLE</a>:</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::to_string(std::any_cast&lt;double&gt;(new_value)));</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92">OptionType::INT</a>:</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::to_string(std::any_cast&lt;int&gt;(new_value)));</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949">OptionType::STRING</a>:</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::any_cast&lt;std::string&gt;(new_value));</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424">OptionType::VECTOR_BOOL</a>: {</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>        <span class="keyword">const</span> <span class="keyword">auto</span>&amp; vec = std::any_cast&lt;std::vector&lt;bool&gt;&gt;(new_value);</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : vec)</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>          <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(v ? <span class="stringliteral">&quot;true&quot;</span> : <span class="stringliteral">&quot;false&quot;</span>);</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>      }</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe">OptionType::VECTOR_DOUBLE</a>: {</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>        <span class="keyword">const</span> <span class="keyword">auto</span>&amp; vec = std::any_cast&lt;std::vector&lt;double&gt;&gt;(new_value);</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : vec)</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>          <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::to_string(v));</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>      }</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8">OptionType::VECTOR_INT</a>: {</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keyword">const</span> <span class="keyword">auto</span>&amp; vec = std::any_cast&lt;std::vector&lt;int&gt;&gt;(new_value);</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : vec)</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>          <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::to_string(v));</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>      }</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">OptionType::VECTOR_STRING</a>:</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a> = std::any_cast&lt;std::vector&lt;std::string&gt;&gt;(new_value);</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>      <span class="keywordflow">default</span>:</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>        <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1options__exception.html">options_exception</a>(<span class="stringliteral">&quot;Unsupported OptionType&quot;</span>);</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    }</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>  }</div>
+</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span> </div>
+<div class="foldopen" id="foldopen00149" data-start="{" data-end="}">
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a40731837f170a632f96e0187c8138e7a">  149</a></span>  capabilities2_msgs::msg::CapabilityParameter <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a40731837f170a632f96e0187c8138e7a">toMsg</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    capabilities2_msgs::msg::CapabilityParameter msg;</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    msg.key = <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a>;</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    msg.value = <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>;</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    msg.type = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a>);</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <span class="keywordflow">return</span> msg;</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>  }</div>
+</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>};</div>
+</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
+<div class="foldopen" id="foldopen00166" data-start="{" data-end="};">
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html">  166</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">EventParameters</a></div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>{</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">  168</a></span>  std::vector&lt;Parameter&gt; <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a> = {};</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#a57fdeb9d660eee744ef4bcd58e96339e">  170</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#a57fdeb9d660eee744ef4bcd58e96339e">EventParameters</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
+<div class="foldopen" id="foldopen00172" data-start="{" data-end="}">
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#a124050d50c5d5870b1e85697c33ba759">  172</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#a124050d50c5d5870b1e85697c33ba759">EventParameters</a>(<span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; msg)</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>  {</div>
+<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>.clear();</div>
+<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; option_msg : msg.parameters)</div>
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    {</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>      <span class="keyword">auto</span> option = <a class="code hl_struct" href="structcapabilities2__events_1_1Parameter.html">Parameter</a>(option_msg);</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>      <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>.push_back(option);</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    }</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  }</div>
+</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span> </div>
+<div class="foldopen" id="foldopen00182" data-start="{" data-end="}">
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#ac26732100aab80ff256b54636c57b85c">  182</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#ac26732100aab80ff256b54636c57b85c">is_empty</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>.empty();</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>  }</div>
+</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
+<div class="foldopen" id="foldopen00193" data-start="{" data-end="}">
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">  193</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">has_value</a>(<span class="keyword">const</span> std::string&amp; key)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; option : <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>)</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>      <span class="keywordflow">if</span> (option.key == key)</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>  }</div>
+</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span> </div>
+<div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">  208</a></span>  std::any <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">get_value</a>(<span class="keyword">const</span> std::string&amp; key, std::any default_value)</div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>  {</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">has_value</a>(key))</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>      <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; option : <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>)</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>      {</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        <span class="keywordflow">if</span> (option.key == key)</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>        {</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>          <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>          {</div>
+<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>            <span class="keywordflow">return</span> option.get_value();</div>
+<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>          }</div>
+<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>          <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
+<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>          {</div>
+<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>            <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1options__exception.html">options_exception</a>(<span class="stringliteral">&quot;Failed to convert option &#39;&quot;</span> + option.key + <span class="stringliteral">&quot;&#39;: &quot;</span> + e.what());</div>
+<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>          }</div>
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>        }</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>      }</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>      <span class="keywordflow">return</span> default_value;</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>  }</div>
+</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span> </div>
+<div class="foldopen" id="foldopen00237" data-start="{" data-end="}">
+<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">  237</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">set_value</a>(<span class="keyword">const</span> std::string&amp; key, <span class="keyword">const</span> std::any&amp; value, <span class="keyword">const</span> <a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a>&amp; type)</div>
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>  {</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; option : <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>)</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>      <span class="keywordflow">if</span> (option.key == key)</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>      {</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>        <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>        {</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>          option.set_value(key, value, type);</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>          <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>        }</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>        {</div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>          <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1options__exception.html">options_exception</a>(<span class="stringliteral">&quot;Failed to set option &#39;&quot;</span> + option.key + <span class="stringliteral">&quot;&#39;: &quot;</span> + e.what());</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>        }</div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>      }</div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span> </div>
+<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    <span class="comment">// Parameter not found, add new one</span></div>
+<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>    <a class="code hl_struct" href="structcapabilities2__events_1_1Parameter.html">Parameter</a> new_option;</div>
+<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>    new_option.<a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a7e297cd1d51c0c23a56146275f41c431">set_value</a>(key, value, type);</div>
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>.push_back(new_option);</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>  }</div>
+</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
+<div class="foldopen" id="foldopen00259" data-start="{" data-end="}">
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#af4cb9521061d29b8e77d19cd7b13cfdd">  259</a></span>  capabilities2_msgs::msg::Capability <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#af4cb9521061d29b8e77d19cd7b13cfdd">toMsg</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    capabilities2_msgs::msg::Capability msg;</div>
+<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; option : <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>)</div>
+<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>      msg.parameters.push_back(option.toMsg());</div>
+<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <span class="keywordflow">return</span> msg;</div>
+<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>  }</div>
+</div>
+<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>};</div>
+</div>
+<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span> </div>
+<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>}  <span class="comment">// namespace capabilities2_events</span></div>
+<div class="ttc" id="anamespacecapabilities2__events_html"><div class="ttname"><a href="namespacecapabilities2__events.html">capabilities2_events</a></div><div class="ttdef"><b>Definition</b> event_base.hpp:14</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5af"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">capabilities2_events::OptionType</a></div><div class="ttdeci">OptionType</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:28</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2">capabilities2_events::OptionType::UNCONVERTED</a></div><div class="ttdeci">@ UNCONVERTED</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">capabilities2_events::OptionType::VECTOR_STRING</a></div><div class="ttdeci">@ VECTOR_STRING</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8">capabilities2_events::OptionType::VECTOR_INT</a></div><div class="ttdeci">@ VECTOR_INT</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92">capabilities2_events::OptionType::INT</a></div><div class="ttdeci">@ INT</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe">capabilities2_events::OptionType::VECTOR_DOUBLE</a></div><div class="ttdeci">@ VECTOR_DOUBLE</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949">capabilities2_events::OptionType::STRING</a></div><div class="ttdeci">@ STRING</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5">capabilities2_events::OptionType::BOOL</a></div><div class="ttdeci">@ BOOL</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424">capabilities2_events::OptionType::VECTOR_BOOL</a></div><div class="ttdeci">@ VECTOR_BOOL</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229">capabilities2_events::OptionType::DOUBLE</a></div><div class="ttdeci">@ DOUBLE</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_a06e1a6f60cb6c8830d6769532b1f3cdb"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">capabilities2_events::EventParameters::get_value</a></div><div class="ttdeci">std::any get_value(const std::string &amp;key, std::any default_value)</div><div class="ttdoc">Get the value of an option by key.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:208</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_a124050d50c5d5870b1e85697c33ba759"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#a124050d50c5d5870b1e85697c33ba759">capabilities2_events::EventParameters::EventParameters</a></div><div class="ttdeci">EventParameters(const capabilities2_msgs::msg::Capability &amp;msg)</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:172</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_a57fdeb9d660eee744ef4bcd58e96339e"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#a57fdeb9d660eee744ef4bcd58e96339e">capabilities2_events::EventParameters::EventParameters</a></div><div class="ttdeci">EventParameters()=default</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_abc8bda9430434f26bb4db99e17455e5a"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">capabilities2_events::EventParameters::set_value</a></div><div class="ttdeci">void set_value(const std::string &amp;key, const std::any &amp;value, const OptionType &amp;type)</div><div class="ttdoc">Set the value of an option by key, if the option does not exist it will be created.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:237</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_ac26732100aab80ff256b54636c57b85c"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#ac26732100aab80ff256b54636c57b85c">capabilities2_events::EventParameters::is_empty</a></div><div class="ttdeci">bool is_empty() const</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:182</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_ae339697fb5abfa540e2e4338f9266308"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">capabilities2_events::EventParameters::options</a></div><div class="ttdeci">std::vector&lt; Parameter &gt; options</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:168</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_af3f6a280eb464e33f4f4ba7092a70cac"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">capabilities2_events::EventParameters::has_value</a></div><div class="ttdeci">bool has_value(const std::string &amp;key) const</div><div class="ttdoc">Check if an option with the given key exists.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:193</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_af4cb9521061d29b8e77d19cd7b13cfdd"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#af4cb9521061d29b8e77d19cd7b13cfdd">capabilities2_events::EventParameters::toMsg</a></div><div class="ttdeci">capabilities2_msgs::msg::Capability toMsg() const</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:259</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a></div><div class="ttdoc">Key value pair for capability options.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:47</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a097dc936b8692fa57498b7975a3fe8a9"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a097dc936b8692fa57498b7975a3fe8a9">capabilities2_events::Parameter::Parameter</a></div><div class="ttdeci">Parameter(const capabilities2_msgs::msg::CapabilityParameter &amp;msg)</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:54</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a3b30e4d048001e9cd6e25df5f8ebc392"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a3b30e4d048001e9cd6e25df5f8ebc392">capabilities2_events::Parameter::get_value</a></div><div class="ttdeci">std::any get_value()</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:61</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a3fd3f8d62c0e49aa657535e3df9c8430"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a3fd3f8d62c0e49aa657535e3df9c8430">capabilities2_events::Parameter::Parameter</a></div><div class="ttdeci">Parameter()=default</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a40731837f170a632f96e0187c8138e7a"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a40731837f170a632f96e0187c8138e7a">capabilities2_events::Parameter::toMsg</a></div><div class="ttdeci">capabilities2_msgs::msg::CapabilityParameter toMsg() const</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:149</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a57b71a8358c3a4af184b1713a772474a"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">capabilities2_events::Parameter::key</a></div><div class="ttdeci">std::string key</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:48</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a5cd5fb07b1a96468bdbed99bd904a234"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">capabilities2_events::Parameter::value</a></div><div class="ttdeci">std::vector&lt; std::string &gt; value</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:49</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a63eaf7bcb8ab3f2a3839c9963563b546"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">capabilities2_events::Parameter::type</a></div><div class="ttdeci">OptionType type</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:50</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a7e297cd1d51c0c23a56146275f41c431"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a7e297cd1d51c0c23a56146275f41c431">capabilities2_events::Parameter::set_value</a></div><div class="ttdeci">void set_value(std::string new_key, std::any new_value, OptionType new_type)</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:96</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1options__exception_html"><div class="ttname"><a href="structcapabilities2__events_1_1options__exception.html">capabilities2_events::options_exception</a></div><div class="ttdef"><b>Definition</b> event_parameters.hpp:14</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1options__exception_html_ac09b30e0d9fa0933bd3ba0cee8d53532"><div class="ttname"><a href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">capabilities2_events::options_exception::what</a></div><div class="ttdeci">virtual const char * what() const noexcept override</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:21</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1options__exception_html_af6cd097f7264ece12deaa7ae6cc9f0dc"><div class="ttname"><a href="structcapabilities2__events_1_1options__exception.html#af6cd097f7264ece12deaa7ae6cc9f0dc">capabilities2_events::options_exception::options_exception</a></div><div class="ttdeci">options_exception(const std::string &amp;what)</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:17</div></div>
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
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+<title>Capabilities2: Class Members</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<div class="contents">
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+<head>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members</title>
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+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="titlearea">
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+ <tbody>
+ <tr id="projectrow">
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+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+</div>
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+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
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+<hr class="footer"/><address class="footer"><small>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
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+<table cellspacing="0" cellpadding="0">
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+ <tr id="projectrow">
+  <td id="projectalign">
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+</div>
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+<div class="contents">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
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+<script type="text/javascript" src="dynsections.js"></script>
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+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_d" name="index_d"></a>- d -</h3><ul>
+<li>DBBase()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1DBBase.html#acaffd52c473cbfe7d744ba9bd8a289b2">capabilities2_server::DBBase</a></li>
+<li>defined()&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">capabilities2_server::models::defineable_base_t</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
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+</html>
diff --git a/docs/html/functions_func_e.html b/docs/html/functions_func_e.html
new file mode 100644
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--- /dev/null
+++ b/docs/html/functions_func_e.html
@@ -0,0 +1,100 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */
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+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>emit()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">capabilities2_events::EventBase</a>, <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a53e7f3937b84b488db674020a2b90b5a">capabilities2_events::PublishedEvent</a></li>
+<li>emit_event()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">capabilities2_events::EventNode</a></li>
+<li>emit_failed()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">capabilities2_runner::RunnerBase</a></li>
+<li>emit_started()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase</a></li>
+<li>emit_stopped()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase</a></li>
+<li>emit_succeeded()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">capabilities2_runner::RunnerBase</a></li>
+<li>enable_events()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">capabilities2_runner::RunnerBase</a></li>
+<li>EnCapRunner()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a0bbf60f7f885bc1dddffe90635854bad">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></li>
+<li>establish_bond()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">capabilities2_server::CapabilitiesAPI</a></li>
+<li>establish_bond_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">capabilities2_server::CapabilitiesServer</a></li>
+<li>event_exception()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1event__exception.html#ad7d805afcac28ab78f9323bd6a740962">capabilities2_events::event_exception</a></li>
+<li>EventBase()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">capabilities2_events::EventBase</a></li>
+<li>EventNode()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">capabilities2_events::EventNode</a></li>
+<li>EventParameters()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1EventParameters.html#a57fdeb9d660eee744ef4bcd58e96339e">capabilities2_events::EventParameters</a></li>
+<li>exec()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">capabilities2_server::CapabilitiesDB</a></li>
+<li>execution()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">capabilities2_runner::InputMultiplexRunner</a>, <a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a7213a134e8a183c4021033e6bd7797c7">capabilities2_runner::MultiplexBaseRunner</a>, <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">capabilities2_runner::ThreadTriggerRunner</a>, <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a5ee42f409bc9001b397d767a264bf4f6">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></li>
+<li>exists()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">capabilities2_server::BondCache</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">capabilities2_server::DBBase</a></li>
+<li>exists_any()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">capabilities2_server::DBBase</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/functions_func_f.html b/docs/html/functions_func_f.html
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--- /dev/null
+++ b/docs/html/functions_func_f.html
@@ -0,0 +1,86 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
+<li>free_capability()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">capabilities2_server::CapabilitiesAPI</a></li>
+<li>free_capability_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">capabilities2_server::CapabilitiesServer</a></li>
+<li>from_yaml()&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">capabilities2_server::models::defineable_base_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">capabilities2_server::models::interface_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a913e6b62b99887f12ba12debea26d5ac">capabilities2_server::models::predicate_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#aeaffd1a45ccb1f72dcbca71425ac57c3">capabilities2_server::models::provider_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">capabilities2_server::models::remappings_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a46df60e201ca7d0bc6ff3938811a87d7">capabilities2_server::models::resource_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a1c82841795835d4359d6bc1fd40b9f26">capabilities2_server::models::semantic_interface_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a62197b4cea21b4597d900f8a13f5f908">capabilities2_server::models::specification_model_t</a></li>
+<li>from_yaml_detail_iterator_value()&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">capabilities2_server::models::remapping_model_t</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/functions_func_g.html b/docs/html/functions_func_g.html
new file mode 100644
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--- /dev/null
+++ b/docs/html/functions_func_g.html
@@ -0,0 +1,127 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>gen_uuid_str()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator</a></li>
+<li>generate_feedback()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
+<li>generate_goal()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
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+<li>get_capabilities()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">capabilities2_server::BondCache</a></li>
+<li>get_capability_spec()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">capabilities2_server::CapabilitiesAPI</a></li>
+<li>get_capability_spec_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_capability_specs()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">capabilities2_server::CapabilitiesAPI</a></li>
+<li>get_capability_specs_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_first_action_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">capabilities2_runner::RunnerBase</a></li>
+<li>get_first_parameter_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">capabilities2_runner::RunnerBase</a></li>
+<li>get_first_resource_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">capabilities2_runner::RunnerBase</a></li>
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+<li>get_first_topic_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">capabilities2_runner::RunnerBase</a></li>
+<li>get_id()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">capabilities2_events::EventNode</a></li>
+<li>get_interface()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">capabilities2_runner::RunnerBase</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">capabilities2_server::DBBase</a></li>
+<li>get_interfaces()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">capabilities2_server::CapabilitiesAPI</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">capabilities2_server::DBBase</a></li>
+<li>get_interfaces_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_package_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">capabilities2_runner::RunnerBase</a></li>
+<li>get_parameter_name_by_type()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">capabilities2_runner::RunnerBase</a></li>
+<li>get_pid()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">capabilities2_runner::RunnerBase</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">capabilities2_server::CapabilitiesAPI</a></li>
+<li>get_provider()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">capabilities2_runner::RunnerBase</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">capabilities2_server::DBBase</a></li>
+<li>get_providers()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">capabilities2_server::CapabilitiesAPI</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a76d7ce342e2a4d5930717437a190ec5b">capabilities2_server::DBBase</a></li>
+<li>get_providers_by_interface()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a7e3aaa33b84b31afd25d2e60ff2b2e92">capabilities2_server::DBBase</a></li>
+<li>get_providers_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_remappable()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">capabilities2_server::DBBase</a></li>
+<li>get_remappings()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">capabilities2_server::CapabilitiesAPI</a></li>
+<li>get_remappings_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_resource_name_by_type()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">capabilities2_runner::RunnerBase</a></li>
+<li>get_run_config()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">capabilities2_server::DBBase</a></li>
+<li>get_running()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">capabilities2_server::DBBase</a></li>
+<li>get_running_capabilities()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">capabilities2_server::CapabilitiesAPI</a>, <a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">capabilities2_server::RunnerCache</a></li>
+<li>get_running_capabilities_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_semantic_interface()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">capabilities2_server::DBBase</a></li>
+<li>get_semantic_interfaces()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">capabilities2_server::CapabilitiesAPI</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#aa568f8af482c3c94933baf37e4e94413">capabilities2_server::DBBase</a></li>
+<li>get_semantic_interfaces_by_interface()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a55534cfabcb9d0f6434c9384ba413c66">capabilities2_server::DBBase</a></li>
+<li>get_semantic_interfaces_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_service_name_by_type()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">capabilities2_runner::RunnerBase</a></li>
+<li>get_source()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">capabilities2_events::EventNode</a></li>
+<li>get_started_by()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">capabilities2_runner::RunnerBase</a></li>
+<li>get_topic_name_by_type()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">capabilities2_runner::RunnerBase</a></li>
+<li>get_value()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">capabilities2_events::EventParameters</a>, <a class="el" href="structcapabilities2__events_1_1Parameter.html#a3b30e4d048001e9cd6e25df5f8ebc392">capabilities2_events::Parameter</a></li>
+<li>GetCapabilitySpecsRunner()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">capabilities2_runner::GetCapabilitySpecsRunner</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+</body>
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diff --git a/docs/html/functions_func_h.html b/docs/html/functions_func_h.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>handle_accepted()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></li>
+<li>handle_cancel()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></li>
+<li>handle_goal()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></li>
+<li>has_connection()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">capabilities2_events::EventNode</a></li>
+<li>has_value()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">capabilities2_events::EventParameters</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_i" name="index_i"></a>- i -</h3><ul>
+<li>init_action()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#adec17ec301ee0485a10bb5a1caa82ab9">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
+<li>init_base()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase</a></li>
+<li>init_encapsulated_action()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a7782f8488a37196d1246fef965c75443">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></li>
+<li>init_service()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></li>
+<li>init_subscriber()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a485da884c40ea98cef38f74ba5b27684">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></li>
+<li>initialize()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">capabilities2_server::CapabilitiesServer</a></li>
+<li>InputMultiplexRunner()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a921185df695a0c589c3f76534622c973">capabilities2_runner::InputMultiplexRunner</a></li>
+<li>insert_interface()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a2e631fa1b823bdeb503e5b4ebdf09b82">capabilities2_server::DBBase</a></li>
+<li>insert_provider()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a9c164a0de5d6fe507d5c1a4a55544277">capabilities2_server::DBBase</a></li>
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+<title>Capabilities2: Class Members - Functions</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+</div>
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+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_l" name="index_l"></a>- l -</h3><ul>
+<li>LaunchRunner()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#ace430452667a2365c3555755643c4c4c">capabilities2_runner::LaunchRunner</a></li>
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+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_m" name="index_m"></a>- m -</h3><ul>
+<li>MultiplexBaseRunner()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a9e4cab14be73162040c91cae3c674343">capabilities2_runner::MultiplexBaseRunner</a></li>
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<body>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+  </td>
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+<script type="text/javascript">
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+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
+<li>on_bond_broken()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">capabilities2_server::CapabilitiesAPI</a></li>
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+<li>options_exception()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1options__exception.html#af6cd097f7264ece12deaa7ae6cc9f0dc">capabilities2_events::options_exception</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<head>
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+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
+<li>param_on_failure()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">capabilities2_runner::RunnerBase</a></li>
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+<li>Parameter()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1Parameter.html#a3fd3f8d62c0e49aa657535e3df9c8430">capabilities2_events::Parameter</a></li>
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+<li>provider()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">capabilities2_server::RunnerCache</a></li>
+<li>PublishedEvent()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a171a4a05b8abbd64093cb19cf2935f1d">capabilities2_events::PublishedEvent</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+++ b/docs/html/functions_func_r.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
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+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>register_capabilities()&#160;:&#160;<a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html#ace403fc5b5ae1f730ae85edf9e0fad82">capability_registrar.CapabilityRegistrar</a></li>
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+<li>remove_bond()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">capabilities2_server::BondCache</a></li>
+<li>remove_connection()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">capabilities2_events::EventNode</a></li>
+<li>remove_runner()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">capabilities2_server::RunnerCache</a></li>
+<li>runner_exception()&#160;:&#160;<a class="el" href="structcapabilities2__runner_1_1runner__exception.html#aa6373ae91bb89b6306491195465b2b07">capabilities2_runner::runner_exception</a></li>
+<li>RunnerBase()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">capabilities2_runner::RunnerBase</a></li>
+<li>RunnerCache()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a54ca36d2ea36c95783ed042c1ab31b7f">capabilities2_server::RunnerCache</a></li>
+<li>running()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">capabilities2_server::RunnerCache</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/functions_func_s.html b/docs/html/functions_func_s.html
new file mode 100644
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--- /dev/null
+++ b/docs/html/functions_func_s.html
@@ -0,0 +1,94 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>ServiceRunner()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></li>
+<li>set_event_emitter()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">capabilities2_events::EventNode</a></li>
+<li>set_source()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">capabilities2_events::EventNode</a></li>
+<li>set_value()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">capabilities2_events::EventParameters</a>, <a class="el" href="structcapabilities2__events_1_1Parameter.html#a7e297cd1d51c0c23a56146275f41c431">capabilities2_events::Parameter</a></li>
+<li>start()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a871306308d5dc43facc2c490410c38cd">capabilities2_runner::DummyRunner</a>, <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">capabilities2_runner::GetCapabilitySpecsRunner</a>, <a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#afae7ca7e39e5b66f8fbbbb82b118923e">capabilities2_runner::InputMultiplexRunner</a>, <a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#a9a684058017ed934d6d7e921d7f75eb9">capabilities2_runner::LaunchRunner</a>, <a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#af52788c65f5ca9fb860cee2332abbbe2">capabilities2_runner::MultiplexBaseRunner</a>, <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase</a>, <a class="el" href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">capabilities2_server::BondCache</a></li>
+<li>start_capability()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">capabilities2_server::CapabilitiesAPI</a></li>
+<li>start_capability_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">capabilities2_server::CapabilitiesServer</a></li>
+<li>started_by()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">capabilities2_server::RunnerCache</a></li>
+<li>stop()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#ae7c05952eaa590755e7ec4a722321513">capabilities2_runner::DummyRunner</a>, <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a68e87f8c49301e1e001c232a80fa2f16">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">capabilities2_runner::InputMultiplexRunner</a>, <a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#a5373c2eb3f97948d213aab4f95bc19c9">capabilities2_runner::LaunchRunner</a>, <a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#aa5cefe19419078fb0a4eb18858a684fe">capabilities2_runner::MultiplexBaseRunner</a>, <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase</a>, <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></li>
+<li>stop_capability()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">capabilities2_server::CapabilitiesAPI</a></li>
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+<li>stop_execution()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">capabilities2_runner::ThreadTriggerRunner</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
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diff --git a/docs/html/functions_func_t.html b/docs/html/functions_func_t.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
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+<li>toMsg()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1EventParameters.html#af4cb9521061d29b8e77d19cd7b13cfdd">capabilities2_events::EventParameters</a>, <a class="el" href="structcapabilities2__events_1_1Parameter.html#a40731837f170a632f96e0187c8138e7a">capabilities2_events::Parameter</a></li>
+<li>TopicRunner()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#ac99cd688150e5cfe539e69866e01ae20">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></li>
+<li>trigger()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a0b767e28a66171727b2f9609375963f2">capabilities2_runner::DummyRunner</a>, <a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">capabilities2_runner::NoTriggerRunner</a>, <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase</a>, <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">capabilities2_runner::ThreadTriggerRunner</a></li>
+<li>trigger_capability()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">capabilities2_server::CapabilitiesAPI</a></li>
+<li>trigger_capability_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">capabilities2_server::CapabilitiesServer</a></li>
+<li>trigger_runner()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">capabilities2_server::RunnerCache</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/functions_func_u.html b/docs/html/functions_func_u.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
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+/* @license-end */
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
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+<!-- window showing the filter options -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_u" name="index_u"></a>- u -</h3><ul>
+<li>unbind_dependency()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">capabilities2_server::CapabilitiesAPI</a></li>
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+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<!-- iframe showing the search results (closed by default) -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index_w" name="index_w"></a>- w -</h3><ul>
+<li>what()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">capabilities2_events::event_exception</a>, <a class="el" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">capabilities2_events::options_exception</a>, <a class="el" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">capabilities2_runner::runner_exception</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Functions</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<!-- window showing the filter options -->
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+<div id="SRIndex">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all functions with links to the classes they belong to:</div>
+
+<h3><a id="index__7E" name="index__7E"></a>- ~ -</h3><ul>
+<li>~CapabilitiesDB()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a40951e3346502f6e147865e1ab025e39">capabilities2_server::CapabilitiesDB</a></li>
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+<li>~EventBase()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">capabilities2_events::EventBase</a></li>
+<li>~EventNode()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">capabilities2_events::EventNode</a></li>
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+<li>~RunnerBase()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">capabilities2_runner::RunnerBase</a></li>
+<li>~ThreadTriggerRunner()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">capabilities2_runner::ThreadTriggerRunner</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
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+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>gen_uuid_str()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator</a></li>
+<li>generate_feedback()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
+<li>generate_goal()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
+<li>generate_request()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">capabilities2_runner::GetCapabilitySpecsRunner</a>, <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></li>
+<li>get_action_name_by_type()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">capabilities2_runner::RunnerBase</a></li>
+<li>get_bonds()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">capabilities2_server::BondCache</a></li>
+<li>get_capabilities()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">capabilities2_server::BondCache</a></li>
+<li>get_capability_spec()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">capabilities2_server::CapabilitiesAPI</a></li>
+<li>get_capability_spec_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_capability_spec_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_capability_specs()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">capabilities2_server::CapabilitiesAPI</a></li>
+<li>get_capability_specs_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_capability_specs_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_first_action_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">capabilities2_runner::RunnerBase</a></li>
+<li>get_first_parameter_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">capabilities2_runner::RunnerBase</a></li>
+<li>get_first_resource_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">capabilities2_runner::RunnerBase</a></li>
+<li>get_first_service_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">capabilities2_runner::RunnerBase</a></li>
+<li>get_first_topic_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">capabilities2_runner::RunnerBase</a></li>
+<li>get_id()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">capabilities2_events::EventNode</a></li>
+<li>get_interface()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">capabilities2_runner::RunnerBase</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">capabilities2_server::DBBase</a></li>
+<li>get_interfaces()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">capabilities2_server::CapabilitiesAPI</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">capabilities2_server::DBBase</a></li>
+<li>get_interfaces_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_interfaces_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_package_name()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">capabilities2_runner::RunnerBase</a></li>
+<li>get_parameter_name_by_type()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">capabilities2_runner::RunnerBase</a></li>
+<li>get_pid()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">capabilities2_runner::RunnerBase</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">capabilities2_server::CapabilitiesAPI</a></li>
+<li>get_provider()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">capabilities2_runner::RunnerBase</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">capabilities2_server::DBBase</a></li>
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+<li>get_providers_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_providers_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_remappable()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">capabilities2_server::DBBase</a></li>
+<li>get_remappings()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">capabilities2_server::CapabilitiesAPI</a></li>
+<li>get_remappings_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_remappings_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_resource_name_by_type()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">capabilities2_runner::RunnerBase</a></li>
+<li>get_run_config()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">capabilities2_server::DBBase</a></li>
+<li>get_running()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">capabilities2_server::DBBase</a></li>
+<li>get_running_capabilities()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">capabilities2_server::CapabilitiesAPI</a>, <a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">capabilities2_server::RunnerCache</a></li>
+<li>get_running_capabilities_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_running_capabilities_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_semantic_interface()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">capabilities2_server::DBBase</a></li>
+<li>get_semantic_interfaces()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">capabilities2_server::CapabilitiesAPI</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#aa568f8af482c3c94933baf37e4e94413">capabilities2_server::DBBase</a></li>
+<li>get_semantic_interfaces_by_interface()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">capabilities2_server::CapabilitiesDB</a>, <a class="el" href="classcapabilities2__server_1_1DBBase.html#a55534cfabcb9d0f6434c9384ba413c66">capabilities2_server::DBBase</a></li>
+<li>get_semantic_interfaces_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_semantic_interfaces_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_service_name_by_type()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">capabilities2_runner::RunnerBase</a></li>
+<li>get_source()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">capabilities2_events::EventNode</a></li>
+<li>get_started_by()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">capabilities2_runner::RunnerBase</a></li>
+<li>get_topic_name_by_type()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">capabilities2_runner::RunnerBase</a></li>
+<li>get_value()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">capabilities2_events::EventParameters</a>, <a class="el" href="structcapabilities2__events_1_1Parameter.html#a3b30e4d048001e9cd6e25df5f8ebc392">capabilities2_events::Parameter</a></li>
+<li>GetCapabilitySpecsRunner()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">capabilities2_runner::GetCapabilitySpecsRunner</a></li>
+<li>global_namespace&#160;:&#160;<a class="el" href="structcapabilities2__runner_1_1runner__opts.html#ac09a8a96d66f433fdcd43aeae8217cef">capabilities2_runner::runner_opts</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">capabilities2_server::models::run_config_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">capabilities2_server::models::semantic_interface_model_t</a></li>
+<li>goal_handle_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
+<li>goal_handle_future_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
+<li>goal_msg_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+</body>
+</html>
diff --git a/docs/html/functions_h.html b/docs/html/functions_h.html
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */
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+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>handle_accepted()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></li>
+<li>handle_cancel()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></li>
+<li>handle_goal()&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></li>
+<li>has_connection()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">capabilities2_events::EventNode</a></li>
+<li>has_value()&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">capabilities2_events::EventParameters</a></li>
+<li>header&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">capabilities2_server::models::interface_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">capabilities2_server::models::provider_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">capabilities2_server::models::semantic_interface_model_t</a></li>
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+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+</div>
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+<div class="contents">
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members</title>
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+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+</div>
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+</div>
+
+<div class="contents">
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+<!-- start footer part -->
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members</title>
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+<li>trigger_capability()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">capabilities2_server::CapabilitiesAPI</a></li>
+<li>trigger_capability_cb()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">capabilities2_server::CapabilitiesServer</a></li>
+<li>trigger_capability_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">capabilities2_server::CapabilitiesServer</a></li>
+<li>trigger_runner()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">capabilities2_server::RunnerCache</a></li>
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+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/functions_type.html b/docs/html/functions_type.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Typedefs</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */
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+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div id="MSearchResults">
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+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all typedefs with links to the classes they belong to:</div><ul>
+<li>access_id_t&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">capabilities2_events::EventBase</a></li>
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+<li>event_callback_t&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">capabilities2_events::EventBase</a></li>
+<li>parameter_t&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">capabilities2_events::EventBase</a></li>
+<li>target_instance_id_t&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">capabilities2_events::EventBase</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/functions_u.html b/docs/html/functions_u.html
new file mode 100644
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
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+<div id="SRIndex">
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
+<h3><a id="index_u" name="index_u"></a>- u -</h3><ul>
+<li>unbind_dependency()&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">capabilities2_server::CapabilitiesAPI</a></li>
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+<li>UUIDGenerator()&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html#ac16e657db07c4d6368089cb8b846e434">capabilities2_events::UUIDGenerator</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
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+++ b/docs/html/functions_v.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
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+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
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+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all class members with links to the classes they belong to:</div>
+
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+<li>value&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">capabilities2_events::Parameter</a></li>
+<li>version&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">capabilities2_server::models::header_model_t</a></li>
+</ul>
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Class Members - Variables</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all variables with links to the classes they belong to:</div>
+
+<h3><a id="index_a" name="index_a"></a>- a -</h3><ul>
+<li>action_client_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
+<li>actions&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">capabilities2_server::models::remappings_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">capabilities2_server::models::specification_model_t</a></li>
+</ul>
+
+
+<h3><a id="index_b" name="index_b"></a>- b -</h3><ul>
+<li>block_mutex_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></li>
+<li>bond_cache_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">capabilities2_server::BondCache</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">capabilities2_server::CapabilitiesAPI</a></li>
+<li>bonds_topic_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">capabilities2_server::BondCache</a></li>
+</ul>
+
+
+<h3><a id="index_c" name="index_c"></a>- c -</h3><ul>
+<li>callback&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a16c36ae362fd1de3c6046acbe0307c40">capabilities2_events::EventNode::EventPipe</a></li>
+<li>cap_db_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">capabilities2_server::CapabilitiesAPI</a></li>
+<li>completed_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></li>
+<li>completed_executions&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">capabilities2_runner::InputMultiplexRunner</a>, <a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">capabilities2_runner::MultiplexBaseRunner</a></li>
+<li>connect_capability_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">capabilities2_server::CapabilitiesServer</a></li>
+<li>connections_&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">capabilities2_events::EventNode</a></li>
+<li>cv_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></li>
+</ul>
+
+
+<h3><a id="index_d" name="index_d"></a>- d -</h3><ul>
+<li>date_created&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#aebfa99a284e69c5e560962f61fe283e2">capabilities2_server::models::modifiable_base_t</a></li>
+<li>date_modified&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#a176b552939443a9c0d329b12ad604b0e">capabilities2_server::models::modifiable_base_t</a></li>
+<li>db_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">capabilities2_server::CapabilitiesDB</a></li>
+<li>db_file_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">capabilities2_server::CapabilitiesDB</a></li>
+<li>definition_str&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">capabilities2_server::models::defineable_base_t</a></li>
+<li>dependencies&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">capabilities2_server::models::running_model_t</a></li>
+<li>depends_on&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">capabilities2_server::models::provider_model_t</a></li>
+<li>description&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">capabilities2_server::models::header_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">capabilities2_server::models::resource_model_t</a></li>
+</ul>
+
+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>encap_action_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></li>
+<li>establish_bond_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">capabilities2_server::CapabilitiesServer</a></li>
+<li>event_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">capabilities2_server::CapabilitiesAPI</a></li>
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+<li>event_pub_&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">capabilities2_events::PublishedEvent</a>, <a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">capabilities2_server::CapabilitiesServer</a></li>
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+<li>execution_thread_pool_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">capabilities2_runner::ThreadTriggerRunner</a></li>
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+</ul>
+
+
+<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
+<li>free_capability_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">capabilities2_server::CapabilitiesServer</a></li>
+<li>from&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">capabilities2_server::models::remapping_model_t</a></li>
+</ul>
+
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>get_capability_spec_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_capability_specs_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_interfaces_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_providers_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">capabilities2_server::CapabilitiesServer</a></li>
+<li>get_remappings_srv_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">capabilities2_server::CapabilitiesServer</a></li>
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+<li>goal_handle_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
+<li>goal_handle_future_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></li>
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+</ul>
+
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>header&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">capabilities2_server::models::interface_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">capabilities2_server::models::provider_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">capabilities2_server::models::semantic_interface_model_t</a></li>
+</ul>
+
+
+<h3><a id="index_i" name="index_i"></a>- i -</h3><ul>
+<li>id&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html#a9926e5d160570e2c46e1dfc56da5b5ba">capabilities2_server::models::identifiable_base_t</a></li>
+<li>id_&#160;:&#160;<a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">capabilities2_events::EventNode</a></li>
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+</ul>
+
+
+<h3><a id="index_k" name="index_k"></a>- k -</h3><ul>
+<li>key&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">capabilities2_events::Parameter</a></li>
+</ul>
+
+
+<h3><a id="index_l" name="index_l"></a>- l -</h3><ul>
+<li>latest_message_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></li>
+<li>launch_name&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#adb150055c0e372f46c961aae6a4e9dd4">capabilities2_runner::LaunchRunner</a></li>
+<li>live_bonds_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">capabilities2_server::BondCache</a></li>
+<li>logging_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">capabilities2_server::CapabilitiesAPI</a></li>
+<li>loop_hz_&#160;:&#160;<a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">capabilities2_server::CapabilitiesServer</a></li>
+</ul>
+
+
+<h3><a id="index_m" name="index_m"></a>- m -</h3><ul>
+<li>msg_type&#160;:&#160;<a class="el" href="structcapabilities2__runner_1_1resource.html#a1bebf375d0bb9439251e8ef393e837a5">capabilities2_runner::resource</a></li>
+<li>mutex_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">capabilities2_runner::ThreadTriggerRunner</a></li>
+</ul>
+
+
+<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
+<li>name&#160;:&#160;<a class="el" href="structcapabilities2__runner_1_1resource.html#a31be624a9bd871d94918db90d774ae46">capabilities2_runner::resource</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">capabilities2_server::models::header_model_t</a>, <a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">capabilities2_server::models::resource_model_t</a></li>
+<li>node_&#160;:&#160;<a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase</a></li>
+</ul>
+
+
+<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
+<li>object&#160;:&#160;<a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a170de1f39f437dfad9254bc117431828">capabilities2_server::models::predicate_model_t</a></li>
+<li>options&#160;:&#160;<a class="el" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">capabilities2_events::EventParameters</a></li>
+</ul>
+
+
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<li class="navelem"><a class="el" href="dir_ae9b8f7772f36f75ddf7a4660dc4c659.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="dir_d596d1b13e10115fa0e063d9d8185b97.html">include</a></li><li class="navelem"><a class="el" href="dir_c88f82dd231ae0856530de318d7cb819.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="dir_07f685e2b6ccaff3fb10959c113272a3.html">system</a></li>  </ul>
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+  <div class="headertitle"><div class="title">get_capability_specs_runner.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="get__capability__specs__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;<a class="code" href="service__runner_8hpp.html">capabilities2_runner/service_runner.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_capability_specs.hpp&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="foldopen" id="foldopen00015" data-start="{" data-end="};">
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">GetCapabilitySpecsRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1ServiceRunner.html">ServiceRunner</a>&lt;capabilities2_msgs::srv::GetCapabilitySpecs&gt;</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00018" data-start="{" data-end="}">
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">   18</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">GetCapabilitySpecsRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1ServiceRunner.html">ServiceRunner</a>()</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>  {</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>  }</div>
+</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
+<div class="foldopen" id="foldopen00029" data-start="{" data-end="}">
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">   29</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">start</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config, <span class="keyword">const</span> std::string&amp; bond_id)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">init_service</a>(node, run_config, <span class="stringliteral">&quot;/capabilities/get_capability_specs&quot;</span>);</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="comment">// emit start event</span></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(bond_id, <span class="stringliteral">&quot;&quot;</span>, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>());</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  }</div>
+</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>  <span class="keyword">virtual</span> capabilities2_msgs::srv::GetCapabilitySpecs::Request</div>
+<div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">   45</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">generate_request</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    capabilities2_msgs::srv::GetCapabilitySpecs::Request request;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordflow">return</span> request;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>  }</div>
+</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="foldopen" id="foldopen00057" data-start="{" data-end="}">
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">   57</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">param_on_success</a>()<span class="keyword"> override</span></div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="comment">// Create an Event Parameter with CapabilitySpecs content</span></div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    std::vector&lt;std::string&gt; capability_spec_strings;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; spec : <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">response_</a>-&gt;capability_specs)</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    {</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>      std::string spec_string = <span class="stringliteral">&quot;package: &quot;</span> + spec.package + <span class="stringliteral">&quot;, type: &quot;</span> + spec.type +</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>                                <span class="stringliteral">&quot;, default_provider: &quot;</span> + spec.default_provider + <span class="stringliteral">&quot;, content: &quot;</span> + spec.content;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      capability_spec_strings.push_back(spec_string);</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    }</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="comment">// Create EventParameters and set the capability specs as a parameter for the on_success event</span></div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    parameters.<a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">set_value</a>(<span class="stringliteral">&quot;CapabilitySpecs&quot;</span>, capability_spec_strings, <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">capabilities2_events::OptionType::VECTOR_STRING</a>);</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;GetCapabilitySpecsRunner creating param_on_success with %zu capability specs&quot;</span>, capability_spec_strings.size());</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keywordflow">return</span> parameters;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  }</div>
+</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="foldopen" id="foldopen00077" data-start="{" data-end="}">
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a97bee7f3c56177c44026dcd20948329c">   77</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a97bee7f3c56177c44026dcd20948329c">process_response</a>(<span class="keyword">typename</span> capabilities2_msgs::srv::GetCapabilitySpecs::Response::SharedPtr response)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="comment">// This function can be used to log the response or perform any additional processing if needed</span></div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;GetCapabilitySpecsRunner received response with %zu capability specs&quot;</span>, response-&gt;capability_specs.size());</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>  }</div>
+</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>};</div>
+</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></div><div class="ttdoc">Executor runner class.</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:16</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_a1e2ce72b2f85ecbc96408093eeaba065"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">capabilities2_runner::GetCapabilitySpecsRunner::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success() override</div><div class="ttdoc">This function overrides the param_on_success() function from RunnerBase to provide specific implement...</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:57</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_a57653f78da292a2f2944271008cdcb5b"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">capabilities2_runner::GetCapabilitySpecsRunner::generate_request</a></div><div class="ttdeci">virtual capabilities2_msgs::srv::GetCapabilitySpecs::Request generate_request(capabilities2_events::EventParameters &amp;parameters) override</div><div class="ttdoc">This generate goal function overrides the generate_goal() function from ActionRunner()</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:45</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_a848b090faf5103681df61bf494495966"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">capabilities2_runner::GetCapabilitySpecsRunner::GetCapabilitySpecsRunner</a></div><div class="ttdeci">GetCapabilitySpecsRunner()</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:18</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_a97bee7f3c56177c44026dcd20948329c"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a97bee7f3c56177c44026dcd20948329c">capabilities2_runner::GetCapabilitySpecsRunner::process_response</a></div><div class="ttdeci">virtual void process_response(typename capabilities2_msgs::srv::GetCapabilitySpecs::Response::SharedPtr response) override</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:77</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_ac6e0cc26c38f4ae100f6e2b8a70e4e36"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">capabilities2_runner::GetCapabilitySpecsRunner::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</div><div class="ttdoc">Starter function for starting the action runner.</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:29</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a68a4f300a106474d09ccda51efc57a5a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">capabilities2_runner::RunnerBase::param_on_started</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_started()</div><div class="ttdoc">Update on_started event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:226</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ac92696dfbfe4b50331ca156c4449954c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase::emit_started</a></div><div class="ttdeci">void emit_started(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STARTED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:418</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a></div><div class="ttdoc">service runner base class</div><div class="ttdef"><b>Definition</b> service_runner.hpp:17</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_ace6965aa2bfd8927f48977a0125f2e87"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;::init_service</a></div><div class="ttdeci">virtual void init_service(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;service_name)</div><div class="ttdoc">Initializer function for initializing the service runner in place of constructor due to plugin semant...</div><div class="ttdef"><b>Definition</b> service_runner.hpp:33</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_af9e954bc70da5f30aaf2906658805188"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;::response_</a></div><div class="ttdeci">ServiceT::Response::SharedPtr response_</div><div class="ttdef"><b>Definition</b> service_runner.hpp:159</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">capabilities2_events::OptionType::VECTOR_STRING</a></div><div class="ttdeci">@ VECTOR_STRING</div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="aservice__runner_8hpp_html"><div class="ttname"><a href="service__runner_8hpp.html">service_runner.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_abc8bda9430434f26bb4db99e17455e5a"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">capabilities2_events::EventParameters::set_value</a></div><div class="ttdeci">void set_value(const std::string &amp;key, const std::any &amp;value, const OptionType &amp;type)</div><div class="ttdoc">Set the value of an option by key, if the option does not exist it will be created.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:237</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
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+A box with a black border denotes a documented struct or class. </li>
+<li>
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+A yellow dashed arrow denotes a relation between a template instance and the template class it was instantiated from. The arrow is labelled with the template parameters of the instance. </li>
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+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
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+</html>
diff --git a/docs/html/graph_legend.md5 b/docs/html/graph_legend.md5
new file mode 100644
index 0000000..da515da
--- /dev/null
+++ b/docs/html/graph_legend.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/docs/html/graph_legend.png b/docs/html/graph_legend.png
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: capabilities2_server/include/capabilities2_server/models/header.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_1bf5b06d15e554f4d54614040e1e0b2d.html">models</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">header.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="header_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="sql__safe_8hpp.html">capabilities2_server/utils/sql_safe.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment">// implement hidden unique id</span></div>
+<div class="foldopen" id="foldopen00014" data-start="{" data-end="};">
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html">   14</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html">identifiable_base_t</a></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>  <span class="comment">// TODO: add autoincrementing col in DB</span></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html#a9926e5d160570e2c46e1dfc56da5b5ba">   17</a></span>  <span class="keywordtype">int</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html#a9926e5d160570e2c46e1dfc56da5b5ba">id</a>;</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>};</div>
+</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html">   21</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html">modifiable_base_t</a></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  <span class="comment">// TODO: implement creation and modified logic in db handler</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#aebfa99a284e69c5e560962f61fe283e2">   24</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#aebfa99a284e69c5e560962f61fe283e2">date_created</a>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#a176b552939443a9c0d329b12ad604b0e">   25</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#a176b552939443a9c0d329b12ad604b0e">date_modified</a>;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>};</div>
+</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="foldopen" id="foldopen00029" data-start="{" data-end="};">
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html">   29</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html">soft_deleteable_base_t</a></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>{</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  <span class="comment">// TODO: implement soft delete logic in db handler</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html#a1480da544e2fcd0a4bda449621f472a5">   32</a></span>  <span class="keywordtype">bool</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html#a1480da544e2fcd0a4bda449621f472a5">is_deleted</a> = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>};</div>
+</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="foldopen" id="foldopen00040" data-start="{" data-end="};">
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html">   40</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a> : <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html">identifiable_base_t</a>, <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html">soft_deleteable_base_t</a>, <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html">modifiable_base_t</a></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>{</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">   42</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">   43</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a>;</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">   44</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a>;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">   45</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a>;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
+<div class="foldopen" id="foldopen00047" data-start="{" data-end="}">
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">   47</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>  {</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = node[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> = node[<span class="stringliteral">&quot;spec_version&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> = node[<span class="stringliteral">&quot;spec_type&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a> = node[<span class="stringliteral">&quot;description&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>  }</div>
+</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
+<div class="foldopen" id="foldopen00055" data-start="{" data-end="}">
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">   55</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    YAML::Node node;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    node[<span class="stringliteral">&quot;name&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    node[<span class="stringliteral">&quot;spec_version&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a>;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    node[<span class="stringliteral">&quot;spec_type&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a>;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    node[<span class="stringliteral">&quot;description&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a>;</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  }</div>
+</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="foldopen" id="foldopen00065" data-start="{" data-end="}">
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">   65</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">to_sql_table</a>()</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  {</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// name, version, type, description</span></div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="comment">// name is the primary key</span></div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keywordflow">return</span> <span class="stringliteral">&quot;name TEXT NOT NULL PRIMARY KEY, version TEXT NOT NULL, type TEXT NOT NULL, description TEXT&quot;</span>;</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>  }</div>
+</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="foldopen" id="foldopen00072" data-start="{" data-end="}">
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">   72</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">to_sql_values</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keywordflow">return</span> <span class="stringliteral">&quot;&#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a>) + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  }</div>
+</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>};</div>
+</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html_aee2e1db0d5ab5e2c6252db5378dc9d53"><div class="ttname"><a href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server::to_sql_safe</a></div><div class="ttdeci">std::string to_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a generic std::string to a sql safe std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:15</div></div>
+<div class="ttc" id="asql__safe_8hpp_html"><div class="ttname"><a href="sql__safe_8hpp.html">sql_safe.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a184f5969009afde38cf0933b73f58576"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> header.hpp:47</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a3a9a79ce313a985930e2cd97d27ebd5f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">capabilities2_server::models::header_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> header.hpp:42</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a4dc71e2c184d9c1c87de51f21983df4a"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">capabilities2_server::models::header_model_t::description</a></div><div class="ttdeci">std::string description</div><div class="ttdef"><b>Definition</b> header.hpp:45</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a5df92e5526b56a061f1b87057926f8f1"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">capabilities2_server::models::header_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> header.hpp:72</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_aaf1c85918945d7e2468748b32c840608"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">capabilities2_server::models::header_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> header.hpp:65</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac0e94588685ed968c2466ad9860c1284"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">capabilities2_server::models::header_model_t::type</a></div><div class="ttdeci">std::string type</div><div class="ttdef"><b>Definition</b> header.hpp:44</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac6bf4416ee1f6a0e1781c366eab26acf"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">capabilities2_server::models::header_model_t::version</a></div><div class="ttdeci">std::string version</div><div class="ttdef"><b>Definition</b> header.hpp:43</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1identifiable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html">capabilities2_server::models::identifiable_base_t</a></div><div class="ttdoc">unique key for a row</div><div class="ttdef"><b>Definition</b> header.hpp:15</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1identifiable__base__t_html_a9926e5d160570e2c46e1dfc56da5b5ba"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html#a9926e5d160570e2c46e1dfc56da5b5ba">capabilities2_server::models::identifiable_base_t::id</a></div><div class="ttdeci">int id</div><div class="ttdef"><b>Definition</b> header.hpp:17</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1modifiable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html">capabilities2_server::models::modifiable_base_t</a></div><div class="ttdoc">base model for all models that can be modified</div><div class="ttdef"><b>Definition</b> header.hpp:22</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1modifiable__base__t_html_a176b552939443a9c0d329b12ad604b0e"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#a176b552939443a9c0d329b12ad604b0e">capabilities2_server::models::modifiable_base_t::date_modified</a></div><div class="ttdeci">std::string date_modified</div><div class="ttdef"><b>Definition</b> header.hpp:25</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1modifiable__base__t_html_aebfa99a284e69c5e560962f61fe283e2"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#aebfa99a284e69c5e560962f61fe283e2">capabilities2_server::models::modifiable_base_t::date_created</a></div><div class="ttdeci">std::string date_created</div><div class="ttdef"><b>Definition</b> header.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1soft__deleteable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html">capabilities2_server::models::soft_deleteable_base_t</a></div><div class="ttdoc">base model for all models that can be soft deleted</div><div class="ttdef"><b>Definition</b> header.hpp:30</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1soft__deleteable__base__t_html_a1480da544e2fcd0a4bda449621f472a5"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html#a1480da544e2fcd0a4bda449621f472a5">capabilities2_server::models::soft_deleteable_base_t::is_deleted</a></div><div class="ttdeci">bool is_deleted</div><div class="ttdef"><b>Definition</b> header.hpp:32</div></div>
+</div><!-- fragment --></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<meta name="generator" content="Doxygen 1.9.8"/>
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+<title>Capabilities2: Class Hierarchy</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
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+
+<div class="header">
+  <div class="headertitle"><div class="title">Class Hierarchy</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">
+<p><a href="inherits.html">Go to the graphical class hierarchy</a></p>
+This inheritance list is sorted roughly, but not completely, alphabetically:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span><span onclick="javascript:toggleLevel(5);">5</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1BondCache.html" target="_self">capabilities2_server::BondCache</a></td><td class="desc">Bond cache class </td></tr>
+<tr id="row_1_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_1_" class="arrow" onclick="toggleFolder('1_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html" target="_self">capabilities2_server::CapabilitiesAPI</a></td><td class="desc">Capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners </td></tr>
+<tr id="row_1_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html" target="_self">capabilities2_server::CapabilitiesServer</a></td><td class="desc">Capabilities server </td></tr>
+<tr id="row_2_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_2_" class="arrow" onclick="toggleFolder('2_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html" target="_self">capabilities2_server::models::capability_model_t</a></td><td class="desc"></td></tr>
+<tr id="row_2_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1running__model__t.html" target="_self">capabilities2_server::models::running_model_t</a></td><td class="desc">Running capability model </td></tr>
+<tr id="row_3_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_3_" class="arrow" onclick="toggleFolder('3_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1DBBase.html" target="_self">capabilities2_server::DBBase</a></td><td class="desc"></td></tr>
+<tr id="row_3_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html" target="_self">capabilities2_server::CapabilitiesDB</a></td><td class="desc"></td></tr>
+<tr id="row_4_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_4_" class="arrow" onclick="toggleFolder('4_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html" target="_self">capabilities2_server::models::defineable_base_t</a></td><td class="desc">Defineable base </td></tr>
+<tr id="row_4_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html" target="_self">capabilities2_server::models::provider_model_t</a></td><td class="desc">Provider model </td></tr>
+<tr id="row_4_1_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html" target="_self">capabilities2_server::models::run_config_model_t</a></td><td class="desc">Run configuration type </td></tr>
+<tr id="row_5_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_5_" class="arrow" onclick="toggleFolder('5_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1EventBase.html" target="_self">capabilities2_events::EventBase</a></td><td class="desc">Event base class </td></tr>
+<tr id="row_5_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html" target="_self">capabilities2_events::PublishedEvent</a></td><td class="desc"></td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_6_" class="arrow" onclick="toggleFolder('6_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1EventNode.html" target="_self">capabilities2_events::EventNode</a></td><td class="desc">Event node is a source of an event </td></tr>
+<tr id="row_6_0_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_6_0_" class="arrow" onclick="toggleFolder('6_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" target="_self">capabilities2_runner::RunnerBase</a></td><td class="desc">Base class for all runners </td></tr>
+<tr id="row_6_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html" target="_self">capabilities2_runner::DummyRunner</a></td><td class="desc">Dummy runner </td></tr>
+<tr id="row_6_0_1_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html" target="_self">capabilities2_runner::MultiplexBaseRunner</a></td><td class="desc"></td></tr>
+<tr id="row_6_0_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_6_0_2_" class="arrow" onclick="toggleFolder('6_0_2_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html" target="_self">capabilities2_runner::NoTriggerRunner</a></td><td class="desc">No-trigger runner </td></tr>
+<tr id="row_6_0_2_0_" class="odd"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html" target="_self">capabilities2_runner::LaunchRunner</a></td><td class="desc">Launch runner base class </td></tr>
+<tr id="row_6_0_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span id="arr_6_0_3_" class="arrow" onclick="toggleFolder('6_0_3_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html" target="_self">capabilities2_runner::ThreadTriggerRunner</a></td><td class="desc">Add threaded trigger execution to the runner </td></tr>
+<tr id="row_6_0_3_0_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span id="arr_6_0_3_0_" class="arrow" onclick="toggleFolder('6_0_3_0_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html" target="_self">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="desc"></td></tr>
+<tr id="row_6_0_3_0_0_" class="even"><td class="entry"><span style="width:80px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html" target="_self">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="desc">Executor runner class </td></tr>
+<tr id="row_6_0_3_1_" class="odd"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html" target="_self">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="desc">Action runner base class </td></tr>
+<tr id="row_6_0_3_2_" class="even"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html" target="_self">capabilities2_runner::InputMultiplexRunner</a></td><td class="desc"></td></tr>
+<tr id="row_6_0_3_3_" class="odd"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html" target="_self">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="desc">Service runner base class </td></tr>
+<tr id="row_6_0_3_4_" class="even"><td class="entry"><span style="width:64px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html" target="_self">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="desc">Topic runner base class </td></tr>
+<tr id="row_7_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1EventParameters.html" target="_self">capabilities2_events::EventParameters</a></td><td class="desc">Capability options for a capability runner given by interface and provider </td></tr>
+<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html" target="_self">capabilities2_events::EventNode::EventPipe</a></td><td class="desc">Event pipe structure </td></tr>
+<tr id="row_9_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_9_" class="arrow" onclick="toggleFolder('9_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html" target="_self">capabilities2_server::models::identifiable_base_t</a></td><td class="desc">Unique key for a row </td></tr>
+<tr id="row_9_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html" target="_self">capabilities2_server::models::header_model_t</a></td><td class="desc">Header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability </td></tr>
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+<tr id="row_11_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_11_" class="arrow" onclick="toggleFolder('11_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>rclcpp::Node</b></td><td class="desc"></td></tr>
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+<tr id="row_12_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_12_" class="arrow" onclick="toggleFolder('12_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>NoTriggerActionRunner</b></td><td class="desc"></td></tr>
+<tr id="row_12_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html" target="_self">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="desc">Encapsulated capability runner </td></tr>
+<tr id="row_13_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1Parameter.html" target="_self">capabilities2_events::Parameter</a></td><td class="desc">Key value pair for capability options </td></tr>
+<tr id="row_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html" target="_self">capabilities2_server::models::predicate_model_t</a></td><td class="desc">Predicate model type </td></tr>
+<tr id="row_15_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_15_" class="arrow" onclick="toggleFolder('15_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html" target="_self">capabilities2_server::models::predicateable_base_t</a></td><td class="desc">Predicateable model base type </td></tr>
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+<tr id="row_15_1_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html" target="_self">capabilities2_server::models::provider_model_t</a></td><td class="desc">Provider model </td></tr>
+<tr id="row_15_2_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html" target="_self">capabilities2_server::models::semantic_interface_model_t</a></td><td class="desc">Semantic interface model </td></tr>
+<tr id="row_16_" class="odd"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_16_" class="arrow" onclick="toggleFolder('16_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html" target="_self">capabilities2_server::models::remappable_base_t</a></td><td class="desc">Remappable base model definition </td></tr>
+<tr id="row_16_0_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html" target="_self">capabilities2_server::models::provider_model_t</a></td><td class="desc">Provider model </td></tr>
+<tr id="row_16_1_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html" target="_self">capabilities2_server::models::semantic_interface_model_t</a></td><td class="desc">Semantic interface model </td></tr>
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+<tr id="row_19_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__runner_1_1resource.html" target="_self">capabilities2_runner::resource</a></td><td class="desc">Resource definition </td></tr>
+<tr id="row_20_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html" target="_self">capabilities2_server::models::resource_model_t</a></td><td class="desc">Computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std_msgs/String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph </td></tr>
+<tr id="row_21_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__runner_1_1runner__opts.html" target="_self">capabilities2_runner::runner_opts</a></td><td class="desc">Runner options </td></tr>
+<tr id="row_22_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__server_1_1RunnerCache.html" target="_self">capabilities2_server::RunnerCache</a></td><td class="desc">Runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use </td></tr>
+<tr id="row_23_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_23_" class="arrow" onclick="toggleFolder('23_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>std::runtime_error</b></td><td class="desc"></td></tr>
+<tr id="row_23_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1event__exception.html" target="_self">capabilities2_events::event_exception</a></td><td class="desc">Event exception </td></tr>
+<tr id="row_23_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1options__exception.html" target="_self">capabilities2_events::options_exception</a></td><td class="desc"></td></tr>
+<tr id="row_23_2_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__runner_1_1runner__exception.html" target="_self">capabilities2_runner::runner_exception</a></td><td class="desc">Runner exception </td></tr>
+<tr id="row_24_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_24_" class="arrow" onclick="toggleFolder('24_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html" target="_self">capabilities2_server::models::soft_deleteable_base_t</a></td><td class="desc">Base model for all models that can be soft deleted </td></tr>
+<tr id="row_24_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html" target="_self">capabilities2_server::models::header_model_t</a></td><td class="desc">Header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability </td></tr>
+<tr id="row_25_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1specification__model__t.html" target="_self">capabilities2_server::models::specification_model_t</a></td><td class="desc">Interface specification type the specification model is the computation graph blueprint of a capability </td></tr>
+<tr id="row_26_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html" target="_self">capabilities2_events::UUIDGenerator</a></td><td class="desc"></td></tr>
+<tr id="row_27_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_27_" class="arrow" onclick="toggleFolder('27_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><b>Node</b></td><td class="desc"></td></tr>
+<tr id="row_27_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html" target="_self">capability_registrar.CapabilityRegistrar</a></td><td class="desc"></td></tr>
+</table>
+</div><!-- directory -->
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Capabilities2 </div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="md_README"></a> <img src="https://img.shields.io/badge/Framework-ROS2-informational?&amp;logo=ROS" alt="ROS" class="inline"/> <a href="https://index.ros.org/doc/ros2/Releases/"><img src="https://img.shields.io/badge/ROS2-Jazzy-blue" alt="ROS2 Jazzy" class="inline"/></a> <img src="https://img.shields.io/badge/Code-C++-informational?&amp;logo=c%2b%2b" alt="C++" class="inline"/> <a href="https://open.vscode.dev/collaborativeroboticslab/capabilities2"><img src="https://img.shields.io/badge/vscode-dev-blue" alt="Open in Visual Studio Code" class="inline"/></a> <a href="https://opensource.org/licenses/MIT"><img src="https://img.shields.io/badge/License-MIT-yellow.svg" alt="License: MIT" style="pointer-events: none;" class="inline"/></a></p>
+<p>A reimplementation of the <a href="https://github.com/osrf/capabilities">capabilities</a> package. This package is implemented using <code>C++</code> and extends the capabilities package features.</p>
+<ul>
+<li><a class="el" href="md_capabilities2__server_2readme.html">capabilities2_server</a> package contains the core of the system.</li>
+<li><a class="el" href="md_capabilities2__runner_2readme.html">capabilities2_runner</a> package contains base and template classes for capability implementations.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md113"></a>
+System structure</h1>
+<div class="image">
+<img src="system-structure.png" alt=""/>
+<div class="caption">
+System Structure</div></div>
+    <h1><a class="anchor" id="autotoc_md114"></a>
+Entities</h1>
+<p>The main usage of <code>capabilities2</code> will typically involve creating or customizing capabilities through providers, interfaces and semantic interfaces. These are stored as YAML, and for more information about definitions and examples, click the links:</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Entity   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><a class="el" href="md_docs_2interfaces.html">Interfaces</a>   </td><td class="markdownTableBodyNone">The main capability specification file    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><a class="el" href="md_docs_2providers.html">Providers</a>   </td><td class="markdownTableBodyNone">The capability provider specification file provides a mechanism to operate the capability    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><a class="el" href="md_docs_2semantic__interfaces.html">Semantic Interfaces</a>   </td><td class="markdownTableBodyNone">The semantic interface specification file provides a mechanism to redefine a capability with semantic information   </td></tr>
+</table>
+<p>Runners can be created using the runner API parent classes <a class="el" href="md_capabilities2__runner_2readme.html">here</a>. The capabilities service can be started using the <a class="el" href="md_capabilities2__server_2readme.html">capabilities2_server</a> package.</p>
+<h1><a class="anchor" id="autotoc_md115"></a>
+Setup Information</h1>
+<ul>
+<li><a class="el" href="md_docs_2setup.html">Installation</a></li>
+<li><a class="el" href="md_docs_2setup__with__dev.html">Setup Instructions with devcontainer</a></li>
+<li>Dependency installation for Foxglove-studio</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md116"></a>
+Quick Startup information</h1>
+<h2><a class="anchor" id="autotoc_md117"></a>
+Starting the Capabilities2 server</h2>
+<div class="fragment"><div class="line">source install/setup.bash</div>
+<div class="line">ros2 launch capabilities2_server capabilities2_server.launch.py</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md118"></a>
+Additional Information</h1>
+<ul>
+<li><a class="el" href="md_docs_2motivation__and__examples.html">Motivation and Example Use Cases</a></li>
+<li><a class="el" href="md_docs_2design.html">Design Information</a></li>
+<li><a class="el" href="md_docs_2readme.html">Generated API and docs site</a></li>
+<li><a class="el" href="md_capabilities2__server_2docs_2register.html">Registering a capability</a></li>
+<li><a class="el" href="md_capabilities2__server_2docs_2terminal__usage.html">Terminal based capability usage</a></li>
+<li><a class="el" href="md_docs_2run__test__scripts.html">Running test scripts</a></li>
+</ul>
+<h1><a class="anchor" id="autotoc_md119"></a>
+Acknowledgements</h1>
+<p>This work is based on the capabilities package developed by the Open Source Robotics Foundation. <a href="https://github.com/osrf/capabilities">github.com/osrf/capabilities</a>.</p>
+<h1><a class="anchor" id="autotoc_md120"></a>
+Citation</h1>
+<p>If you use this work in an academic context, please cite the following publication(s):</p>
+<p><a href="https://dl.acm.org/doi/10.5555/3721488.3721623">Capabilities2 for ROS2: Advanced Skill-Based Control for Human-Robot Interaction</a></p>
+<div class="fragment"><div class="line">@inproceedings{10.5555/3721488.3721623,</div>
+<div class="line">    author = {Pritchard, Michael and Ratnayake, Kalana and Gamage, Buddhi and Jayasuriya, Maleen and Herath, Damith},</div>
+<div class="line">    title = {Capabilities2 for ROS2: Advanced Skill-Based Control for Human-Robot Interaction},</div>
+<div class="line">    year = {2025},</div>
+<div class="line">    publisher = {IEEE Press},</div>
+<div class="line">    booktitle = {Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction},</div>
+<div class="line">    pages = {1067–1071},</div>
+<div class="line">    location = {Melbourne, Australia},</div>
+<div class="line">    series = {HRI &#39;25}</div>
+<div class="line">}</div>
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+</div><!-- contents -->
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diff --git a/docs/html/inherit_graph_13.map b/docs/html/inherit_graph_13.map
new file mode 100644
index 0000000..8f8b2d8
--- /dev/null
+++ b/docs/html/inherit_graph_13.map
@@ -0,0 +1,9 @@
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diff --git a/docs/html/inherit_graph_15.md5 b/docs/html/inherit_graph_15.md5
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diff --git a/docs/html/inherit_graph_16.map b/docs/html/inherit_graph_16.map
new file mode 100644
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diff --git a/docs/html/inherit_graph_16.md5 b/docs/html/inherit_graph_16.md5
new file mode 100644
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+  <div class="headertitle"><div class="title">input_multiplex_runner.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="input__multiplex__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;<a class="code" href="threadtrigger__runner_8hpp.html">capabilities2_runner/threadtrigger_runner.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
+<div class="foldopen" id="foldopen00007" data-start="{" data-end="};">
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">InputMultiplexRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00013" data-start="{" data-end="}">
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a921185df695a0c589c3f76534622c973">   13</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a921185df695a0c589c3f76534622c973">InputMultiplexRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a>()</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>  {</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>  }</div>
+</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="foldopen" id="foldopen00023" data-start="{" data-end="}">
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#afae7ca7e39e5b66f8fbbbb82b118923e">   23</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#afae7ca7e39e5b66f8fbbbb82b118923e">start</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config, <span class="keyword">const</span> std::string&amp; bond_id)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(node, run_config);</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="comment">// emit started event</span></div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(bond_id, <span class="stringliteral">&quot;&quot;</span>, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>());</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  }</div>
+</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="foldopen" id="foldopen00035" data-start="{" data-end="}">
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">   35</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="comment">// if the node pointer is empty then throw an error</span></div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="comment">// this means that the runner was not started and is being used out of order</span></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>)</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner that was not started&quot;</span>);</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// emit stopped event</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>());</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;stopping runner&quot;</span>);</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  }</div>
+</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keyword">protected</span>:</div>
+<div class="foldopen" id="foldopen00056" data-start="{" data-end="}">
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">   56</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="comment">// split thread_id to get bond_id and instance_id (format: &quot;bond_id/instance_id&quot;)</span></div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">ThreadTriggerRunner::bond_from_thread_id</a>(thread_id);</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    std::string instance_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">ThreadTriggerRunner::instance_from_thread_id</a>(thread_id);</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordtype">int</span> input_count = std::any_cast&lt;int&gt;(parameters.<a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">get_value</a>(<span class="stringliteral">&quot;input_count&quot;</span>, 1));</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="comment">// track the input count for the runner_id</span></div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>.find(instance_id) == <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>.end())</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    {</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>[instance_id] = 1;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a>[instance_id] = input_count;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    }</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>[instance_id] += 1;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    }</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// check if the input count has reached the expected input count for the instance_id and if so execute the process</span></div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>[instance_id] == <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a>[instance_id])</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    {</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(),</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>                  <span class="stringliteral">&quot;instance_id: %s has received all expected inputs. Executing process for instance_id: %s&quot;</span>,</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>                  instance_id.c_str(), instance_id.c_str());</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>      <span class="comment">// If on_success is defined, emit success event will trigger it. If not defined, it will be a no-op.</span></div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>());</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;execution successful for instance_id: %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    }</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    {</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(),</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>                  <span class="stringliteral">&quot;instance_id: %s pending expected inputs. Current count: %d/%d for instance_id: %s&quot;</span>, instance_id.c_str(),</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>                  <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>[instance_id], <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a>[instance_id], instance_id.c_str());</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    }</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;multiplexing complete. Thread closing for instance_id: %s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>  }</div>
+</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>  <span class="comment">// input count tracker</span></div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">   99</a></span>  std::map&lt;std::string, int&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>  <span class="comment">// expected input count</span></div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">  102</a></span>  std::map&lt;std::string, int&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a>;</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>  <span class="comment">// completed executions</span></div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">  105</a></span>  std::map&lt;std::string, bool&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">completed_executions</a>;</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>};</div>
+</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:8</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_a42a4f1fd6f054925c72a322aed0dd94a"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">capabilities2_runner::InputMultiplexRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:35</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_a4d1bb331cd675e9eb307404073016878"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">capabilities2_runner::InputMultiplexRunner::expected_input_count</a></div><div class="ttdeci">std::map&lt; std::string, int &gt; expected_input_count</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:102</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_a921185df695a0c589c3f76534622c973"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a921185df695a0c589c3f76534622c973">capabilities2_runner::InputMultiplexRunner::InputMultiplexRunner</a></div><div class="ttdeci">InputMultiplexRunner()</div><div class="ttdoc">Constructor which needs to be empty due to plugin semantics.</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:13</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_abdc2ea43099056447273e1f7ee1cc113"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">capabilities2_runner::InputMultiplexRunner::completed_executions</a></div><div class="ttdeci">std::map&lt; std::string, bool &gt; completed_executions</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:105</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_aca8d47a83c9380245828f4a72dbc5f3b"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">capabilities2_runner::InputMultiplexRunner::input_count_tracker</a></div><div class="ttdeci">std::map&lt; std::string, int &gt; input_count_tracker</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:99</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_ae1e6893b446f7b858b097edd4508be90"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">capabilities2_runner::InputMultiplexRunner::execution</a></div><div class="ttdeci">virtual void execution(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</div><div class="ttdoc">Trigger process to be executed.</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:56</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_afae7ca7e39e5b66f8fbbbb82b118923e"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#afae7ca7e39e5b66f8fbbbb82b118923e">capabilities2_runner::InputMultiplexRunner::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</div><div class="ttdoc">Starter function for starting the action runner.</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:23</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a561039712ffa38c2617baf266fc22896"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">capabilities2_runner::RunnerBase::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success()</div><div class="ttdoc">Update on_success event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:271</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5865a398c1ad27e89d4d6947ef9404c2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">capabilities2_runner::RunnerBase::emit_succeeded</a></div><div class="ttdeci">void emit_succeeded(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit SUCCEEDED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:444</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a68a4f300a106474d09ccda51efc57a5a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">capabilities2_runner::RunnerBase::param_on_started</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_started()</div><div class="ttdoc">Update on_started event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:226</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ac92696dfbfe4b50331ca156c4449954c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase::emit_started</a></div><div class="ttdeci">void emit_started(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STARTED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:418</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></div><div class="ttdoc">add threaded trigger execution to the runner</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:21</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a10133774ae4ef6f39f9d94ebbed1b58c"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">capabilities2_runner::ThreadTriggerRunner::bond_from_thread_id</a></div><div class="ttdeci">static const std::string bond_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract bond_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:30</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_af750ef563c71182944a9a0ec380f78de"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">capabilities2_runner::ThreadTriggerRunner::instance_from_thread_id</a></div><div class="ttdeci">static const std::string instance_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract instance_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:44</div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_a06e1a6f60cb6c8830d6769532b1f3cdb"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">capabilities2_events::EventParameters::get_value</a></div><div class="ttdeci">std::any get_value(const std::string &amp;key, std::any default_value)</div><div class="ttdoc">Get the value of an option by key.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:208</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a></div><div class="ttdoc">runner exception</div><div class="ttdef"><b>Definition</b> runner_base.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
+<div class="ttc" id="athreadtrigger__runner_8hpp_html"><div class="ttname"><a href="threadtrigger__runner_8hpp.html">threadtrigger_runner.hpp</a></div></div>
+</div><!-- fragment --></div><!-- contents -->
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+<a href="interface_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="header_8hpp.html">capabilities2_server/models/header.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;<a class="code" href="resource_8hpp.html">capabilities2_server/models/resource.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="predicateable__base_8hpp.html">capabilities2_server/models/predicateable_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="sql__safe_8hpp.html">capabilities2_server/utils/sql_safe.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>{</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="foldopen" id="foldopen00020" data-start="{" data-end="};">
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">   20</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">specification_model_t</a></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>{</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a7fbc888249194c37bbbcd6145cdcc272">   22</a></span>  std::map&lt;std::string, resource_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a7fbc888249194c37bbbcd6145cdcc272">parameters</a>;</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">   23</a></span>  std::map&lt;std::string, resource_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">topics</a>;</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">   24</a></span>  std::map&lt;std::string, resource_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">services</a>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">   25</a></span>  std::map&lt;std::string, resource_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">actions</a>;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="foldopen" id="foldopen00027" data-start="{" data-end="}">
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a62197b4cea21b4597d900f8a13f5f908">   27</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a62197b4cea21b4597d900f8a13f5f908">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>  {</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;parameters&quot;</span>])</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    {</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; parameter : node[<span class="stringliteral">&quot;parameters&quot;</span>])</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>      {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a> r;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a> = parameter.first.as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a> = parameter.second[<span class="stringliteral">&quot;type&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a> = parameter.second[<span class="stringliteral">&quot;description&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a7fbc888249194c37bbbcd6145cdcc272">parameters</a>[r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a>] = r;</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>      }</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    }</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;topics&quot;</span>])</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    {</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; topic : node[<span class="stringliteral">&quot;topics&quot;</span>])</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>      {</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a> r;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a> = topic.first.as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a> = topic.second[<span class="stringliteral">&quot;type&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a> = topic.second[<span class="stringliteral">&quot;description&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">topics</a>[r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a>] = r;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>      }</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    }</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;services&quot;</span>])</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    {</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; service : node[<span class="stringliteral">&quot;services&quot;</span>])</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>      {</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a> r;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a> = service.first.as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a> = service.second[<span class="stringliteral">&quot;type&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a> = service.second[<span class="stringliteral">&quot;description&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">services</a>[r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a>] = r;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>      }</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    }</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;actions&quot;</span>])</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    {</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; action : node[<span class="stringliteral">&quot;actions&quot;</span>])</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      {</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a> r;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a> = action.first.as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a> = action.second[<span class="stringliteral">&quot;type&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a> = action.second[<span class="stringliteral">&quot;description&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">actions</a>[r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a>] = r;</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      }</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    }</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>  }</div>
+</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="foldopen" id="foldopen00075" data-start="{" data-end="}">
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#ad892ff5233a2990c8de643a8a18d4211">   75</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#ad892ff5233a2990c8de643a8a18d4211">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    YAML::Node node;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="comment">// parameters</span></div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    YAML::Node p;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; parameter : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a7fbc888249194c37bbbcd6145cdcc272">parameters</a>)</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    {</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      p[parameter.first] = parameter.second.to_yaml();</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    }</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    node[<span class="stringliteral">&quot;parameters&quot;</span>] = p;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="comment">// topics</span></div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    YAML::Node t;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; topic : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">topics</a>)</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    {</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>      t[topic.first] = topic.second.to_yaml();</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    }</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    node[<span class="stringliteral">&quot;topics&quot;</span>] = t;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="comment">// services</span></div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    YAML::Node s;</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; service : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">services</a>)</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    {</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>      s[service.first] = service.second.to_yaml();</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    }</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    node[<span class="stringliteral">&quot;services&quot;</span>] = s;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="comment">// actions</span></div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    YAML::Node a;</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; action : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">actions</a>)</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      a[action.first] = action.second.to_yaml();</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    }</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    node[<span class="stringliteral">&quot;actions&quot;</span>] = a;</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <span class="comment">// return node</span></div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>  }</div>
+</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>};</div>
+</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
+<div class="foldopen" id="foldopen00123" data-start="{" data-end="};">
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">  123</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">interface_model_t</a> : <span class="keyword">public</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">predicateable_base_t</a></div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>{</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">  125</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>;</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">  126</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">specification_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>;</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
+<div class="foldopen" id="foldopen00128" data-start="{" data-end="}">
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">  128</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>  {</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a>(node);</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a62197b4cea21b4597d900f8a13f5f908">from_yaml</a>(node[<span class="stringliteral">&quot;interface&quot;</span>]);</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <span class="comment">// if relations exist</span></div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;relations&quot;</span>])</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    {</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; relation : node[<span class="stringliteral">&quot;relations&quot;</span>])</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>      {</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">predicate_model_t</a> p;</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        p.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a913e6b62b99887f12ba12debea26d5ac">from_yaml</a>(relation);</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a>.push_back(p);</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>      }</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    }</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>  }</div>
+</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
+<div class="foldopen" id="foldopen00144" data-start="{" data-end="}">
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">  144</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    YAML::Node node = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>();</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    node[<span class="stringliteral">&quot;interface&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#ad892ff5233a2990c8de643a8a18d4211">to_yaml</a>();</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <span class="comment">// if relations exist</span></div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a>.size() &gt; 0)</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    {</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>      YAML::Node r;</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; relation : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a>)</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>      {</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>        r.push_back(relation.to_yaml());</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>      }</div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>      node[<span class="stringliteral">&quot;relations&quot;</span>] = r;</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    }</div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>  }</div>
+</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span> </div>
+<div class="foldopen" id="foldopen00161" data-start="{" data-end="}">
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">  161</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">to_sql_table</a>()</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>  {</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">header_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;, interface TEXT&quot;</span>;</div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>  }</div>
+</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
+<div class="foldopen" id="foldopen00166" data-start="{" data-end="}">
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">  166</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">to_sql_values</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">to_sql_values</a>() + <span class="stringliteral">&quot;, &#39;&quot;</span> + <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(YAML::Dump(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#ad892ff5233a2990c8de643a8a18d4211">to_yaml</a>())) + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>  }</div>
+</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>};</div>
+</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="aheader_8hpp_html"><div class="ttname"><a href="header_8hpp.html">header.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html_aee2e1db0d5ab5e2c6252db5378dc9d53"><div class="ttname"><a href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server::to_sql_safe</a></div><div class="ttdeci">std::string to_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a generic std::string to a sql safe std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:15</div></div>
+<div class="ttc" id="apredicateable__base_8hpp_html"><div class="ttname"><a href="predicateable__base_8hpp.html">predicateable_base.hpp</a></div></div>
+<div class="ttc" id="aresource_8hpp_html"><div class="ttname"><a href="resource_8hpp.html">resource.hpp</a></div></div>
+<div class="ttc" id="asql__safe_8hpp_html"><div class="ttname"><a href="sql__safe_8hpp.html">sql_safe.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a184f5969009afde38cf0933b73f58576"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> header.hpp:47</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a5df92e5526b56a061f1b87057926f8f1"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">capabilities2_server::models::header_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> header.hpp:72</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_aaf1c85918945d7e2468748b32c840608"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">capabilities2_server::models::header_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> header.hpp:65</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html">capabilities2_server::models::interface_model_t</a></div><div class="ttdoc">interface model</div><div class="ttdef"><b>Definition</b> interface.hpp:124</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a379d6d70a00d7ed95c279bd2d38cd286"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">capabilities2_server::models::interface_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> interface.hpp:128</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a3e1b6a0fbb148703a6a2bfab6a4f2003"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">capabilities2_server::models::interface_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> interface.hpp:161</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a7909ec1d2a43ec77d95e22465ae586e5"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">capabilities2_server::models::interface_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> interface.hpp:166</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a9e396d80ed9427c8020057757a605c07"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">capabilities2_server::models::interface_model_t::interface</a></div><div class="ttdeci">specification_model_t interface</div><div class="ttdef"><b>Definition</b> interface.hpp:126</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ab4974dddde348826f754eeba41fab1d0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">capabilities2_server::models::interface_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> interface.hpp:144</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ad4dfd8817581f04f0def9017ca898c64"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">capabilities2_server::models::interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> interface.hpp:125</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">capabilities2_server::models::predicate_model_t</a></div><div class="ttdoc">predicate model type</div><div class="ttdef"><b>Definition</b> predicate.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html_a913e6b62b99887f12ba12debea26d5ac"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a913e6b62b99887f12ba12debea26d5ac">capabilities2_server::models::predicate_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> predicate.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicateable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">capabilities2_server::models::predicateable_base_t</a></div><div class="ttdoc">predicateable model base type</div><div class="ttdef"><b>Definition</b> predicateable_base.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicateable__base__t_html_a997eab789e250da877a23377975dafe7"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">capabilities2_server::models::predicateable_base_t::relations</a></div><div class="ttdeci">std::vector&lt; predicate_model_t &gt; relations</div><div class="ttdef"><b>Definition</b> predicateable_base.hpp:20</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html">capabilities2_server::models::resource_model_t</a></div><div class="ttdoc">computation graph resource type definition this could be a parameter, topic, service,...</div><div class="ttdef"><b>Definition</b> resource.hpp:21</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html_a610bb2907636c8ed8c841b76e3778208"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">capabilities2_server::models::resource_model_t::type</a></div><div class="ttdeci">std::string type</div><div class="ttdef"><b>Definition</b> resource.hpp:23</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html_a9baef31aac5d2ebfa99cf4af10e3421f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">capabilities2_server::models::resource_model_t::description</a></div><div class="ttdeci">std::string description</div><div class="ttdef"><b>Definition</b> resource.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html_a9bbd5d0805bca1df20010321ac578674"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">capabilities2_server::models::resource_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> resource.hpp:22</div></div>
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n=C.setTimeout(e,r);t.stop=function(){C.clearTimeout(n)}})},tt=E.createElement("input"),nt=E.createElement("select").appendChild(E.createElement("option")),tt.type="checkbox",y.checkOn=""!==tt.value,y.optSelected=nt.selected,(tt=E.createElement("input")).value="t",tt.type="radio",y.radioValue="t"===tt.value;var ct,ft=S.expr.attrHandle;S.fn.extend({attr:function(e,t){return $(this,S.attr,e,t,1<arguments.length)},removeAttr:function(e){return this.each(function(){S.removeAttr(this,e)})}}),S.extend({attr:function(e,t,n){var r,i,o=e.nodeType;if(3!==o&&8!==o&&2!==o)return"undefined"==typeof e.getAttribute?S.prop(e,t,n):(1===o&&S.isXMLDoc(e)||(i=S.attrHooks[t.toLowerCase()]||(S.expr.match.bool.test(t)?ct:void 0)),void 0!==n?null===n?void S.removeAttr(e,t):i&&"set"in i&&void 0!==(r=i.set(e,n,t))?r:(e.setAttribute(t,n+""),n):i&&"get"in i&&null!==(r=i.get(e,t))?r:null==(r=S.find.attr(e,t))?void 0:r)},attrHooks:{type:{set:function(e,t){if(!y.radioValue&&"radio"===t&&A(e,"input")){var 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+ PowerTip v1.3.1 (2018-04-15)
+ https://stevenbenner.github.io/jquery-powertip/
+ Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
+ Released under MIT license.
+ https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
+*/
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tipMouseEnter(){if(session.activeHover){session.activeHover.data(DATA_DISPLAYCONTROLLER).cancel()}});tipElement.on("mouseleave"+EVENT_NAMESPACE,function tipMouseLeave(){if(session.activeHover){session.activeHover.data(DATA_DISPLAYCONTROLLER).hide()}})}tipElement.fadeIn(options.fadeInTime,function fadeInCallback(){if(!session.desyncTimeout){session.desyncTimeout=setInterval(closeDesyncedTip,500)}element.trigger("powerTipOpen")})}function hideTip(element){session.isClosing=true;session.isTipOpen=false;session.desyncTimeout=clearInterval(session.desyncTimeout);element.data(DATA_HASACTIVEHOVER,false);element.data(DATA_FORCEDOPEN,false);$document.off("click"+EVENT_NAMESPACE);tipElement.off(EVENT_NAMESPACE);tipElement.fadeOut(options.fadeOutTime,function fadeOutCallback(){var coords=new CSSCoordinates;session.activeHover=null;session.isClosing=false;session.isFixedTipOpen=false;tipElement.removeClass();coords.set("top",session.currentY+options.offset);coords.set("left",session.currentX+options.offset);tipElement.css(coords);element.trigger("powerTipClose")})}function positionTipOnCursor(){var tipWidth,tipHeight,coords,collisions,collisionCount;if(!session.isFixedTipOpen&&(session.isTipOpen||session.tipOpenImminent&&tipElement.data(DATA_HASMOUSEMOVE))){tipWidth=tipElement.outerWidth();tipHeight=tipElement.outerHeight();coords=new CSSCoordinates;coords.set("top",session.currentY+options.offset);coords.set("left",session.currentX+options.offset);collisions=getViewportCollisions(coords,tipWidth,tipHeight);if(collisions!==Collision.none){collisionCount=countFlags(collisions);if(collisionCount===1){if(collisions===Collision.right){coords.set("left",session.scrollLeft+session.windowWidth-tipWidth)}else if(collisions===Collision.bottom){coords.set("top",session.scrollTop+session.windowHeight-tipHeight)}}else{coords.set("left",session.currentX-tipWidth-options.offset);coords.set("top",session.currentY-tipHeight-options.offset)}}tipElement.css(coords)}}function positionTipOnElement(element){var priorityList,finalPlacement;if(options.smartPlacement||options.followMouse&&element.data(DATA_FORCEDOPEN)){priorityList=$.fn.powerTip.smartPlacementLists[options.placement];$.each(priorityList,function(idx,pos){var collisions=getViewportCollisions(placeTooltip(element,pos),tipElement.outerWidth(),tipElement.outerHeight());finalPlacement=pos;return collisions!==Collision.none})}else{placeTooltip(element,options.placement);finalPlacement=options.placement}tipElement.removeClass("w nw sw e ne se n s w se-alt sw-alt ne-alt nw-alt");tipElement.addClass(finalPlacement)}function placeTooltip(element,placement){var iterationCount=0,tipWidth,tipHeight,coords=new CSSCoordinates;coords.set("top",0);coords.set("left",0);tipElement.css(coords);do{tipWidth=tipElement.outerWidth();tipHeight=tipElement.outerHeight();coords=placementCalculator.compute(element,placement,tipWidth,tipHeight,options.offset);tipElement.css(coords)}while(++iterationCount<=5&&(tipWidth!==tipElement.outerWidth()||tipHeight!==tipElement.outerHeight()));return coords}function closeDesyncedTip(){var isDesynced=false,hasDesyncableCloseEvent=$.grep(["mouseleave","mouseout","blur","focusout"],function(eventType){return $.inArray(eventType,options.closeEvents)!==-1}).length>0;if(session.isTipOpen&&!session.isClosing&&!session.delayInProgress&&hasDesyncableCloseEvent){if(session.activeHover.data(DATA_HASACTIVEHOVER)===false||session.activeHover.is(":disabled")){isDesynced=true}else 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getViewportDimensions(){session.scrollLeft=$window.scrollLeft();session.scrollTop=$window.scrollTop();session.windowWidth=$window.width();session.windowHeight=$window.height()}function trackResize(){session.windowWidth=$window.width();session.windowHeight=$window.height()}function trackScroll(){var x=$window.scrollLeft(),y=$window.scrollTop();if(x!==session.scrollLeft){session.currentX+=x-session.scrollLeft;session.scrollLeft=x}if(y!==session.scrollTop){session.currentY+=y-session.scrollTop;session.scrollTop=y}}function trackMouse(event){session.currentX=event.pageX;session.currentY=event.pageY}function isMouseOver(element){var elementPosition=element.offset(),elementBox=element[0].getBoundingClientRect(),elementWidth=elementBox.right-elementBox.left,elementHeight=elementBox.bottom-elementBox.top;return session.currentX>=elementPosition.left&&session.currentX<=elementPosition.left+elementWidth&&session.currentY>=elementPosition.top&&session.currentY<=elementPosition.top+elementHeight}function getTooltipContent(element){var tipText=element.data(DATA_POWERTIP),tipObject=element.data(DATA_POWERTIPJQ),tipTarget=element.data(DATA_POWERTIPTARGET),targetElement,content;if(tipText){if($.isFunction(tipText)){tipText=tipText.call(element[0])}content=tipText}else if(tipObject){if($.isFunction(tipObject)){tipObject=tipObject.call(element[0])}if(tipObject.length>0){content=tipObject.clone(true,true)}}else if(tipTarget){targetElement=$("#"+tipTarget);if(targetElement.length>0){content=targetElement.html()}}return content}function getViewportCollisions(coords,elementWidth,elementHeight){var viewportTop=session.scrollTop,viewportLeft=session.scrollLeft,viewportBottom=viewportTop+session.windowHeight,viewportRight=viewportLeft+session.windowWidth,collisions=Collision.none;if(coords.top<viewportTop||Math.abs(coords.bottom-session.windowHeight)-elementHeight<viewportTop){collisions|=Collision.top}if(coords.top+elementHeight>viewportBottom||Math.abs(coords.bottom-session.windowHeight)>viewportBottom){collisions|=Collision.bottom}if(coords.left<viewportLeft||coords.right+elementWidth>viewportRight){collisions|=Collision.left}if(coords.left+elementWidth>viewportRight||coords.right<viewportLeft){collisions|=Collision.right}return collisions}function countFlags(value){var count=0;while(value){value&=value-1;count++}return count}return $.powerTip});/*!
+ * jQuery UI Touch Punch 0.2.3
+ *
+ * Copyright 2011–2014, Dave Furfero
+ * Dual licensed under the MIT or GPL Version 2 licenses.
+ *
+ * Depends:
+ *  jquery.ui.widget.js
+ *  jquery.ui.mouse.js
+ */
+!function(a){function f(a,b){if(!(a.originalEvent.touches.length>1)){a.preventDefault();var c=a.originalEvent.changedTouches[0],d=document.createEvent("MouseEvents");d.initMouseEvent(b,!0,!0,window,1,c.screenX,c.screenY,c.clientX,c.clientY,!1,!1,!1,!1,0,null),a.target.dispatchEvent(d)}}if(a.support.touch="ontouchend"in document,a.support.touch){var e,b=a.ui.mouse.prototype,c=b._mouseInit,d=b._mouseDestroy;b._touchStart=function(a){var b=this;!e&&b._mouseCapture(a.originalEvent.changedTouches[0])&&(e=!0,b._touchMoved=!1,f(a,"mouseover"),f(a,"mousemove"),f(a,"mousedown"))},b._touchMove=function(a){e&&(this._touchMoved=!0,f(a,"mousemove"))},b._touchEnd=function(a){e&&(f(a,"mouseup"),f(a,"mouseout"),this._touchMoved||f(a,"click"),e=!1)},b._mouseInit=function(){var b=this;b.element.bind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),c.call(b)},b._mouseDestroy=function(){var b=this;b.element.unbind({touchstart:a.proxy(b,"_touchStart"),touchmove:a.proxy(b,"_touchMove"),touchend:a.proxy(b,"_touchEnd")}),d.call(b)}}}(jQuery);/*! SmartMenus jQuery Plugin - v1.1.0 - September 17, 2017
+ * http://www.smartmenus.org/
+ * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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+  <div class="headertitle"><div class="title">launch_runner.hpp</div></div>
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+<div class="contents">
+<a href="launch__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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+<div class="foldopen" id="foldopen00014" data-start="{" data-end="};">
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1LaunchRunner.html">   14</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1LaunchRunner.html">LaunchRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1NoTriggerRunner.html">NoTriggerRunner</a></div>
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+<div class="foldopen" id="foldopen00020" data-start="{" data-end="}">
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+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
+<div class="foldopen" id="foldopen00031" data-start="{" data-end="}">
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+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(node, run_config);</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1LaunchRunner.html#ad0774a843f92a69d7d660a216a6d265d">package_name</a> = <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">runner</a>.substr(0, <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">runner</a>.find(<span class="stringliteral">&quot;/&quot;</span>));</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1LaunchRunner.html#adb150055c0e372f46c961aae6a4e9dd4">launch_name</a> = <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">runner</a>.substr(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">runner</a>.find(<span class="stringliteral">&quot;/&quot;</span>) + 1);</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="comment">// start launch process</span></div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;launch runner not implemented yet&quot;</span>);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="comment">// emit started event</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(bond_id, <span class="stringliteral">&quot;&quot;</span>, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>());</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>  }</div>
+</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="foldopen" id="foldopen00049" data-start="{" data-end="}">
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1LaunchRunner.html#a5373c2eb3f97948d213aab4f95bc19c9">   49</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1LaunchRunner.html#a5373c2eb3f97948d213aab4f95bc19c9">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="comment">// if the node pointer is empty then throw an error</span></div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <span class="comment">// this means that the runner was not started and is being used out of order</span></div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>)</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner that was not started&quot;</span>);</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// stop the launch process</span></div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;launch runner not implemented yet&quot;</span>);</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="comment">// emit stopped event</span></div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>());</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  }</div>
+</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1LaunchRunner.html#adb150055c0e372f46c961aae6a4e9dd4">   65</a></span>  std::string <a class="code hl_variable" href="classcapabilities2__runner_1_1LaunchRunner.html#adb150055c0e372f46c961aae6a4e9dd4">launch_name</a>;</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1LaunchRunner.html#ad0774a843f92a69d7d660a216a6d265d">   66</a></span>  std::string <a class="code hl_variable" href="classcapabilities2__runner_1_1LaunchRunner.html#ad0774a843f92a69d7d660a216a6d265d">package_name</a>;</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>};</div>
+</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1LaunchRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a></div><div class="ttdoc">launch runner base class</div><div class="ttdef"><b>Definition</b> launch_runner.hpp:15</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1LaunchRunner_html_a5373c2eb3f97948d213aab4f95bc19c9"><div class="ttname"><a href="classcapabilities2__runner_1_1LaunchRunner.html#a5373c2eb3f97948d213aab4f95bc19c9">capabilities2_runner::LaunchRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> launch_runner.hpp:49</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1LaunchRunner_html_a9a684058017ed934d6d7e921d7f75eb9"><div class="ttname"><a href="classcapabilities2__runner_1_1LaunchRunner.html#a9a684058017ed934d6d7e921d7f75eb9">capabilities2_runner::LaunchRunner::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</div><div class="ttdoc">Starter function for starting the launch runner.</div><div class="ttdef"><b>Definition</b> launch_runner.hpp:31</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1LaunchRunner_html_ace430452667a2365c3555755643c4c4c"><div class="ttname"><a href="classcapabilities2__runner_1_1LaunchRunner.html#ace430452667a2365c3555755643c4c4c">capabilities2_runner::LaunchRunner::LaunchRunner</a></div><div class="ttdeci">LaunchRunner()</div><div class="ttdoc">Constructor which needs to be empty due to plugin semantics.</div><div class="ttdef"><b>Definition</b> launch_runner.hpp:20</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1LaunchRunner_html_ad0774a843f92a69d7d660a216a6d265d"><div class="ttname"><a href="classcapabilities2__runner_1_1LaunchRunner.html#ad0774a843f92a69d7d660a216a6d265d">capabilities2_runner::LaunchRunner::package_name</a></div><div class="ttdeci">std::string package_name</div><div class="ttdef"><b>Definition</b> launch_runner.hpp:66</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1LaunchRunner_html_adb150055c0e372f46c961aae6a4e9dd4"><div class="ttname"><a href="classcapabilities2__runner_1_1LaunchRunner.html#adb150055c0e372f46c961aae6a4e9dd4">capabilities2_runner::LaunchRunner::launch_name</a></div><div class="ttdeci">std::string launch_name</div><div class="ttdef"><b>Definition</b> launch_runner.hpp:65</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1NoTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a></div><div class="ttdoc">no-trigger runner</div><div class="ttdef"><b>Definition</b> notrigger_runner.hpp:16</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a68a4f300a106474d09ccda51efc57a5a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">capabilities2_runner::RunnerBase::param_on_started</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_started()</div><div class="ttdoc">Update on_started event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:226</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a94f0b66e78d66b770ba91d9f55b202ce"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">capabilities2_runner::RunnerBase::run_config_</a></div><div class="ttdeci">runner_opts run_config_</div><div class="ttdoc">run_config_ runner configuration</div><div class="ttdef"><b>Definition</b> runner_base.hpp:474</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ac92696dfbfe4b50331ca156c4449954c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase::emit_started</a></div><div class="ttdeci">void emit_started(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STARTED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:418</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="anotrigger__runner_8hpp_html"><div class="ttname"><a href="notrigger__runner_8hpp.html">notrigger_runner.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a></div><div class="ttdoc">runner exception</div><div class="ttdef"><b>Definition</b> runner_base.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ac592b9b0cde8eef4f39dfa9ed619252e"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">capabilities2_runner::runner_opts::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> runner_base.hpp:61</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/md_TODO.html b/docs/html/md_TODO.html
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+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: TODO list</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
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+<!-- Generated by Doxygen 1.9.8 -->
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+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">TODO list</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md121"></a> </p>
+<h1><a class="anchor" id="autotoc_md122"></a>
+Problems</h1>
+<ul>
+<li>[x] names need to be in package/name format everywhere</li>
+<li>[x] better docs</li>
+<li>[x] BUG: handle "'" in db queries</li>
+<li>[x] BUG: escape db function variables</li>
+<li>[x] document deferred launch-runner support and planned replacement for current ROS2 launch incompatibilities</li>
+<li>[ ] restore launch-runner support once the replacement approach is ready</li>
+<li>[x] add descriptions to packages with TODO in package.xml</li>
+<li>[x] standardise trigger prototype</li>
+<li>[x] bump cmake min version to 3.16</li>
+<li>[ ] check thread safety for runner execution threads</li>
+<li>[ ] add note on threaded execution in base trigger function</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md123"></a>
+Features</h1>
+<ul>
+<li>[x] try using ros package to find exports automatically</li>
+<li>[x] improve the event system</li>
+<li>[ ] implement provider definition handling in runner</li>
+<li>[ ] move to established db handler lib</li>
+<li>[ ] better bt runner impl</li>
+<li>[ ] db traits: identifiable, modifiable, soft_deleteable, header, remappable, predicateable</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md124"></a>
+Refactoring</h1>
+<ul>
+<li>[x] remove fan out project work</li>
+<li>[x] merge various system runners into base runner package</li>
+<li>[x] custom logger needs to be removed</li>
+<li>[x] events should be incorporated as core function</li>
+<li>[x] server, runner base, api have event</li>
+<li>[ ] increment package versions</li>
+<li>[ ] interfaces and providers for cap caps </li>
+</ul>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+  <div class="headertitle"><div class="title">Capabilities2 Events</div></div>
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+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md0"></a> This package provides an event handling subsystem for the Capabilities2 framework. Events form the basis of inter-capability communication, allowing capabilities to respond to state changes in other capabilities. This facilitates the creation of complex behaviours through the composition of simpler capabilities.</p>
+<h1><a class="anchor" id="autotoc_md1"></a>
+features</h1>
+<ul>
+<li>Uses capability event messages</li>
+<li>helpers for integration with the <a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a>, and <a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a> packages</li>
+<li>system for connecting capabilities together based on events. e.g. capability state transitions occur based on events from other capabilities</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md2"></a>
+Model</h1>
+<p>The event system is based around the concepts of nodes, connections, events.</p>
+<h2><a class="anchor" id="autotoc_md3"></a>
+Node</h2>
+<p>Represents a capability that can emit events and has connections to other capabilities.</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">model data   </th><th class="markdownTableHeadNone">description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">id   </td><td class="markdownTableBodyNone">unique identifier for the node    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">connections   </td><td class="markdownTableBodyNone">a map of connections. The source i always <em>this</em> node   </td></tr>
+</table>
+<h2><a class="anchor" id="autotoc_md4"></a>
+Connection</h2>
+<p>Represents the link between two nodes.</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">model data   </th><th class="markdownTableHeadNone">description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">type   </td><td class="markdownTableBodyNone">the type of connection (e.g., STARTED, STOPPED, SUCCEEDED, FAILED)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">source   </td><td class="markdownTableBodyNone">the source capability that emits the event    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">target   </td><td class="markdownTableBodyNone">the target capability to invoke when the event is emitted   </td></tr>
+</table>
+<h2><a class="anchor" id="autotoc_md5"></a>
+Event</h2>
+<p>Represents a specific event that can be emitted by a node (e.g., STARTED, STOPPED, SUCCEEDED, FAILED)</p>
+<h2><a class="anchor" id="autotoc_md6"></a>
+event types</h2>
+<p>State transitions are as defined in the event code message:</p>
+<div class="fragment"><div class="line">IDLE, // initial state</div>
+<div class="line">STARTED, // when capability is started</div>
+<div class="line">STOPPED, // when capability is stopped</div>
+<div class="line">// TRIGGERED, // when capability is TRIGGERED</div>
+<div class="line">FAILED, // when capability has FAILED</div>
+<div class="line">SUCCEEDED // when capability has SUCCEEDED</div>
+<div class="line">etc..</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md7"></a>
+Flow</h1>
+<ol type="1">
+<li>A user establishes a bond with the <a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li>
+<li>The user connects capabilities together by specifying event connections (source capability, event type, target capability)</li>
+<li>The server namespaces the connection using the bond id, the source capability instance id, and the target capability instance id</li>
+<li>When a capability emits an event (e.g., STARTED), the event system checks for any connections matching that event type from the source capability, bond, and source instance id</li>
+<li>For each matching connection, the target capability is invoked accordingly (e.g., started, stopped, etc.)</li>
+</ol>
+<h1><a class="anchor" id="autotoc_md8"></a>
+Example usage</h1>
+<p>After a bond is established and both capabilities are running, a client can connect them through <code>ConnectCapability.srv</code>.</p>
+<div class="fragment"><div class="line">ros2 service call /capabilities/connect_capability capabilities2_msgs/srv/ConnectCapability &quot;{</div>
+<div class="line">  bond_id: &#39;&lt;bond-id&gt;&#39;,</div>
+<div class="line">  connection: {</div>
+<div class="line">    type: {code: 1},</div>
+<div class="line">    source: {</div>
+<div class="line">      capability: &#39;demo_pkg/source_capability&#39;,</div>
+<div class="line">      provider: &#39;demo_pkg/source_provider&#39;,</div>
+<div class="line">      instance_id: &#39;source_instance&#39;</div>
+<div class="line">    },</div>
+<div class="line">    target: {</div>
+<div class="line">      capability: &#39;demo_pkg/target_capability&#39;,</div>
+<div class="line">      provider: &#39;demo_pkg/target_provider&#39;,</div>
+<div class="line">      instance_id: &#39;target_instance&#39;,</div>
+<div class="line">      parameters: [</div>
+<div class="line">        {</div>
+<div class="line">          key: &#39;mode&#39;,</div>
+<div class="line">          value: [&#39;auto&#39;],</div>
+<div class="line">          type: 3</div>
+<div class="line">        }</div>
+<div class="line">      ]</div>
+<div class="line">    }</div>
+<div class="line">  }</div>
+<div class="line">}&quot;</div>
+</div><!-- fragment --><p>in this example, <code>type.code: 1</code> corresponds to <code>STARTED</code>. when the source capability emits a <code>STARTED</code> event for <code>source_instance</code>, the target capability is triggered for <code>target_instance</code>. any parameters specified on the target capability are carried through the connection and merged with event parameters at emission time.</p>
+<h2><a class="anchor" id="autotoc_md9"></a>
+Event namespacing</h2>
+<p>event connections are scoped in three ways:</p>
+<ol type="1">
+<li>by bond id, so one client cannot trigger another client's event wiring</li>
+<li>by source capability instance id, so only the matching running source instance emits to that connection</li>
+<li>by target capability instance id, so the event carries the intended destination instance when the callback is invoked</li>
+</ol>
+<p>the connection identifier built by the server currently has this format:</p>
+<div class="fragment"><div class="line">bond_id/source_instance_id/target_instance_id</div>
+</div><!-- fragment --><p>the source capability runner stores this connection id and, during event emission, matches on:</p>
+<ul>
+<li>event type</li>
+<li>bond id</li>
+<li>source instance id</li>
+</ul>
+<p>when a match is found, the target capability and target instance id are forwarded through the callback. the published event message also uses the source instance id as the <code>trigger_id</code> field.</p>
+<h2><a class="anchor" id="autotoc_md10"></a>
+Event Emission Triggering</h2>
+<p>There are two ways events can be tracked for emission:</p>
+<ol type="1">
+<li>the connection is for STARTED or STOPPED events - these are persistently tracked and become dependencies between capabilities</li>
+<li>the connection is for SUCCEEDED or FAILED events - these are one-shot events that are emitted when a running capability is triggered to succeed or fail</li>
+</ol>
+<p>This works out to mean that a STARTED capability will implicitly start its dependent capabilities, and immediately run their trigger action.</p>
+<h2><a class="anchor" id="autotoc_md11"></a>
+Event trigger ID</h2>
+<p>the published event message exposes a <code>trigger_id</code> field. in the current implementation this is populated from the source capability instance id, not from a separate user-defined trigger namespace.</p>
+<div class="fragment"><div class="line">connection_id = bond_id + &#39;/&#39; + source_instance_id + &#39;/&#39; + target_instance_id</div>
+<div class="line">published trigger_id = source_instance_id</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md12"></a>
+Notes</h2>
+<ul>
+<li>a single publisher is used for all event messages, this is at the top level (<a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a>)</li>
+<li>events are fired from runners</li>
+</ul>
+<h3><a class="anchor" id="autotoc_md13"></a>
+To Do</h3>
+<ul>
+<li>[x] add ability to specify parameters for target capability on event connection</li>
+<li>[ ] add ability to specify event connections in capability definition files </li>
+</ul>
+</div></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Capabilities2 msgs</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md14"></a> <img src="https://img.shields.io/badge/Framework-ROS-informational?&amp;logo=ROS" alt="ROS" class="inline"/></p>
+<p>This package contains <a href="https://index.ros.org/doc/ros2/">ROS2</a> <code>messages</code>, <code>services</code>, and <code>actions</code> for the capabilities2 framework.</p>
+<h1><a class="anchor" id="autotoc_md15"></a>
+Message Types</h1>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Message Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>Capability.msg</code>   </td><td class="markdownTableBodyNone">A message type for a capability of a robot.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>CapabilityCommand.msg</code>   </td><td class="markdownTableBodyNone">A message type for a command to a robot.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>CapabilityConnection.msg</code>   </td><td class="markdownTableBodyNone">A message type for connecting one capability to another through the event system.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>CapabilityEvent.msg</code>   </td><td class="markdownTableBodyNone">A message type for an event related to a capability.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>CapabilityEventCode.msg</code>   </td><td class="markdownTableBodyNone">event types    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>CapabilityEventStamped.msg</code>   </td><td class="markdownTableBodyNone">A stamped version of event    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>CapabilityResponse.msg</code>   </td><td class="markdownTableBodyNone">A message type for a response from a robot related to a capability.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>CapabilitySpec.msg</code>   </td><td class="markdownTableBodyNone">A message type for the specification of a capability.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>NaturalCapability.msg</code>   </td><td class="markdownTableBodyNone">A message type for a natural capability of a robot.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>Remapping.msg</code>   </td><td class="markdownTableBodyNone">A message type for a key/value remapping of a capability resource.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>RunningCapability.msg</code>   </td><td class="markdownTableBodyNone">A message type for a running capability.   </td></tr>
+</table>
+<h1><a class="anchor" id="autotoc_md16"></a>
+Service Types</h1>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Service Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>EstablishBond.srv</code>   </td><td class="markdownTableBodyNone">A service type for establishing a bond between a robot and a client.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>FreeCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for freeing a capability of a robot.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>GetCapabilitySpec.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the specification of a capability of a robot.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>GetCapabilitySpecs.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the specifications of all capabilities of a robot.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>GetInterfaces.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the interfaces of a robot.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>GetProviders.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the providers of a capability of a robot.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>GetRemappings.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the remappings of a capability of a robot.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>GetRunningCapabilities.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the running capabilities of a robot.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>GetSemanticInterfaces.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the semantic interfaces.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>RegisterCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for registering a capability with the server.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>StartCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for starting a capability.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>StopCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for stopping a capability.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>UseCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for using a capability.   </td></tr>
+</table>
+<p>New in 0.1.3:</p>
+<ul>
+<li><code>ConnectCapability.srv</code> - A service type for connecting two running capabilities together through the event system.</li>
+<li><code>Launch.srv</code> - A service type for launching a launch file.</li>
+<li><code>TriggerCapability.srv</code> - A service type for triggering a capability.</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md17"></a>
+Action Types</h1>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Action Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>Capability.action</code>   </td><td class="markdownTableBodyNone">An action type for an encapsulated capability action.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>Launch.action</code>   </td><td class="markdownTableBodyNone">An action type for launching a launch file.   </td></tr>
+</table>
+</div></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Creating Runner Plugins</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md18"></a> The runner API is designed to be extensible, so that specific runners can be created on a per provider basis. Another feature that can be implemented is cross-runner communication, which could allow capabilities to be combined at runtime to perform more complex tasks. This could overcome limitations in robot programming in which there is a common need for extensive pre-definition of tasks.</p>
+<h1><a class="anchor" id="autotoc_md19"></a>
+Inheritance</h1>
+<p>A runner is a plugin that inherits from the <code><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">capabilities2_runner::RunnerBase</a></code> class. The <code>RunnerBase</code> class is a pure virtual class that defines the interface for a runner. The <code>RunnerBase</code> class has the following methods:</p>
+<ol type="1">
+<li><code>start</code> - starts the runner</li>
+</ol>
+<ol type="1">
+<li><code>stop</code> - stops the runner</li>
+</ol>
+<ol type="1">
+<li><code>trigger</code> - triggers the runner</li>
+</ol>
+<p>Multiple classes are provided to inherit from, depending on the type of runner you want to create. A notable example is the <code><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html" title="action runner base class">capabilities2_runner::ActionRunner</a></code> class, which is used to create runners that run actions.</p>
+<h1><a class="anchor" id="autotoc_md20"></a>
+Export with Pluginlib</h1>
+<p>The runner should be exported as a plugin using the <code>PLUGINLIB_EXPORT_CLASS</code> macro.</p>
+<div class="fragment"><div class="line"><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
+<div class="line"><span class="preprocessor">#include &lt;pluginlib/class_list_macros.hpp&gt;</span></div>
+<div class="line"> </div>
+<div class="line">...</div>
+<div class="line"> </div>
+<div class="line">PLUGINLIB_EXPORT_CLASS(capabilities2_runner::MyRunner, <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a>)</div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
+<div class="ttc" id="arunner__base_8hpp_html"><div class="ttname"><a href="runner__base_8hpp.html">runner_base.hpp</a></div></div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md21"></a>
+Expose with plugins.xml</h1>
+<p>The runner should be exposed as a plugin in the <code>plugins.xml</code> file.</p>
+<div class="fragment"><div class="line">&lt;<span class="keywordtype">library</span> <span class="keyword">path</span>=<span class="stringliteral">&quot;capabilities2_runner&quot;</span>&gt;</div>
+<div class="line">    &lt;<span class="keywordtype">class</span> <span class="keyword">type</span>=<span class="stringliteral">&quot;capabilities2_runner::MyRunner&quot;</span> <span class="keyword">base_class_type</span>=<span class="stringliteral">&quot;capabilities2_runner::RunnerBase&quot;</span>&gt;</div>
+<div class="line">        &lt;<span class="keywordtype">description</span>&gt;</div>
+<div class="line">            <span class="keyword">A</span> <span class="keyword">plugin</span> <span class="keyword">that</span> <span class="keyword">provides</span> <span class="keyword">a</span>  <span class="keyword">my-runner</span> <span class="keyword">to</span> <span class="keyword">test</span> <span class="keyword">capabilities2</span></div>
+<div class="line">        &lt;/<span class="keywordtype">description</span>&gt;</div>
+<div class="line">    &lt;/<span class="keywordtype">class</span>&gt;</div>
+<div class="line">&lt;/<span class="keywordtype">library</span>&gt;</div>
+</div><!-- fragment --><p><code>plugin.xml</code> needs to be included in the <code>CMakeLists.txt</code>.</p>
+<div class="fragment"><div class="line">pluginlib_export_plugin_description_file(${PROJECT_NAME} plugins.xml)</div>
+</div><!-- fragment --> </div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_capabilities2__runner_2docs_2parameter__format.html b/docs/html/md_capabilities2__runner_2docs_2parameter__format.html
new file mode 100644
index 0000000..ebee32d
--- /dev/null
+++ b/docs/html/md_capabilities2__runner_2docs_2parameter__format.html
@@ -0,0 +1,88 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Parameter Format</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md22"></a> </p>
+<h1><a class="anchor" id="autotoc_md23"></a>
+TODO</h1>
+<p>Runners can use parameters. These parameters are passed to the runner in the <code>trigger</code> function. The parameter format for capabilities2 uses XML. A runner expects to receive a minimal XML structure which includes an ID attribute, for example:</p>
+<div class="fragment"><div class="line">&lt;<span class="keywordtype">parameters</span> <span class="keyword">id</span>=<span class="stringliteral">&quot;1234&quot;</span>&gt;</div>
+</div><!-- fragment --><p>The <code>id</code> is used to identify the runner instance and manage its execution. </p>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_capabilities2__runner_2readme.html b/docs/html/md_capabilities2__runner_2readme.html
new file mode 100644
index 0000000..7db97e9
--- /dev/null
+++ b/docs/html/md_capabilities2__runner_2readme.html
@@ -0,0 +1,189 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.8"/>
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+<title>Capabilities2: capabilities2_runner plugin API</title>
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">capabilities2_runner plugin API</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md24"></a> This package provides the <code>runner</code> API for abstract provision of capabilities. Runner plugins extend the execution functionality of the <code>capabilities</code> system. The ROS1 implementation used launch files to start capabilities. The ROS2 implementation uses runners. This allows for more flexibility in how capabilities are started and stopped, or how they are managed, and operate.</p>
+<h1><a class="anchor" id="autotoc_md25"></a>
+Runner archetypes</h1>
+<p>The <code><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></code> package provides runner patterns that can be used to specialise runners for capabilities and hence create capabilities. These runners are tested:</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Runner Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">capabilities2_runner::RunnerBase</a></code>   </td><td class="markdownTableBodyNone">The Base class for runners implementing the <code>Runner</code> interface which consists of <code>start</code>, <code>stop</code> and <code>trigger</code> functionality.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html" title="action runner base class">capabilities2_runner::ActionRunner</a></code>   </td><td class="markdownTableBodyNone">The Base runner class for capabilities that are implemented as ROS Actions. Overrides <code>stop</code> and <code>trigger</code> from RunnerBase.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html" title="service runner base class">capabilities2_runner::ServiceRunner</a></code>   </td><td class="markdownTableBodyNone">The Base runner class for capabilities that are implemented as ROS Services.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html" title="Topic runner base class.">capabilities2_runner::TopicRunner</a></code>   </td><td class="markdownTableBodyNone">The Base runner class for capabilities that are implemented as ROS Topics.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html" title="no-trigger runner">capabilities2_runner::NoTriggerRunner</a></code>   </td><td class="markdownTableBodyNone">A base runner class that disables trigger functionality. Useful for runners that begin work immediately from <code>start</code>.   </td></tr>
+</table>
+<h1><a class="anchor" id="autotoc_md26"></a>
+Standard Runners</h1>
+<p>The <code><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></code> package provides some standard runners.</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Runner Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html" title="launch runner base class">capabilities2_runner::LaunchRunner</a></code>   </td><td class="markdownTableBodyNone">Deferred launch-file runner kept for compatibility planning. The current implementation is intentionally disabled.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html" title="Dummy runner.">capabilities2_runner::DummyRunner</a></code>   </td><td class="markdownTableBodyNone">A sample runner that can be used to test the functionality of capabilities server.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html" title="Executor runner class.">capabilities2_runner::GetCapabilitySpecsRunner</a></code>   </td><td class="markdownTableBodyNone">A runner that requests capability specifications from the capabilities server.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></code>   </td><td class="markdownTableBodyNone">A runner that multiplexes multiple input capabilities through the events system.   </td></tr>
+</table>
+<h1><a class="anchor" id="autotoc_md27"></a>
+Experimental Runners</h1>
+<p>The <code><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></code> package provides experimental runners that can be used to start capabilities. These runners are not fully tested and may not work as expected. The experimental runners are:</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Runner Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html" title="encapsulated capability runner">capabilities2_runner::EnCapRunner</a></code>   </td><td class="markdownTableBodyNone">Base runner class that provides a capability action interface that encapsulates another action.   </td></tr>
+</table>
+<h1><a class="anchor" id="autotoc_md28"></a>
+Runner Inheritance Diagram</h1>
+<p>Following inheritance diagram depicts the inheritance between the above presented <em>Runners</em> and <em>Experimental Runners</em>.</p>
+<p><img src="../capabilities2_runner/docs/images/inheritance-diagram.png" alt="inheritance diagram" class="inline"/></p>
+<h1><a class="anchor" id="autotoc_md29"></a>
+About Runners</h1>
+<h2><a class="anchor" id="autotoc_md30"></a>
+Base Runner</h2>
+<p>The <code>RunnerBase</code> class is the base class for all runners. It provides the <code>start</code>, <code>stop</code>, and <code>trigger</code> methods. The <code>start</code> method is used to start the runner, the <code>stop</code> method is used to stop the runner, and the <code>trigger</code> method is used to trigger the runner. See the <code><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">capabilities2_runner::RunnerBase</a></code> class definition function templates below:</p>
+<div class="fragment"><div class="line"><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line">{</div>
+<div class="line"> </div>
+<div class="line">  <span class="keyword">class </span>RunnerBase</div>
+<div class="line">  {</div>
+<div class="line">  <span class="keyword">public</span>:</div>
+<div class="line">    <span class="comment">// start the runner</span></div>
+<div class="line">    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> runner_opts&amp; run_config,</div>
+<div class="line">                       <span class="keyword">const</span> std::string&amp; bond_id) = 0;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// stop the runner</span></div>
+<div class="line">    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>) = 0;</div>
+<div class="line"> </div>
+<div class="line">    <span class="comment">// trigger the runner</span></div>
+<div class="line">    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">trigger</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters,</div>
+<div class="line">                         <span class="keyword">const</span> std::string&amp; bond_id,</div>
+<div class="line">                         <span class="keyword">const</span> std::string&amp; instance_id) = 0;</div>
+<div class="line">  };</div>
+<div class="line"> </div>
+<div class="line">} <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a590b4f109de1d343ad88db826d72d6f2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</div><div class="ttdoc">stop the runner</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ad85529d5a99b6e1373d89beadcb71a47"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase::trigger</a></div><div class="ttdeci">virtual void trigger(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id)=0</div><div class="ttdoc">Trigger the runner.</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af253678258e86285dc2a12ecb5c1db84"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</div><div class="ttdoc">start the runner</div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md31"></a>
+LaunchRunner</h2>
+<p>The <code>LaunchRunner</code> inherits from <code><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html" title="no-trigger runner">capabilities2_runner::NoTriggerRunner</a></code>, but it is intentionally deferred in the current codebase. The class and plugin entry are kept so that launch support can be restored once the replacement approach for the current ROS2 launch system is ready. For now, do not configure providers to depend on launch-file execution through this runner.</p>
+<h2><a class="anchor" id="autotoc_md32"></a>
+Creating a Custom runner</h2>
+<p>The main idea is to allow users to create custom runners for their specific capabilities. Runners can be created to perform capabilities. The runner can be specified in a capability provider as the <code>runner</code> tag:</p>
+<div class="fragment"><div class="line"># provider ...</div>
+<div class="line">name: my_provider</div>
+<div class="line">spec_version: 1</div>
+<div class="line">spec_type: provider</div>
+<div class="line">implements: my_capability</div>
+<div class="line"># the runner to use is an exported plugin name based on RunnerBase</div>
+<div class="line">runner: capabilities2_runner::MyRunner</div>
+</div><!-- fragment --><p>The runner <code>capabilities2_runner::MyRunner</code> should inherit from the <code><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">capabilities2_runner::RunnerBase</a></code> or another like the <code><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html" title="action runner base class">capabilities2_runner::ActionRunner</a></code> class. The runner must implement the <code>start</code>, <code>stop</code>, and <code>trigger</code> methods, and then be registered as a plugin, using the <code>PLUGINLIB_EXPORT_CLASS</code> macro. See <a class="el" href="md_capabilities2__runner_2docs_2create__runners.html">Creating Runners</a> for more information.</p>
+<h1><a class="anchor" id="autotoc_md33"></a>
+Runner Execution Patterns</h1>
+<h2><a class="anchor" id="autotoc_md34"></a>
+Start -&gt; Stop</h2>
+<p>The simplest runner execution pattern is to start the runner and then stop it. An example of this is the <code>LaunchRunner</code>. This pattern represents a <em><b>self-contained</b></em> capability. An example might be the action of a robot following another entity. This skill could be self-contained and runs continuously until stopped. This case assumes that the skill is continuously running and does not require any external triggers. ROS <b>Topic</b> subscriptions and <b>Launch</b> files are like this type.</p>
+<h2><a class="anchor" id="autotoc_md35"></a>
+Start -&gt; Trigger -&gt; Stop</h2>
+<p>A more complex runner execution pattern is to start the runner, trigger it, and then stop it. This pattern represents a <em><b>one-shot</b></em> capability. An example might be the action of a robot moving to a waypoint. This skill is triggered once and then stops.</p>
+<h2><a class="anchor" id="autotoc_md36"></a>
+Start -&gt; Trigger -&gt; Trigger -&gt; ... -&gt; Stop</h2>
+<p>An even more complex runner execution pattern is to start the runner, trigger it multiple times, and then stop it. This pattern represents a <em><b>repeating</b></em> capability. An example might be the action of a robot completing a state-machine or tree. This skill is triggered multiple times and then stops. This pattern (and the previous one) often implies that data is passed to and from the runner.</p>
+<h2><a class="anchor" id="autotoc_md37"></a>
+Start -&gt; End (no Stop)</h2>
+<p>The final runner execution pattern is to start the runner and then end it without stopping. This pattern represents a challenge for the runner API, as it is not clear when the runner should be stopped. ROS communications patterns including <b>Services</b> and <b>Actions</b> are like this type.</p>
+<h1><a class="anchor" id="autotoc_md38"></a>
+Trigger Parameter Format</h1>
+<p>Runners can use parameters. These parameters are passed to the runner in the <code>trigger</code> function. For more information, see <a class="el" href="md_capabilities2__runner_2docs_2parameter__format.html">Parameter Format</a>. </p>
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diff --git a/docs/html/md_capabilities2__server_2docs_2register.html b/docs/html/md_capabilities2__server_2docs_2register.html
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Registering a capability</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md39"></a> Capabilities can be registered by exporting them in a package. The capabilities2 server will read the capabilities from the package and make them available to the user. Basic capability use case needs two components to be registered; <code>capability_interface</code> and <code>capability_provider</code>. Optionally, a third component can be added as <code>semantic_capability_interface</code>.</p>
+<div class="fragment"><div class="line"><span class="comment">&lt;!-- see std_capabilities package for examples --&gt;</span></div>
+<div class="line">&lt;<span class="keywordtype">export</span>&gt;</div>
+<div class="line">    &lt;<span class="keywordtype">capability_interface</span>&gt;</div>
+<div class="line">        <span class="keyword">interfaces</span>/<span class="keyword">cool_cap.yaml</span></div>
+<div class="line">    &lt;/<span class="keywordtype">capability_interface</span>&gt;</div>
+<div class="line">    </div>
+<div class="line">    &lt;<span class="keywordtype">capability_provider</span>&gt;</div>
+<div class="line">        <span class="keyword">providers</span>/<span class="keyword">cool_cap.yaml</span></div>
+<div class="line">    &lt;/<span class="keywordtype">capability_provider</span>&gt;</div>
+<div class="line"> </div>
+<div class="line">    &lt;<span class="keywordtype">semantic_capability_interface</span>&gt;</div>
+<div class="line">        <span class="keyword">semantic_interfaces</span>/<span class="keyword">not_cool_cap.yaml</span></div>
+<div class="line">    &lt;/<span class="keywordtype">semantic_capability_interface</span>&gt;</div>
+<div class="line">&lt;/<span class="keywordtype">export</span>&gt;</div>
+</div><!-- fragment --><p>Capabilities can also be registered through a service call. This is useful for registering capabilities that are not exported in a package. The service call has been implemented as a node in the capabilities2 package. Use the node to register capabilities during runtime. This method can also be used to update capabilities. </p>
+</div></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/md_capabilities2__server_2docs_2terminal__usage.html b/docs/html/md_capabilities2__server_2docs_2terminal__usage.html
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Terminal based capability usage</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md40"></a> Using a capability requires the user to establish a bond with the capabilities2 server. The bond is used to maintain a persistent connection with the server.</p>
+<p>first, inspect the available capabilities provided under this server on this robot.</p>
+<div class="fragment"><div class="line">ros2 service call /capabilities/get_capability_specs capabilities2_msgs/srv/GetCapabilitySpecs</div>
+</div><!-- fragment --><p>then, request a bond id to become a persistent user</p>
+<div class="fragment"><div class="line">ros2 service call /capabilities/establish_bond capabilities2_msgs/srv/EstablishBond</div>
+<div class="line"> </div>
+<div class="line"># this bond needs to be updated every second by publishing a heartbeat the bond topic. Replace the ... with value received from above call</div>
+<div class="line">ros2 topic pub /capabilities/bonds ...</div>
+</div><!-- fragment --><p>then request to use a capability</p>
+<div class="fragment"><div class="line">ros2 service call /capabilities/use_capability capabilities2_msgs/srv/UseCapability</div>
+</div><!-- fragment --><p>running capabilities can also be connected together through the event system. this requires a valid bond and both the source and target capabilities to already be running.</p>
+<div class="fragment"><div class="line">ros2 service call /capabilities/connect_capability capabilities2_msgs/srv/ConnectCapability</div>
+</div><!-- fragment --><p>This capability can be freed by calling the <code>free_capability</code> service, or just let the bond expire. The capability will be freed automatically. </p>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.html b/docs/html/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.html
new file mode 100644
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@@ -0,0 +1,153 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Capabilities2 Models</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md41"></a> This directory contains the data models used by the Capabilities2 server.</p>
+<h1><a class="anchor" id="autotoc_md42"></a>
+Models</h1>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Model   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>provider</code>   </td><td class="markdownTableBodyNone">Represents a provider of an interface    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>interface</code>   </td><td class="markdownTableBodyNone">Represents a capability interface    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>semantic_interface</code>   </td><td class="markdownTableBodyNone">Represents a semantic capability interface   </td></tr>
+</table>
+<h2><a class="anchor" id="autotoc_md43"></a>
+V2 new models (TODO)</h2>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Model   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>predicates</code>   </td><td class="markdownTableBodyNone">Represents predicates between capabilities   </td></tr>
+</table>
+<h2><a class="anchor" id="autotoc_md44"></a>
+V3 new models (TODO)(Proposal)</h2>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Model   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>running</code>   </td><td class="markdownTableBodyNone">Represents active runners that are executing capabilities    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>connections</code>   </td><td class="markdownTableBodyNone">Represents connections between active runners   </td></tr>
+</table>
+<h1><a class="anchor" id="autotoc_md45"></a>
+Traits</h1>
+<p>The models can implement various traits to provide additional functionality. The available traits are:</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Trait   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>identifiable</code>   </td><td class="markdownTableBodyNone">Allows the model to have a unique identifier    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>modifiable</code>   </td><td class="markdownTableBodyNone">Adds created and modified timestamps    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>soft_deleteable</code>   </td><td class="markdownTableBodyNone">Allows the model to be soft deleted    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>header</code>   </td><td class="markdownTableBodyNone">Adds a header to the model including name, description, and version etc. The header uses id, created, and deleted timestamps    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>remappable</code>   </td><td class="markdownTableBodyNone">Allows the model to have remappings   </td></tr>
+</table>
+<h2><a class="anchor" id="autotoc_md46"></a>
+V2 new traits (TODO)</h2>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Trait   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>predicateable</code>   </td><td class="markdownTableBodyNone">Allows the model to use subject-predicate relationships    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>assurable</code>   </td><td class="markdownTableBodyNone">Adds tracking metrics for capability performance   </td></tr>
+</table>
+<h1><a class="anchor" id="autotoc_md47"></a>
+Relationships</h1>
+<p>The models can have relationships with each other. The available relationships are:</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Relationship   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>implements</code>   </td><td class="markdownTableBodyNone">A provider implements an interface    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><code>depends_on</code>   </td><td class="markdownTableBodyNone">A provider depends on another provider    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><code>redefines</code>   </td><td class="markdownTableBodyNone">A semantic interface redefines an interface   </td></tr>
+</table>
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Capabilities2 Server</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md48"></a> Capabilities2 server allows interaction with the capabilities2 API. It is a reimplementation of the capabilities package using C++ (original capabilities package was written in Python 2.7). In addition to C++ reimplementation being more resource efficient, this package extends the capabilities package features in following ways,</p>
+<ol type="1">
+<li>Database support for storing capabilities.</li>
+<li>Capability registration through service calls.</li>
+<li>Abstracted providers through a <em>runners</em> API see <a class="el" href="md_capabilities2__runner_2readme.html">capabilities2_runner</a></li>
+</ol>
+<h1><a class="anchor" id="autotoc_md49"></a>
+Specialising the capabilities2 server</h1>
+<p>The capabilities2 server is implemented as a <a href="https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Composition.html">ROS2 Component</a>. The server can be specialised by composing it with another Component that adds domain logic.</p>
+<h1><a class="anchor" id="autotoc_md50"></a>
+Launch capabilities2 server</h1>
+<div class="fragment"><div class="line">source install/setup.bash</div>
+<div class="line">ros2 launch capabilities2_server capabilities2_server.launch.py</div>
+</div><!-- fragment --><p>Refer <code>capabilities2_server/config/capabilities.yaml</code> for the default node parameters loaded by the launch file.</p>
+<h1><a class="anchor" id="autotoc_md51"></a>
+System dependencies</h1>
+<p>The capabilities2 server depends on the following <code>bondcpp</code> ROS2 package. See the package.xml for the full list of dependencies. Notably, the capabilities2 server depends on the following system dependencies:</p>
+<ul>
+<li><code>sqlite3</code></li>
+<li><code>yaml-cpp</code></li>
+<li><code>tinyxml2</code></li>
+</ul>
+<h1><a class="anchor" id="autotoc_md52"></a>
+API</h1>
+<p>The capabilities2 server provides the following ROS2 API:</p>
+<h2><a class="anchor" id="autotoc_md53"></a>
+Services</h2>
+<p>The capabilities2 server exposes the following Service API (see <a class="el" href="md_capabilities2__msgs_2readme.html">capabilities2_msgs</a> for data types):</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadLeft">Topic   </th><th class="markdownTableHeadLeft">Service Message   </th><th class="markdownTableHeadLeft">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyLeft"><code>~/get_interfaces</code>   </td><td class="markdownTableBodyLeft"><code>GetInterfaces.srv</code>   </td><td class="markdownTableBodyLeft">Get the interfaces provided by the capabilities server    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyLeft"><code>~/get_semantic_interfaces</code>   </td><td class="markdownTableBodyLeft"><code>GetSemanticInterfaces.srv</code>   </td><td class="markdownTableBodyLeft">Get the semantic interfaces provided by the capabilities server    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyLeft"><code>~/get_providers</code>   </td><td class="markdownTableBodyLeft"><code>GetProviders.srv</code>   </td><td class="markdownTableBodyLeft">Get the providers available on the capabilities server    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyLeft"><code>~/get_remappings</code>   </td><td class="markdownTableBodyLeft"><code>GetRemappings.srv</code>   </td><td class="markdownTableBodyLeft">Get the remappings for a capability    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyLeft"><code>~/get_capability_spec</code>   </td><td class="markdownTableBodyLeft"><code>GetCapabilitySpec.srv</code>   </td><td class="markdownTableBodyLeft">Get a raw specifications for a capability    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyLeft"><code>~/get_capability_specs</code>   </td><td class="markdownTableBodyLeft"><code>GetCapabilitySpecs.srv</code>   </td><td class="markdownTableBodyLeft">Get all raw specifications in the capabilities server    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyLeft"><code>~/get_running_capabilities</code>   </td><td class="markdownTableBodyLeft"><code>GetRunningCapabilities.srv</code>   </td><td class="markdownTableBodyLeft">Get the currently running capabilities    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyLeft"><code>~/establish_bond</code>   </td><td class="markdownTableBodyLeft"><code>EstablishBond.srv</code>   </td><td class="markdownTableBodyLeft">Establish a bond with the capabilities server to use capabilities    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyLeft"><code>~/use_capability</code>   </td><td class="markdownTableBodyLeft"><code>UseCapability.srv</code>   </td><td class="markdownTableBodyLeft">Use a capability - must be bonded    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyLeft"><code>~/free_capability</code>   </td><td class="markdownTableBodyLeft"><code>FreeCapability.srv</code>   </td><td class="markdownTableBodyLeft">Free a capability (when done using it, when all users are done the capability is freed) - must be bonded    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyLeft"><code>~/start_capability</code>   </td><td class="markdownTableBodyLeft"><code>StartCapability.srv</code>   </td><td class="markdownTableBodyLeft">Start a capability (this is a forceful start, and ignores use and free logic)    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyLeft"><code>~/stop_capability</code>   </td><td class="markdownTableBodyLeft"><code>StopCapability.srv</code>   </td><td class="markdownTableBodyLeft">Stop a capability (this is a forceful stop, and ignores use and free logic)    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyLeft"><code>~/register_capability</code>   </td><td class="markdownTableBodyLeft"><code>RegisterCapability.srv</code>   </td><td class="markdownTableBodyLeft">Register a capability with the capabilities server    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyLeft"><code>~/trigger_capability</code>   </td><td class="markdownTableBodyLeft"><code>TriggerCapability.srv</code>   </td><td class="markdownTableBodyLeft">Trigger a capability - must be bonded    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyLeft"><code>~/connect_capability</code>   </td><td class="markdownTableBodyLeft"><code>ConnectCapability.srv</code>   </td><td class="markdownTableBodyLeft">Connect two running capabilities through the event system using a <code>CapabilityConnection</code> message - must be bonded   </td></tr>
+</table>
+<h2><a class="anchor" id="autotoc_md54"></a>
+Topics</h2>
+<p>The capabilities2 server exposes the following Topics API:</p>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadLeft">Topic   </th><th class="markdownTableHeadLeft">Message   </th><th class="markdownTableHeadLeft">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyLeft"><code>~/events</code>   </td><td class="markdownTableBodyLeft"><code>CapabilityEventStamped.msg</code>   </td><td class="markdownTableBodyLeft">Publish capability events    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyLeft"><code>~/bonds</code>   </td><td class="markdownTableBodyLeft"><code>bond/Status.msg</code>   </td><td class="markdownTableBodyLeft">Maintain bonds with capability users - <a href="https://wiki.ros.org/bond">Bond API</a>   </td></tr>
+</table>
+<h1><a class="anchor" id="autotoc_md55"></a>
+Additional Information</h1>
+<ul>
+<li><a class="el" href="md_capabilities2__server_2docs_2register.html">Registering a capability</a></li>
+<li><a class="el" href="md_capabilities2__server_2docs_2terminal__usage.html">Terminal based capability usage</a> </li>
+</ul>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md56"></a> </p>
+<h1><a class="anchor" id="autotoc_md57"></a>
+0.2.0 (2025-09-16)</h1>
+<ul>
+<li>add new service types</li>
+<li>upgrade event subsystem</li>
+<li>implement basic db traits</li>
+<li>add system and capability runner plugins</li>
+<li>threaded runner execution</li>
+<li>runners can be chained through trigger</li>
+<li>triggering between runners handled by dynamic link list style structure</li>
+<li>event system upgraded and refactored to be more generic and easier to use</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md58"></a>
+0.1.2 (2024-09-20)</h1>
+<ul>
+<li>working on bt runner plugins</li>
+<li>identifiable trait on models: can be used to define a unique identifier for a model which could allow versions of interfaces to be used</li>
+<li>move trigger cap to first class concept in cap API</li>
+<li>change trigger logic in runner cache</li>
+<li>guard and throw in trigger logic when cap not found</li>
+<li>fix cap entity versioning to be a string in the database</li>
+<li>doco on cap entities with examples</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md59"></a>
+0.1.1 (2024-09-19)</h1>
+<ul>
+<li>increment version of cap entities to 1.1</li>
+<li>add soft delete trait</li>
+<li>add database traits modifyable, defineable, predicateable</li>
+<li>defineable trait: use a behaviour language to define a provider</li>
+<li>predicateable trait: use a ontological triple to define relations between cap entities </li>
+</ul>
+</div></div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Basic Tutorial</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md60"></a> This tutorial will guide you through the basic steps of using <code>capabilities2</code>. It will cover the following topics:</p>
+<ol type="1">
+<li>Creating a capability using yaml model files.</li>
+<li>Run the capabilities server to serve the capability.</li>
+<li>Run the capabilities runner to execute the capability.</li>
+</ol>
+<p>The tutorial will create a simple capability that prints "Hello, World!" to the console, using talker-listener nodes as a backend sub-system.</p>
+<p>The capabilities server will serve the capability, and then spawn a runner that will execute the capability.</p>
+<h1><a class="anchor" id="autotoc_md61"></a>
+Creating a capability</h1>
+<p>First, create a package to hold the capability. In this tutorial, we will create a package called <code>hello_capability_world</code>.</p>
+<div class="fragment"><div class="line">ros2 pkg create --build-type ament_cmake hello_capability_world</div>
+</div><!-- fragment --><p>Next, create capability specification files in the package. These files will define the capability and the provider. Create 2 yaml files, <code>talker_interface.yaml</code> and <code>talker_provider.yaml</code> in the <code>hello_capability_world</code> package.</p>
+<h2><a class="anchor" id="autotoc_md62"></a>
+Spec files (.yaml)</h2>
+<h3><a class="anchor" id="autotoc_md63"></a>
+talker_interface.yaml</h3>
+<div class="fragment"><div class="line"># talker_interface.yaml</div>
+<div class="line">name: talker</div>
+<div class="line">spec_type: interface</div>
+<div class="line">spec_version: 1.1</div>
+<div class="line">description: A simple talker capability that prints &quot;Hello, World!&quot; to the console.</div>
+<div class="line">interface:</div>
+<div class="line">  topics:</div>
+<div class="line">    &quot;chatter&quot;:</div>
+<div class="line">      type: std_msgs/msg/String</div>
+<div class="line">      description: A topic that prints &quot;Hello, World!&quot; to the console.</div>
+</div><!-- fragment --><h3><a class="anchor" id="autotoc_md64"></a>
+talker_provider.yaml</h3>
+<div class="fragment"><div class="line"># talker_provider.yaml</div>
+<div class="line">name: talker</div>
+<div class="line">spec_type: provider</div>
+<div class="line">spec_version: 1.1</div>
+<div class="line">description: A simple talker provider that prints &quot;Hello, World!&quot; to the console.</div>
+<div class="line">implements: hello_capability_world/talker</div>
+<div class="line">runner: hello_capability_world::Talker # this is the C++ class that implements the provider</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md65"></a>
+Export the capability in the package.xml</h2>
+<p>Add the following to the <code>package.xml</code> file in the <code>hello_capability_world</code> package.</p>
+<div class="fragment"><div class="line"><span class="comment">&lt;!-- within the export tag --&gt;</span></div>
+<div class="line">&lt;<span class="keywordtype">export</span>&gt;</div>
+<div class="line">    <span class="comment">&lt;!-- add the capability files --&gt;</span></div>
+<div class="line">    &lt;<span class="keywordtype">capability_interface</span>&gt;<span class="keyword">talker_interface.yaml</span>&lt;/<span class="keywordtype">capability_interface</span>&gt;</div>
+<div class="line">    &lt;<span class="keywordtype">capability_provider</span>&gt;<span class="keyword">talker_provider.yaml</span>&lt;/<span class="keywordtype">capability_provider</span>&gt;</div>
+<div class="line">&lt;/<span class="keywordtype">export</span>&gt;</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md66"></a>
+Create a runner plugin</h2>
+<p>Create a C++ class that implements the provider. This class will be used to run the capability. Create a new file <code>talker.cpp</code> in the <code>src</code> directory of the <code>hello_capability_world</code> package. In this example, the capability publishes immediately when started, so the class can inherit from <code><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html" title="no-trigger runner">capabilities2_runner::NoTriggerRunner</a></code> and be exported as a plugin.</p>
+<div class="fragment"><div class="line"><span class="comment">// talker.cpp</span></div>
+<div class="line"><span class="preprocessor">#include &quot;rclcpp/rclcpp.hpp&quot;</span></div>
+<div class="line"><span class="preprocessor">#include &quot;pluginlib/class_list_macros.hpp&quot;</span></div>
+<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="notrigger__runner_8hpp.html">capabilities2_runner/notrigger_runner.hpp</a>&quot;</span></div>
+<div class="line"><span class="preprocessor">#include &quot;std_msgs/msg/string.hpp&quot;</span></div>
+<div class="line"> </div>
+<div class="line"><span class="keyword">namespace </span>hello_capability_world</div>
+<div class="line">{</div>
+<div class="line"><span class="keyword">class </span>Talker : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a></div>
+<div class="line">{</div>
+<div class="line"><span class="keyword">public</span>:</div>
+<div class="line">  Talker() = <span class="keywordflow">default</span>;</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordtype">void</span> start(</div>
+<div class="line">    rclcpp::Node::SharedPtr node,</div>
+<div class="line">    <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a>&amp; run_config,</div>
+<div class="line">    <span class="keyword">const</span> std::string&amp; bond_id)<span class="keyword"> override</span></div>
+<div class="line"><span class="keyword">    </span>{</div>
+<div class="line">    <span class="comment">// init base class gets node info and stores the runner configuration</span></div>
+<div class="line">    init_base(node, run_config);</div>
+<div class="line"> </div>
+<div class="line">        <span class="comment">// create a publisher to the chatter topic</span></div>
+<div class="line">        <span class="keyword">auto</span> chatter_pub = node_-&gt;create_publisher&lt;std_msgs::msg::String&gt;(<span class="stringliteral">&quot;chatter&quot;</span>, 10);</div>
+<div class="line"> </div>
+<div class="line">    emit_started(bond_id, <span class="stringliteral">&quot;&quot;</span>, param_on_started());</div>
+<div class="line"> </div>
+<div class="line">        <span class="comment">// send a message to the chatter topic</span></div>
+<div class="line">    std_msgs::msg::String msg;</div>
+<div class="line">    msg.data = <span class="stringliteral">&quot;Hello, World!&quot;</span>;</div>
+<div class="line">    chatter_pub-&gt;publish(msg);</div>
+<div class="line">    }</div>
+<div class="line"> </div>
+<div class="line">  <span class="keywordtype">void</span> stop(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
+<div class="line"><span class="keyword">  </span>{</div>
+<div class="line">    emit_stopped(bond_id, instance_id, param_on_stopped());</div>
+<div class="line">    }</div>
+<div class="line">};</div>
+<div class="line">} <span class="comment">// namespace hello_capability_world</span></div>
+<div class="line"> </div>
+<div class="line"><span class="comment">// export the plugin</span></div>
+<div class="line"><a class="code hl_function" href="system__runners_8cpp.html#a17206555b3cc77986a56c860d68f7dd0">PLUGINLIB_EXPORT_CLASS</a>(hello_capability_world::Talker, <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a>)</div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1NoTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a></div><div class="ttdoc">no-trigger runner</div><div class="ttdef"><b>Definition</b> notrigger_runner.hpp:16</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
+<div class="ttc" id="anotrigger__runner_8hpp_html"><div class="ttname"><a href="notrigger__runner_8hpp.html">notrigger_runner.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
+<div class="ttc" id="asystem__runners_8cpp_html_a17206555b3cc77986a56c860d68f7dd0"><div class="ttname"><a href="system__runners_8cpp.html#a17206555b3cc77986a56c860d68f7dd0">PLUGINLIB_EXPORT_CLASS</a></div><div class="ttdeci">PLUGINLIB_EXPORT_CLASS(capabilities2_runner::GetCapabilitySpecsRunner, capabilities2_runner::RunnerBase)</div></div>
+</div><!-- fragment --><h3><a class="anchor" id="autotoc_md67"></a>
+Export the plugin in the CMakeLists.txt</h3>
+<p>Follow the ROS2 pluginlib pattern to export the runner plugin.</p>
+<div class="fragment"><div class="line"><span class="comment">&lt;!-- plugins.xml --&gt;</span></div>
+<div class="line">&lt;<span class="keywordtype">library</span> <span class="keyword">path</span>=<span class="stringliteral">&quot;lib&quot;</span>&gt;</div>
+<div class="line">  &lt;<span class="keywordtype">class</span> <span class="keyword">name</span>=<span class="stringliteral">&quot;hello_capability_world::Talker&quot;</span> <span class="keyword">type</span>=<span class="stringliteral">&quot;hello_capability_world::Talker&quot;</span> <span class="keyword">base_class_type</span>=<span class="stringliteral">&quot;capabilities2_runner::RunnerBase&quot;</span>&gt;</div>
+<div class="line">    &lt;<span class="keywordtype">description</span>&gt;<span class="keyword">A</span> <span class="keyword">simple</span> <span class="keyword">talker</span> <span class="keyword">provider</span> <span class="keyword">that</span> <span class="keyword">prints</span> <span class="stringliteral">&quot;Hello, World!&quot;</span> <span class="keyword">to</span> <span class="keyword">the</span> <span class="keyword">console.</span>&lt;/<span class="keywordtype">description</span>&gt;</div>
+<div class="line">    &lt;/<span class="keywordtype">class</span>&gt;</div>
+<div class="line">&lt;/<span class="keywordtype">library</span>&gt;</div>
+</div><!-- fragment --><div class="fragment"><div class="line"># CMakeLists.txt</div>
+<div class="line">add_library(${PROJECT_NAME} SHARED src/talker.cpp)</div>
+<div class="line"> </div>
+<div class="line">ament_target_dependencies(${PROJECT_NAME}</div>
+<div class="line">  rclcpp</div>
+<div class="line">  pluginlib</div>
+<div class="line">  capabilities2_runner</div>
+<div class="line">  std_msgs</div>
+<div class="line">)</div>
+<div class="line"> </div>
+<div class="line">pluginlib_export_plugin_description_file(${PROJECT_NAME} plugins.xml)</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md68"></a>
+Run the capabilities server</h1>
+<p>The capabilities server is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.</p>
+<h2><a class="anchor" id="autotoc_md69"></a>
+Create a new config file</h2>
+<p>Create a new config file in the <code>hello_capability_world</code> package. This file will define the capabilities that the server will serve.</p>
+<div class="fragment"><div class="line"># config/hello_capability_world.yaml</div>
+<div class="line">/**:</div>
+<div class="line">  ros__parameters:</div>
+<div class="line">    loop_rate: 5.0 # Hz</div>
+<div class="line">    db_file: ~/.ros/capabilities/capabilities.sqlite3</div>
+<div class="line">    rebuild: false # Set to true to rebuild the database</div>
+<div class="line">    package_paths: # paths to search for capabilities</div>
+<div class="line">      - /opt/ros/jazzy/share # default ROS2 package paths for Jazzy</div>
+<div class="line">      - /home/ubuntu/colcon_ws/src</div>
+<div class="line">      - /home/ubuntu/colcon_ws/src/capabilities2 # absolute paths for now, these paths assume the capabilities2 package is in the colcon workspace of the ubuntu user (devcontainer user)</div>
+</div><!-- fragment --><p>Run the capabilities server node and provide the config file with ROS parameters.</p>
+<div class="fragment"><div class="line"># run the capabilities server node with the config file</div>
+<div class="line">ros2 run capabilities2_server capabilities2_server_node --ros-args --params-file /path/to/hello_capability_world/config/hello_capability_world.yaml</div>
+</div><!-- fragment --><p>We also need to run the talker-listener nodes as well. The talker-listener nodes are provided by the <code>demo_nodes_cpp</code> package. We can run the talker-listener nodes using the following command:</p>
+<div class="fragment"><div class="line"># in a new terminal</div>
+<div class="line"># run the listener node</div>
+<div class="line">ros2 run demo_nodes_cpp listener</div>
+</div><!-- fragment --><h1><a class="anchor" id="autotoc_md70"></a>
+Run the capabilities runner</h1>
+<p>Now that the capabilities server is running, we can run the capabilities runner to execute the capability.</p>
+<div class="fragment"><div class="line"># in a new terminal</div>
+<div class="line"># run the capabilities runner using a service call</div>
+<div class="line">ros2 service call /capabilities/start_capability capabilities2_msgs/srv/StartCapability &quot;{capability: &#39;hello_capability_world/talker&#39;, provider: &#39;hello_capability_world/talker&#39;}&quot;</div>
+</div><!-- fragment --><p>The capabilities runner will start the capability and print "Hello, World!" to the console of the listener node. </p>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_docs_2design.html b/docs/html/md_docs_2design.html
new file mode 100644
index 0000000..e0f552b
--- /dev/null
+++ b/docs/html/md_docs_2design.html
@@ -0,0 +1,92 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
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+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Design</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
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+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
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+<!-- window showing the filter options -->
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+     onmouseover="return searchBox.OnSearchSelectShow()"
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+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
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+</div>
+
+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Design</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md71"></a> The new capabilities package is designed to be more efficient and extensible. The functions are implemented as plugins, which can be loaded at runtime. The execution of providers is abstracted using an API called runners. The runners can manage more arbitrary provider operation which can include performing actions or services, or even running other capabilities. The capability models are stored in a database, This will allow various feature improvements such as hot reloading, state persistence, and model extension. Another possible feature is to create more complex ontological relationships between capabilities such as prerequisites, conflicts, or RDF triples (for example, <code>grasp</code> results in <code>holding</code>, or <code>pick</code> is a type of <code>manipulation</code>, or <code>grasp</code> is incompatible with <code>push</code>).</p>
+<h2><a class="anchor" id="autotoc_md72"></a>
+Bonds</h2>
+<p>The bonds feature as implemented in <code>capabilities</code> and reimplemented in <code>capabilities2</code> allows applications to overlap functions by requesting use of the same resources. When all references to a resource are released, the resource is stopped. This has the added benefit of creating an idle state for the robot in which the robot computing resources are not being used. As a result of this, the robot could be more energy-efficient, and the robot could be more responsive to new tasks.</p>
+<h2><a class="anchor" id="autotoc_md73"></a>
+Runners</h2>
+<p>The runners feature which is new in <code>capabilities2</code> allows capabilities to be executed in a more diverse manner. This could include running actions, services, or even other capabilities. This allows capabilities to be used like actions and not just started and stopped by the capabilities service. The Runner API is designed to be extensible, so that specific runners can be created on a per provider basis. Another feature that can be implemented is cross-runner communication, which could allow capabilities to be combined at runtime to perform more complex tasks. This could overcome limitations in robot programming in which there is a common need for extensive pre-definition of tasks.</p>
+<h3><a class="anchor" id="autotoc_md74"></a>
+launch runner</h3>
+<p>To preserve compatibility with the original <code>capabilities</code> package, <code>capabilities2</code> still keeps a <code>LaunchRunner</code> interface in the codebase. An initial implementation existed, but launch-file execution is now intentionally deferred because of incompatibilities with the current ROS2 launch system. A separate replacement approach is being developed, and launch-runner documentation will be restored once that work is ready. </p>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+</html>
diff --git a/docs/html/md_docs_2interfaces.html b/docs/html/md_docs_2interfaces.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<div id="titlearea">
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+<script type="text/javascript" src="menudata.js"></script>
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+
+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Interfaces</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md75"></a> </p>
+<h1><a class="anchor" id="autotoc_md76"></a>
+Description</h1>
+<p>An capability interface describes the capability. It relates ROS primitives to the capability.</p>
+<h1><a class="anchor" id="autotoc_md77"></a>
+Interface</h1>
+<div class="fragment"><div class="line"># the empty capability is an example of a capability interface</div>
+<div class="line">%YAML 1.1</div>
+<div class="line">---</div>
+<div class="line">name: empty</div>
+<div class="line">spec_type: interface</div>
+<div class="line">spec_version: 1.1</div>
+<div class="line">description: the empty capability interface helps to test the capability server</div>
+<div class="line">interface:</div>
+<div class="line">  parameters:</div>
+<div class="line">    &quot;empty&quot;:</div>
+<div class="line">      type: None</div>
+<div class="line">      description: empty</div>
+<div class="line">  topics:</div>
+<div class="line">    &quot;empty&quot;:</div>
+<div class="line">      type: std_msgs/msg/Empty</div>
+<div class="line">      description: empty</div>
+<div class="line">  services:</div>
+<div class="line">    &quot;empty&quot;:</div>
+<div class="line">      type: std_srvs/srv/Empty</div>
+<div class="line">      description: empty</div>
+<div class="line">  actions:</div>
+<div class="line">    &quot;empty&quot;:</div>
+<div class="line">      type: std_srvs/action/Empty</div>
+<div class="line">      description: empty</div>
+<div class="line"> </div>
+<div class="line"># the below keys are optional</div>
+<div class="line"> </div>
+<div class="line"># relations are a list of relations to other capability entities</div>
+<div class="line">relations:</div>
+<div class="line">    # an example of a relation</div>
+<div class="line">  - subject: some_package/some_capability</div>
+<div class="line">    predicate: blocks</div>
+<div class="line">    object: some_other_package/some_other_capability</div>
+</div><!-- fragment --> </div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_docs_2motivation__and__examples.html b/docs/html/md_docs_2motivation__and__examples.html
new file mode 100644
index 0000000..59eb5f9
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+++ b/docs/html/md_docs_2motivation__and__examples.html
@@ -0,0 +1,113 @@
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Motivation</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md78"></a> The capabilities package was originally implemented using Python. This package is a reimplementation of the capabilities package using CPP. The CPP implementation is more efficient. Secondly, this package extends the capabilities package features.</p>
+<p>The main reasons for this are:</p>
+<ol type="1">
+<li>To allow the capabilities service to provide details of the robot to other robots, a UI or App, or a supervisory AI with a conversational style.</li>
+</ol>
+<ol type="1">
+<li>To allow packages to register their capabilities at runtime with the capabilities service using a service API or a spawner. Or to modify the capabilities of a robot at runtime.</li>
+</ol>
+<ol type="1">
+<li>To allow capabilities to be used like actions and not just started and stopped by the capabilities service as in the original capabilities package launch files method.</li>
+</ol>
+<ol type="1">
+<li>To add state to the capabilities service using a database. This allows the capabilities service or the robot to be restarted without losing state, and hot reloading, and model extension including more complex ontological relationships between capabilities.</li>
+</ol>
+<ol type="1">
+<li>To allow the capabilities service to be used as a library (as in a ROS2 <code>component</code>).</li>
+</ol>
+<h2><a class="anchor" id="autotoc_md79"></a>
+Example use cases</h2>
+<table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Use case   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">Generative AI (predominantly language models) Integration   </td><td class="markdownTableBodyNone">A generic GenAI could derive a plan from the capabilities of a robot, to perform more general multi-step tasks. This could be achieved by using the capabilities as a knowledge base. This may solve problems with GenAI integration, where the GenAI has to be trained on a specific robot, or there is a significant delay in the GenAI communicating with the robot - since the GenAI does not actually execute the task, it is used to suggest a plan and supervise the robot.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">Inter-Robot Communications   </td><td class="markdownTableBodyNone">A robot encounters another robot of unknown origin and asks it what it can do. The capabilities could be communicated using M2M communication or speech. This could allow robots from different manufacturers to work together.    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone">Enable emergent skills   </td><td class="markdownTableBodyNone">A robot is asked to do a task it has never done before. This could be achieved by combining capabilities in new ways. or a robot is asked to do a task it has done before but with a different context. This could be achieved by changing the parameters of capabilities.    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone">Interoperable Robots   </td><td class="markdownTableBodyNone">A universal remote control for robots could be created using the capabilities as a standardised interface. This might be useful for robot subsystem integrators. This could also be used to create a robot app store, or standardised sensor and actuator interfaces.   </td></tr>
+</table>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_docs_2providers.html b/docs/html/md_docs_2providers.html
new file mode 100644
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--- /dev/null
+++ b/docs/html/md_docs_2providers.html
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>Capabilities2: Providers</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Providers</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md80"></a> </p>
+<h1><a class="anchor" id="autotoc_md81"></a>
+Description</h1>
+<p>A provider is a special implementation of a capability that is specific to the current system. An interface could have multiple providers.</p>
+<h1><a class="anchor" id="autotoc_md82"></a>
+Provider</h1>
+<div class="fragment"><div class="line"># the empty capability is an example of a capability provider</div>
+<div class="line">%YAML 1.1</div>
+<div class="line">---</div>
+<div class="line">name: empty</div>
+<div class="line">spec_type: provider</div>
+<div class="line">spec_version: 1.1</div>
+<div class="line">description: the empty capability provider for the empty interface</div>
+<div class="line">implements: std_capabilities/empty</div>
+<div class="line">runner: launch/empty.launch.py</div>
+<div class="line">depends_on:</div>
+<div class="line">  &quot;std_capabilities/not_empty&quot;:</div>
+<div class="line">    provider: &quot;std_capabilities/empty_depend&quot;</div>
+<div class="line">remappings:</div>
+<div class="line">  topics:</div>
+<div class="line">    &quot;empty&quot;: &quot;not_empty&quot;</div>
+<div class="line"> </div>
+<div class="line"># the below keys are optional</div>
+<div class="line"> </div>
+<div class="line"># relations are also available for providers</div>
+<div class="line">relations:</div>
+<div class="line">  # these relations are built into the provider spec version 1</div>
+<div class="line">  - subject: std_capabilities/empty</div>
+<div class="line">    predicate: implements</div>
+<div class="line">    object: std_capabilities/empty</div>
+<div class="line">  - subject: std_capabilities/empty</div>
+<div class="line">    predicate: depends_on</div>
+<div class="line">    object: std_capabilities/not_empty</div>
+<div class="line">  - subject: std_capabilities/empty</div>
+<div class="line">    predicate: remaps</div>
+<div class="line">    object: std_capabilities/not_empty</div>
+<div class="line"> </div>
+<div class="line"># providers can also have a definition using a snippet of a relevant defining language such as behavior trees</div>
+<div class="line">definition: |</div>
+<div class="line">  &lt;root&gt;</div>
+<div class="line">    &lt;sequence&gt;</div>
+<div class="line">      &lt;action name=&quot;empty&quot;/&gt;</div>
+<div class="line">    &lt;/sequence&gt;</div>
+<div class="line">  &lt;/root&gt;</div>
+</div><!-- fragment --> </div></div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/md_docs_2readme.html b/docs/html/md_docs_2readme.html
new file mode 100644
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+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<title>Capabilities2: Docs</title>
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
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+ </tbody>
+</table>
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+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+
+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Docs</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md83"></a> The documentation site is generated with Doxygen from the existing Markdown in this <code>docs/</code> tree together with comments from the source code. The Doxygen configuration lives at the repository root in <a href="../Doxygen"><code>Doxygen</code></a>.</p>
+<div class="fragment"><div class="line"># from the repository root</div>
+<div class="line">doxygen Doxygen</div>
+</div><!-- fragment --><p>The generated HTML site is written to <code>docs/html/</code> and the entry page is <code>docs/html/index.html</code>.</p>
+<p>For GitHub Pages, this repository can use GitHub Actions as both the build source and the deployment source. The workflow in <code>.github/workflows/doxygen-pages.yml</code> rebuilds the site whenever files change and deploys the generated <code>docs/html/</code> artifact to Pages.</p>
+<h1><a class="anchor" id="autotoc_md84"></a>
+Basic Tutorial</h1>
+<p>A basic tutorial can be found in <a class="el" href="md_docs_2basic__tutorial.html">here</a>. This tutorial will guide you through the process of creating a simple capability and running it.</p>
+<h1><a class="anchor" id="autotoc_md85"></a>
+Capabilities Server</h1>
+<p>The <a class="el" href="md_capabilities2__server_2readme.html">capabilities server</a> is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.</p>
+<h1><a class="anchor" id="autotoc_md86"></a>
+Capabilities Runner</h1>
+<p>A capabilities runner is a plugin that allows capabilities to be executed in a more arbitrary way. Base runner classes can be used to create custom runners for a given application. See the <a class="el" href="md_capabilities2__runner_2readme.html">capabilities2_runner</a> package for more information.</p>
+<h1><a class="anchor" id="autotoc_md87"></a>
+Capabilities Messages</h1>
+<p>This package contains messages for the capabilities2 package. See the <a class="el" href="md_capabilities2__msgs_2readme.html">capabilities2_msgs</a> package for more information.</p>
+<h1><a class="anchor" id="autotoc_md88"></a>
+Launch Runner Status</h1>
+<p>The <code>LaunchRunner</code> interface is still kept in the <code><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></code> package, but launch-file execution support is intentionally deferred because of incompatibilities with the current ROS2 launch system. Documentation for launch-based capability execution will be restored once the replacement solution is ready. </p>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_docs_2run__test__scripts.html b/docs/html/md_docs_2run__test__scripts.html
new file mode 100644
index 0000000..a5af344
--- /dev/null
+++ b/docs/html/md_docs_2run__test__scripts.html
@@ -0,0 +1,111 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Run test scripts</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
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+<table cellspacing="0" cellpadding="0">
+ <tbody>
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
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+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
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+
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+<div><div class="header">
+  <div class="headertitle"><div class="title">Run test scripts</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md89"></a> Capabilities features can be tested using the provided test scripts. The test scripts primarily test the capabilities2 server using service clients. Launch the capabilities2 server before running the test scripts using</p>
+<div class="fragment"><div class="line">source install/setup.bash</div>
+<div class="line">ros2 launch capabilities2_server capabilities2_server.launch.py</div>
+</div><!-- fragment --><p>The test scripts are written to test against the <code>std_capabilities</code> package. Make sure that the <code>std_capabilities</code> package is copied along with the <code>capabilities2</code> package to the <code>capabilities2_ws/src</code> folder and is built and sourced before running the test scripts.</p>
+<blockquote class="doxtable">
+<p>&zwj;<b>Note</b>: The test scripts use the <code>bondpy</code> package. Make sure it is installed before running the test scripts. \ <code>sudo apt install ros-$ROS_DISTRO-bondpy</code> </p>
+</blockquote>
+<p>Run the tests with python3. The test scripts are located in the <code>capabilities2_server/test</code> directory. Make sure to source the workspace before running the test.</p>
+<div class="fragment"><div class="line"># example</div>
+<div class="line">source install/setup.bash</div>
+<div class="line">cd src/capabilities2/capabilities2_server/test</div>
+<div class="line">python3 call_establish_bond.py</div>
+</div><!-- fragment --><table class="markdownTable">
+<tr class="markdownTableHead">
+<th class="markdownTableHeadNone">Test Script   </th><th class="markdownTableHeadNone">Description    </th></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_establish_bond.py">call_establish_bond.py</a>   </td><td class="markdownTableBodyNone">Test establishing a bond. <code>ctrl-C</code> to kill the bond    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_get_interfaces.py">call_get_interfaces.py</a>   </td><td class="markdownTableBodyNone">Test getting all loaded interfaces    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_get_providers.py">call_get_providers.py</a>   </td><td class="markdownTableBodyNone">Test getting loaded providers for the <code>empty</code> interface    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_get_semantic_interfaces.py">call_get_semantic_interfaces.py</a>   </td><td class="markdownTableBodyNone">Get loaded semantic interfaces    </td></tr>
+<tr class="markdownTableRowOdd">
+<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_get_specs.py">call_get_specs.py</a>   </td><td class="markdownTableBodyNone">Get all the loaded spec files    </td></tr>
+<tr class="markdownTableRowEven">
+<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_register_cap.py">call_register_cap.py</a>   </td><td class="markdownTableBodyNone">Register a new specification file   </td></tr>
+</table>
+<p>Launch-runner-specific tests are currently not provided. The <code>LaunchRunner</code> header and plugin entry remain in the codebase, but launch support is intentionally deferred until a replacement approach for the current ROS2 launch system is ready. </p>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_docs_2securing__capabilities.html b/docs/html/md_docs_2securing__capabilities.html
new file mode 100644
index 0000000..e464f49
--- /dev/null
+++ b/docs/html/md_docs_2securing__capabilities.html
@@ -0,0 +1,98 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Securing Capabilities</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Securing Capabilities</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md90"></a> A side effect of adding skill entities to a ROS network is that logic can be added to control access to these skills. Here is a proposal for how this could be implemented.</p>
+<h1><a class="anchor" id="autotoc_md91"></a>
+Integrate with Rosbridge</h1>
+<p><a href="https://github.com/RobotWebTools/rosbridge_suite">Rosbridge</a> from <a href="https://robot">Robot Web Tools</a> provides an authentication mechanism that can be used to secure the ROS network. This can be used to authenticate a user.</p>
+<p>Rosbridge also provides an access control mechanism that can be used to control access to topics. Once a user is authenticated, they could initially access the capabilities services to learn what the robot can do. By doing this the user does not know the specific topics that the robot uses, but they can still interact with the robot.</p>
+<p>Further the capabilities could be restricted based on the user's role. This could be done by creating a role-based access control (RBAC) system. This could be implemented by creating a capabilities service that is aware of the user's role. The capabilities service could then provide a list of capabilities that the user is allowed to use. An implementation could follow a plugin architecture to ensure good separation of concerns.</p>
+<p>Once the user decides on a capability that they are authorised to use, the capabilities service could update the rosbridge access control to allow the user to access the topics that the capability uses for the duration of the capability. This adds a time-based access control mechanism to the system.</p>
+<h2><a class="anchor" id="autotoc_md92"></a>
+Integrate with ROS2 Security</h2>
+<p>To prevent internal topics from leaking into the rosbridge access control, ROS2 security could be used to secure the internal topics. This would ensure that only internal connections can access internal topics, and capabilities can only add externally safe topics to the rosbridge access control.</p>
+<h2><a class="anchor" id="autotoc_md93"></a>
+Basic diagram</h2>
+<div class="image">
+<img src="securing-capability-based-robot.png" alt=""/>
+<div class="caption">
+Basic diagram</div></div>
+     </div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_docs_2semantic__interfaces.html b/docs/html/md_docs_2semantic__interfaces.html
new file mode 100644
index 0000000..cf5724d
--- /dev/null
+++ b/docs/html/md_docs_2semantic__interfaces.html
@@ -0,0 +1,119 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Semantic Interfaces</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Semantic Interfaces</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md94"></a> </p>
+<h1><a class="anchor" id="autotoc_md95"></a>
+Description</h1>
+<p>A semantic interface is a special type of capability interface that is used to define the semantics of an interface</p>
+<h1><a class="anchor" id="autotoc_md96"></a>
+Semantic Interface</h1>
+<div class="fragment"><div class="line"># the empty capability is an example of a capability interface</div>
+<div class="line"># redefines the empty interface</div>
+<div class="line">%YAML 1.1</div>
+<div class="line">---</div>
+<div class="line">name: not_empty</div>
+<div class="line">spec_type: semantic_interface</div>
+<div class="line">spec_version: 1</div>
+<div class="line">description: the not empty semantic empty interface</div>
+<div class="line">redefines: std_capabilities/empty</div>
+<div class="line">global_namespace: not</div>
+<div class="line">remappings:</div>
+<div class="line">  parameters:</div>
+<div class="line">    &quot;empty&quot;: &quot;not_empty&quot;</div>
+<div class="line">  topics:</div>
+<div class="line">    &quot;empty&quot;: &quot;not_empty&quot;</div>
+<div class="line">  services:</div>
+<div class="line">    &quot;empty&quot;: &quot;not_empty&quot;</div>
+<div class="line">  actions:</div>
+<div class="line">    &quot;empty&quot;: &quot;not_empty&quot;</div>
+<div class="line"> </div>
+<div class="line"># the below keys are optional</div>
+<div class="line"> </div>
+<div class="line"># relations are also available for semantic interfaces</div>
+<div class="line">relations:</div>
+<div class="line">  # these relations are built into the semantic interface spec version 1</div>
+<div class="line">  - subject: std_capabilities/empty</div>
+<div class="line">    predicate: redefines</div>
+<div class="line">    object: std_capabilities/not_empty</div>
+<div class="line">  - subject: std_capabilities/empty</div>
+<div class="line">    predicate: remaps</div>
+<div class="line">    object: std_capabilities/not_empty</div>
+</div><!-- fragment --> </div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_docs_2setup.html b/docs/html/md_docs_2setup.html
new file mode 100644
index 0000000..028ff67
--- /dev/null
+++ b/docs/html/md_docs_2setup.html
@@ -0,0 +1,103 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
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+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Using Capabilities package (Development and Deployment)</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
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+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
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+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Using Capabilities package (Development and Deployment)</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md97"></a> The current package has been tested on Ubuntu and ROS2 Humble, Rolling and Jazzy. Complete following sections in order.</p>
+<h2><a class="anchor" id="autotoc_md98"></a>
+Base folder creation</h2>
+<p>Create the workspace folder by running following commands in the terminal.</p>
+<div class="fragment"><div class="line">mkdir -p /home/$USER/capabilities_ws/src</div>
+<div class="line">cd /home/$USER/capabilities_ws/src</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md99"></a>
+Cloning the Packages</h2>
+<p>Clone the package using Git</p>
+<div class="fragment"><div class="line">git clone https://github.com/CollaborativeRoboticsLab/capabilities2.git</div>
+</div><!-- fragment --><p>Optionally you can clone</p>
+<div class="fragment"><div class="line">git clone https://github.com/CollaborativeRoboticsLab/std_capabilities.git</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md100"></a>
+Dependency installation</h2>
+<p>Move the terminal to workspace root and install dependencies.</p>
+<div class="fragment"><div class="line">cd /home/$USER/capabilities_ws</div>
+</div><!-- fragment --><div class="fragment"><div class="line">rosdep install --from-paths src --ignore-src -r -y</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md101"></a>
+Compile</h2>
+<p>Use colcon to build the packages:</p>
+<div class="fragment"><div class="line">colcon build</div>
+</div><!-- fragment --> </div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_docs_2setup__with__dev.html b/docs/html/md_docs_2setup__with__dev.html
new file mode 100644
index 0000000..9d73109
--- /dev/null
+++ b/docs/html/md_docs_2setup__with__dev.html
@@ -0,0 +1,112 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Using Capabilities package (Development and Deployment)</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Using Capabilities package (Development and Deployment)</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md102"></a> The current package has been tested on Ubuntu and ROS2 Humble, Rolling and Jazzy. Complete following sections in order.</p>
+<h2><a class="anchor" id="autotoc_md103"></a>
+Base folder creation</h2>
+<p>Create the workspace folder by running following commands in the terminal.</p>
+<div class="fragment"><div class="line">mkdir -p /home/$USER/capabilities_ws/src</div>
+<div class="line">cd /home/$USER/capabilities_ws/src</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md104"></a>
+Cloning the Package</h2>
+<p>Clone the package using Git</p>
+<div class="fragment"><div class="line">git clone -b develop https://github.com/CollaborativeRoboticsLab/capabilities2.git</div>
+<div class="line">git clone -b develop https://github.com/CollaborativeRoboticsLab/std_capabilities.git</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md105"></a>
+Devcontainer</h2>
+<p>A <code>devcontainer</code> is provided for developing the capabilities2 meta-package. The container can be used with <a href="https://code.visualstudio.com/">Microsoft Visual Studio Code</a> and <a href="https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.vscode-remote-extensionpack">Remote Development Extention</a>.</p>
+<p>If there are multiple packages in the workspace as with the usual case, move the <code>.devcontainer</code> folder into the parent folder such that it is located as follows,</p>
+<div class="fragment"><div class="line">colcon_ws</div>
+<div class="line">--&gt; build</div>
+<div class="line">--&gt; install</div>
+<div class="line">--&gt; log</div>
+<div class="line">--&gt; src</div>
+<div class="line">    --&gt; .devcontainer</div>
+<div class="line">    --&gt; capabilities2</div>
+<div class="line">    --&gt; pakcage ..</div>
+</div><!-- fragment --><p>Close and reopen the vs code editor so that devcontainer is automatically detected. After that, Dependencies need to be installed in the container. Install the dependencies with rosdep:</p>
+<div class="fragment"><div class="line"># in the devcontainer</div>
+<div class="line">rosdep install --from-paths src --ignore-src -r -y</div>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md106"></a>
+Compile</h2>
+<p>Use colcon to build the packages:</p>
+<div class="fragment"><div class="line">colcon build</div>
+</div><!-- fragment --> </div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/md_pull__request__template.html b/docs/html/md_pull__request__template.html
new file mode 100644
index 0000000..3bb7c49
--- /dev/null
+++ b/docs/html/md_pull__request__template.html
@@ -0,0 +1,111 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Pull Request Template</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+</div><!-- top -->
+<div><div class="header">
+  <div class="headertitle"><div class="title">Pull Request Template</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><p><a class="anchor" id="autotoc_md107"></a> </p>
+<h1><a class="anchor" id="autotoc_md108"></a>
+Description</h1>
+<p>Please include a summary of the change and which issue is fixed. Also include relevant motivation and context.</p>
+<p>Fixes #[issue]</p>
+<h1><a class="anchor" id="autotoc_md109"></a>
+Type of change</h1>
+<p>Please delete options that are not relevant.</p>
+<ul>
+<li>[ ] Bug fix (non-breaking change which fixes an issue)</li>
+<li>[ ] New feature (non-breaking change which adds functionality)</li>
+<li>[ ] Breaking change (fix or feature that would cause existing functionality to not work as intended)</li>
+<li>[ ] This change requires a documentation update</li>
+</ul>
+<h1><a class="anchor" id="autotoc_md110"></a>
+How Has This Been Tested?</h1>
+<p>Please describe the tests that you ran to verify your changes. Provide details of your testing environment, and the tests you ran to see how your change affects other areas of the code.</p>
+<h1><a class="anchor" id="autotoc_md111"></a>
+Checklist</h1>
+<ul>
+<li>[ ] My code follows the style guidelines of this project</li>
+<li>[ ] I have performed a self-review of my own code</li>
+<li>[ ] I have commented my code, particularly in hard-to-understand areas</li>
+<li>[ ] I have made corresponding changes to the documentation</li>
+<li>[ ] My changes do not break the build</li>
+<li>[ ] I have added tests that prove my fix is effective or that my feature works</li>
+<li>[ ] New and existing unit tests pass locally with my changes</li>
+<li>[ ] Any dependent changes have been merged and published in downstream modules </li>
+</ul>
+</div></div><!-- contents -->
+</div><!-- PageDoc -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/menu.js b/docs/html/menu.js
new file mode 100644
index 0000000..b0b2693
--- /dev/null
+++ b/docs/html/menu.js
@@ -0,0 +1,136 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function initMenu(relPath,searchEnabled,serverSide,searchPage,search) {
+  function makeTree(data,relPath) {
+    var result='';
+    if ('children' in data) {
+      result+='<ul>';
+      for (var i in data.children) {
+        var url;
+        var link;
+        link = data.children[i].url;
+        if (link.substring(0,1)=='^') {
+          url = link.substring(1);
+        } else {
+          url = relPath+link;
+        }
+        result+='<li><a href="'+url+'">'+
+                                data.children[i].text+'</a>'+
+                                makeTree(data.children[i],relPath)+'</li>';
+      }
+      result+='</ul>';
+    }
+    return result;
+  }
+  var searchBoxHtml;
+  if (searchEnabled) {
+    if (serverSide) {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<div class="left">'+
+                  '<form id="FSearchBox" action="'+relPath+searchPage+
+                    '" method="get"><span id="MSearchSelectExt">&#160;</span>'+
+                  '<input type="text" id="MSearchField" name="query" value="" placeholder="'+search+
+                    '" size="20" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)"'+
+                    ' onblur="searchBox.OnSearchFieldFocus(false)"/>'+
+                  '</form>'+
+                 '</div>'+
+                 '<div class="right"></div>'+
+                '</div>';
+    } else {
+      searchBoxHtml='<div id="MSearchBox" class="MSearchBoxInactive">'+
+                 '<span class="left">'+
+                  '<span id="MSearchSelect" onmouseover="return searchBox.OnSearchSelectShow()"'+
+                     ' onmouseout="return searchBox.OnSearchSelectHide()">&#160;</span>'+
+                  '<input type="text" id="MSearchField" value="" placeholder="'+search+
+                    '" accesskey="S" onfocus="searchBox.OnSearchFieldFocus(true)" '+
+                    'onblur="searchBox.OnSearchFieldFocus(false)" '+
+                    'onkeyup="searchBox.OnSearchFieldChange(event)"/>'+
+                 '</span>'+
+                 '<span class="right"><a id="MSearchClose" '+
+                  'href="javascript:searchBox.CloseResultsWindow()">'+
+                  '<img id="MSearchCloseImg" border="0" src="'+relPath+
+                  'search/close.svg" alt=""/></a>'+
+                 '</span>'+
+                '</div>';
+    }
+  }
+
+  $('#main-nav').before('<div class="sm sm-dox"><input id="main-menu-state" type="checkbox"/>'+
+                        '<label class="main-menu-btn" for="main-menu-state">'+
+                        '<span class="main-menu-btn-icon"></span> '+
+                        'Toggle main menu visibility</label>'+
+                        '<span id="searchBoxPos1" style="position:absolute;right:8px;top:8px;height:36px;"></span>'+
+                        '</div>');
+  $('#main-nav').append(makeTree(menudata,relPath));
+  $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu');
+  if (searchBoxHtml) {
+    $('#main-menu').append('<li id="searchBoxPos2" style="float:right"></li>');
+  }
+  var $mainMenuState = $('#main-menu-state');
+  var prevWidth = 0;
+  if ($mainMenuState.length) {
+    function initResizableIfExists() {
+      if (typeof initResizable==='function') initResizable();
+    }
+    // animate mobile menu
+    $mainMenuState.change(function(e) {
+      var $menu = $('#main-menu');
+      var options = { duration: 250, step: initResizableIfExists };
+      if (this.checked) {
+        options['complete'] = function() { $menu.css('display', 'block') };
+        $menu.hide().slideDown(options);
+      } else {
+        options['complete'] = function() { $menu.css('display', 'none') };
+        $menu.show().slideUp(options);
+      }
+    });
+    // set default menu visibility
+    function resetState() {
+      var $menu = $('#main-menu');
+      var $mainMenuState = $('#main-menu-state');
+      var newWidth = $(window).outerWidth();
+      if (newWidth!=prevWidth) {
+        if ($(window).outerWidth()<768) {
+          $mainMenuState.prop('checked',false); $menu.hide();
+          $('#searchBoxPos1').html(searchBoxHtml);
+          $('#searchBoxPos2').hide();
+        } else {
+          $menu.show();
+          $('#searchBoxPos1').empty();
+          $('#searchBoxPos2').html(searchBoxHtml);
+          $('#searchBoxPos2').show();
+        }
+        if (typeof searchBox!=='undefined') {
+          searchBox.CloseResultsWindow();
+        }
+        prevWidth = newWidth;
+      }
+    }
+    $(window).ready(function() { resetState(); initResizableIfExists(); });
+    $(window).resize(resetState);
+  }
+  $('#main-menu').smartmenus();
+}
+/* @license-end */
diff --git a/docs/html/menudata.js b/docs/html/menudata.js
new file mode 100644
index 0000000..43fc028
--- /dev/null
+++ b/docs/html/menudata.js
@@ -0,0 +1,125 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+*/
+var menudata={children:[
+{text:"Main Page",url:"index.html"},
+{text:"Related Pages",url:"pages.html"},
+{text:"Namespaces",url:"namespaces.html",children:[
+{text:"Namespace List",url:"namespaces.html"},
+{text:"Namespace Members",url:"namespacemembers.html",children:[
+{text:"All",url:"namespacemembers.html",children:[
+{text:"a",url:"namespacemembers.html#index_a"},
+{text:"c",url:"namespacemembers.html#index_c"},
+{text:"d",url:"namespacemembers.html#index_d"},
+{text:"e",url:"namespacemembers.html#index_e"},
+{text:"f",url:"namespacemembers.html#index_f"},
+{text:"g",url:"namespacemembers.html#index_g"},
+{text:"h",url:"namespacemembers.html#index_h"},
+{text:"n",url:"namespacemembers.html#index_n"},
+{text:"o",url:"namespacemembers.html#index_o"},
+{text:"p",url:"namespacemembers.html#index_p"},
+{text:"r",url:"namespacemembers.html#index_r"},
+{text:"s",url:"namespacemembers.html#index_s"},
+{text:"t",url:"namespacemembers.html#index_t"}]},
+{text:"Functions",url:"namespacemembers_func.html"},
+{text:"Variables",url:"namespacemembers_vars.html"},
+{text:"Enumerations",url:"namespacemembers_enum.html"}]}]},
+{text:"Classes",url:"annotated.html",children:[
+{text:"Class List",url:"annotated.html"},
+{text:"Class Index",url:"classes.html"},
+{text:"Class Hierarchy",url:"inherits.html"},
+{text:"Class Members",url:"functions.html",children:[
+{text:"All",url:"functions.html",children:[
+{text:"_",url:"functions.html#index__5F"},
+{text:"a",url:"functions_a.html#index_a"},
+{text:"b",url:"functions_b.html#index_b"},
+{text:"c",url:"functions_c.html#index_c"},
+{text:"d",url:"functions_d.html#index_d"},
+{text:"e",url:"functions_e.html#index_e"},
+{text:"f",url:"functions_f.html#index_f"},
+{text:"g",url:"functions_g.html#index_g"},
+{text:"h",url:"functions_h.html#index_h"},
+{text:"i",url:"functions_i.html#index_i"},
+{text:"k",url:"functions_k.html#index_k"},
+{text:"l",url:"functions_l.html#index_l"},
+{text:"m",url:"functions_m.html#index_m"},
+{text:"n",url:"functions_n.html#index_n"},
+{text:"o",url:"functions_o.html#index_o"},
+{text:"p",url:"functions_p.html#index_p"},
+{text:"r",url:"functions_r.html#index_r"},
+{text:"s",url:"functions_s.html#index_s"},
+{text:"t",url:"functions_t.html#index_t"},
+{text:"u",url:"functions_u.html#index_u"},
+{text:"v",url:"functions_v.html#index_v"},
+{text:"w",url:"functions_w.html#index_w"},
+{text:"~",url:"functions_~.html#index__7E"}]},
+{text:"Functions",url:"functions_func.html",children:[
+{text:"_",url:"functions_func.html#index__5F"},
+{text:"a",url:"functions_func_a.html#index_a"},
+{text:"b",url:"functions_func_b.html#index_b"},
+{text:"c",url:"functions_func_c.html#index_c"},
+{text:"d",url:"functions_func_d.html#index_d"},
+{text:"e",url:"functions_func_e.html#index_e"},
+{text:"f",url:"functions_func_f.html#index_f"},
+{text:"g",url:"functions_func_g.html#index_g"},
+{text:"h",url:"functions_func_h.html#index_h"},
+{text:"i",url:"functions_func_i.html#index_i"},
+{text:"l",url:"functions_func_l.html#index_l"},
+{text:"m",url:"functions_func_m.html#index_m"},
+{text:"o",url:"functions_func_o.html#index_o"},
+{text:"p",url:"functions_func_p.html#index_p"},
+{text:"r",url:"functions_func_r.html#index_r"},
+{text:"s",url:"functions_func_s.html#index_s"},
+{text:"t",url:"functions_func_t.html#index_t"},
+{text:"u",url:"functions_func_u.html#index_u"},
+{text:"w",url:"functions_func_w.html#index_w"},
+{text:"~",url:"functions_func_~.html#index__7E"}]},
+{text:"Variables",url:"functions_vars.html",children:[
+{text:"a",url:"functions_vars.html#index_a"},
+{text:"b",url:"functions_vars.html#index_b"},
+{text:"c",url:"functions_vars.html#index_c"},
+{text:"d",url:"functions_vars.html#index_d"},
+{text:"e",url:"functions_vars.html#index_e"},
+{text:"f",url:"functions_vars.html#index_f"},
+{text:"g",url:"functions_vars.html#index_g"},
+{text:"h",url:"functions_vars.html#index_h"},
+{text:"i",url:"functions_vars.html#index_i"},
+{text:"k",url:"functions_vars.html#index_k"},
+{text:"l",url:"functions_vars.html#index_l"},
+{text:"m",url:"functions_vars.html#index_m"},
+{text:"n",url:"functions_vars.html#index_n"},
+{text:"o",url:"functions_vars.html#index_o"},
+{text:"p",url:"functions_vars.html#index_p"},
+{text:"r",url:"functions_vars.html#index_r"},
+{text:"s",url:"functions_vars.html#index_s"},
+{text:"t",url:"functions_vars.html#index_t"},
+{text:"u",url:"functions_vars.html#index_u"},
+{text:"v",url:"functions_vars.html#index_v"},
+{text:"w",url:"functions_vars.html#index_w"}]},
+{text:"Typedefs",url:"functions_type.html"}]}]},
+{text:"Files",url:"files.html",children:[
+{text:"File List",url:"files.html"},
+{text:"File Members",url:"globals.html",children:[
+{text:"All",url:"globals.html"},
+{text:"Functions",url:"globals_func.html"}]}]}]}
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new file mode 100644
index 0000000..f70d0c1
--- /dev/null
+++ b/docs/html/minus.svg
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg width="12px" height="12px" viewBox="0 0 105.83333 105.83333" version="1.1" xmlns="http://www.w3.org/2000/svg" xmlns:svg="http://www.w3.org/2000/svg">
+  <g>
+    <rect style="fill:#808080;stroke-width:0" width="105.83333" height="105.83334" x="4.2409692e-08" y="-1.2701158e-06" ry="0" />
+    <rect style="fill:#fcfcfc;stroke-width:0" width="79.375" height="79.375" x="13.229166" y="13.229166" />
+    <rect style="fill:#808080;stroke-width:0" width="52.916668" height="15.874998" x="26.458332" y="44.979168" />
+  </g>
+</svg>
diff --git a/docs/html/minusd.svg b/docs/html/minusd.svg
new file mode 100644
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+++ b/docs/html/minusd.svg
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+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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+    <rect style="fill:#808080;stroke-width:0" width="52.916668" height="15.874998" x="26.458332" y="44.979168" />
+  </g>
+</svg>
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+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: docs/motivation_and_examples.md File Reference</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
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+<li class="navelem"><a class="el" href="dir_ae9b8f7772f36f75ddf7a4660dc4c659.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="dir_d596d1b13e10115fa0e063d9d8185b97.html">include</a></li><li class="navelem"><a class="el" href="dir_c88f82dd231ae0856530de318d7cb819.html">capabilities2_runner</a></li>  </ul>
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+  <div class="headertitle"><div class="title">multiplex_base_runner.hpp</div></div>
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+<div class="contents">
+<a href="multiplex__base__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;thread&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>{</div>
+<div class="foldopen" id="foldopen00010" data-start="{" data-end="};">
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">   10</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">MultiplexBaseRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>{</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00016" data-start="{" data-end="}">
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a9e4cab14be73162040c91cae3c674343">   16</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a9e4cab14be73162040c91cae3c674343">MultiplexBaseRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a>()</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>  {</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  }</div>
+</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="foldopen" id="foldopen00026" data-start="{" data-end="}">
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#af52788c65f5ca9fb860cee2332abbbe2">   26</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#af52788c65f5ca9fb860cee2332abbbe2">start</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(node, run_config);</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  }</div>
+</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="foldopen" id="foldopen00036" data-start="{" data-end="}">
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a7213a134e8a183c4021033e6bd7797c7">   36</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a7213a134e8a183c4021033e6bd7797c7">execution</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>)</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  {</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    info_(<span class="stringliteral">&quot;execution started for id: &quot;</span> + std::to_string(<span class="keywordtype">id</span>));</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="comment">// check if the id is already completed</span></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">completed_executions</a>.find(<span class="keywordtype">id</span>) != <a class="code hl_variable" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">completed_executions</a>.end() &amp;&amp; <a class="code hl_variable" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">completed_executions</a>[<span class="keywordtype">id</span>])</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    {</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>      info_(<span class="stringliteral">&quot;execution already completed for id: &quot;</span> + std::to_string(<span class="keywordtype">id</span>));</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>      <span class="keywordflow">return</span>;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    }</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    {</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>      <span class="comment">// trigger the events related to on_success state</span></div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>      <span class="keywordflow">if</span> (events[<span class="keywordtype">id</span>].on_success.interface != <span class="stringliteral">&quot;&quot;</span>)</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>      {</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        event_(EventType::SUCCEEDED, <span class="keywordtype">id</span>, events[<span class="keywordtype">id</span>].on_success.interface, events[<span class="keywordtype">id</span>].on_success.provider);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        triggerFunction_(events[<span class="keywordtype">id</span>].on_success.interface, update_on_success(events[<span class="keywordtype">id</span>].on_success.parameters));</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>      }</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>      <span class="comment">// trigger the events related to on_failure state</span></div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (events[<span class="keywordtype">id</span>].on_failure.interface != <span class="stringliteral">&quot;&quot;</span>)</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>      {</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        event_(EventType::FAILED, <span class="keywordtype">id</span>, events[<span class="keywordtype">id</span>].on_failure.interface, events[<span class="keywordtype">id</span>].on_failure.provider);</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        triggerFunction_(events[<span class="keywordtype">id</span>].on_failure.interface, update_on_failure(events[<span class="keywordtype">id</span>].on_failure.parameters));</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>      }</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    }</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// track the execution as completed</span></div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">completed_executions</a>[id] = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    info_(<span class="stringliteral">&quot;multiplexing complete. Thread closing.&quot;</span>, <span class="keywordtype">id</span>);</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  }</div>
+</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="foldopen" id="foldopen00072" data-start="{" data-end="}">
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#aa5cefe19419078fb0a4eb18858a684fe">   72</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#aa5cefe19419078fb0a4eb18858a684fe">stop</a>()<span class="keyword"> override</span></div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="comment">// if the node pointer is empty then throw an error</span></div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// this means that the runner was not started and is being used out of order</span></div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>)</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner that was not started&quot;</span>);</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    info_(<span class="stringliteral">&quot;stopping runner&quot;</span>);</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>  }</div>
+</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>  <span class="comment">// input count tracker</span></div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#afccbbe50f43831a9ad8efa452ed6c99f">   85</a></span>  std::map&lt;int, int&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#afccbbe50f43831a9ad8efa452ed6c99f">input_count_tracker</a>;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>  <span class="comment">// expected input count</span></div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a8047a02e3c962fe5704ea9e9ef9c5565">   88</a></span>  std::map&lt;int, int&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a8047a02e3c962fe5704ea9e9ef9c5565">expected_input_count</a>;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>  <span class="comment">// completed executions</span></div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">   91</a></span>  std::map&lt;int, bool&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">completed_executions</a>;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>};</div>
+</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1MultiplexBaseRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></div><div class="ttdef"><b>Definition</b> multiplex_base_runner.hpp:11</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1MultiplexBaseRunner_html_a59d15e39d4541a418aa230d6ce028859"><div class="ttname"><a href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">capabilities2_runner::MultiplexBaseRunner::completed_executions</a></div><div class="ttdeci">std::map&lt; int, bool &gt; completed_executions</div><div class="ttdef"><b>Definition</b> multiplex_base_runner.hpp:91</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1MultiplexBaseRunner_html_a7213a134e8a183c4021033e6bd7797c7"><div class="ttname"><a href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a7213a134e8a183c4021033e6bd7797c7">capabilities2_runner::MultiplexBaseRunner::execution</a></div><div class="ttdeci">virtual void execution(int id)</div><div class="ttdoc">Trigger process to be executed.</div><div class="ttdef"><b>Definition</b> multiplex_base_runner.hpp:36</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1MultiplexBaseRunner_html_a8047a02e3c962fe5704ea9e9ef9c5565"><div class="ttname"><a href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a8047a02e3c962fe5704ea9e9ef9c5565">capabilities2_runner::MultiplexBaseRunner::expected_input_count</a></div><div class="ttdeci">std::map&lt; int, int &gt; expected_input_count</div><div class="ttdef"><b>Definition</b> multiplex_base_runner.hpp:88</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1MultiplexBaseRunner_html_a9e4cab14be73162040c91cae3c674343"><div class="ttname"><a href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a9e4cab14be73162040c91cae3c674343">capabilities2_runner::MultiplexBaseRunner::MultiplexBaseRunner</a></div><div class="ttdeci">MultiplexBaseRunner()</div><div class="ttdoc">Constructor which needs to be empty due to plugin semantics.</div><div class="ttdef"><b>Definition</b> multiplex_base_runner.hpp:16</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1MultiplexBaseRunner_html_aa5cefe19419078fb0a4eb18858a684fe"><div class="ttname"><a href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#aa5cefe19419078fb0a4eb18858a684fe">capabilities2_runner::MultiplexBaseRunner::stop</a></div><div class="ttdeci">virtual void stop() override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> multiplex_base_runner.hpp:72</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1MultiplexBaseRunner_html_af52788c65f5ca9fb860cee2332abbbe2"><div class="ttname"><a href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#af52788c65f5ca9fb860cee2332abbbe2">capabilities2_runner::MultiplexBaseRunner::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config) override</div><div class="ttdoc">Starter function for starting the action runner.</div><div class="ttdef"><b>Definition</b> multiplex_base_runner.hpp:26</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1MultiplexBaseRunner_html_afccbbe50f43831a9ad8efa452ed6c99f"><div class="ttname"><a href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#afccbbe50f43831a9ad8efa452ed6c99f">capabilities2_runner::MultiplexBaseRunner::input_count_tracker</a></div><div class="ttdeci">std::map&lt; int, int &gt; input_count_tracker</div><div class="ttdef"><b>Definition</b> multiplex_base_runner.hpp:85</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
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+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
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+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
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+<div class="textblock"><pre class="fragment"> test call cap services </pre> </div><h2 class="groupheader">Function Documentation</h2>
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+
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+  <div class="summary">
+<a href="#func-members">Functions</a> &#124;
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+<div class="contents">
+<table class="memberdecls">
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">DummyRunner</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Dummy runner.  <a href="classcapabilities2__runner_1_1DummyRunner.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">EnCapRunner</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">InputMultiplexRunner</a></td></tr>
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+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">launch runner base class  <a href="classcapabilities2__runner_1_1LaunchRunner.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">MultiplexBaseRunner</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__runner_1_1resource.html">resource</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">runner exception  <a href="structcapabilities2__runner_1_1runner__exception.html#details">More...</a><br /></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a></td></tr>
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+<title>Capabilities2: capabilities2_server Namespace Reference</title>
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+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server Namespace Reference</div></div>
+</div><!--header-->
+<div class="contents">
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+<tr class="memitem:namespacecapabilities2__server_1_1models" id="r_namespacecapabilities2__server_1_1models"><td class="memItemLeft" align="right" valign="top">namespace &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecapabilities2__server_1_1models.html">models</a></td></tr>
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+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">bond cache class  <a href="classcapabilities2__server_1_1BondCache.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">CapabilitiesAPI</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners  <a href="classcapabilities2__server_1_1CapabilitiesAPI.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">CapabilitiesDB</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">CapabilitiesServer</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">capabilities server  <a href="classcapabilities2__server_1_1CapabilitiesServer.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1DBBase.html">DBBase</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">RunnerCache</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use  <a href="classcapabilities2__server_1_1RunnerCache.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
+Functions</h2></td></tr>
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+<tr class="separator:a1ec50cd7bc88da49828f161403c6b517"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment">capabilities2_server launch file
+</pre> </div><h2 class="groupheader">Function Documentation</h2>
+<a id="a6e3d2cbc55c111a6f09bb9adbbf91977" name="a6e3d2cbc55c111a6f09bb9adbbf91977"></a>
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+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;&gt; </div>
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+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>resource_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a30c6a598ad096b7253c2b1217c9ddce6" name="a30c6a598ad096b7253c2b1217c9ddce6"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a30c6a598ad096b7253c2b1217c9ddce6">&#9670;&#160;</a></span>DBBase::exists&lt; models::provider_model_t &gt;()</h2>
+
+<div class="memitem">
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+<div class="memtemplate">
+template&lt;&gt; </div>
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+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>resource_name</em></td><td>)</td>
+          <td></td>
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+</div><div class="memdoc">
+
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+<h2 class="memtitle"><span class="permalink"><a href="#a01ea1d7937d31e53be0186ccbbded6cd">&#9670;&#160;</a></span>DBBase::exists&lt; models::semantic_interface_model_t &gt;()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<div class="memtemplate">
+template&lt;&gt; </div>
+      <table class="memname">
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+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>resource_name</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a17a8e514c6257c5fddf35be0d6194425" name="a17a8e514c6257c5fddf35be0d6194425"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a17a8e514c6257c5fddf35be0d6194425">&#9670;&#160;</a></span>expand_tilde()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::expand_tilde </td>
+          <td>(</td>
+          <td class="paramtype">std::string &amp;&#160;</td>
+          <td class="paramname"><em>path</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2fefe1de489dfc709310ae4fa1afaa13" name="a2fefe1de489dfc709310ae4fa1afaa13"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2fefe1de489dfc709310ae4fa1afaa13">&#9670;&#160;</a></span>from_sql_safe()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::from_sql_safe </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>convert a sql safe std::string to a generic std::string </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">input</td><td>sql safe std::string </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>generic std::string </dd></dl>
+
+</div>
+</div>
+<a id="a1ec50cd7bc88da49828f161403c6b517" name="a1ec50cd7bc88da49828f161403c6b517"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1ec50cd7bc88da49828f161403c6b517">&#9670;&#160;</a></span>generate_launch_description()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_server.generate_launch_description </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+<pre class="fragment">Generate launch description for capabilities2 server
+
+Returns:
+    LaunchDescription: The launch description for capabilities2 server
+</pre> 
+</div>
+</div>
+<a id="aee2e1db0d5ab5e2c6252db5378dc9d53" name="aee2e1db0d5ab5e2c6252db5378dc9d53"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aee2e1db0d5ab5e2c6252db5378dc9d53">&#9670;&#160;</a></span>to_sql_safe()</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::to_sql_safe </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>input</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+<p>convert a generic std::string to a sql safe std::string </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">input</td><td>generic std::string </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>sql safe std::string </dd></dl>
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+  <div class="headertitle"><div class="title">capabilities2_server::models Namespace Reference</div></div>
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+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html">capability_model_t</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">defineable_base_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">defineable base  <a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability  <a href="structcapabilities2__server_1_1models_1_1header__model__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html">identifiable_base_t</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">interface_model_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">interface model  <a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html">modifiable_base_t</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">predicate_model_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">predicate model type  <a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">predicateable_base_t</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">provider_model_t</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">remappable_base_t</a></td></tr>
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+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a></td></tr>
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+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std_msgs/String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph  <a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">run_config_model_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">run configuration type  <a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1running__model__t.html">running_model_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">running capability model  <a href="structcapabilities2__server_1_1models_1_1running__model__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">semantic_interface_model_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">semantic interface model  <a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html">soft_deleteable_base_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">base model for all models that can be soft deleted  <a href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">specification_model_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">interface specification type the specification model is the computation graph blueprint of a capability  <a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<div class="header">
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+<a href="#nested-classes">Classes</a> &#124;
+<a href="#var-members">Variables</a>  </div>
+  <div class="headertitle"><div class="title">capability_registrar Namespace Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html">CapabilityRegistrar</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="var-members" name="var-members"></a>
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+<tr class="memitem:a85b2e418ce57973bee2d82f33e5738b5" id="r_a85b2e418ce57973bee2d82f33e5738b5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecapability__registrar.html#a85b2e418ce57973bee2d82f33e5738b5">args</a> = parser.parse_args()</td></tr>
+<tr class="separator:a85b2e418ce57973bee2d82f33e5738b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:aba4d1e7264910b6be4626bff694d10ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a56cd03cefa17b5d40d607d7efa907b86"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a8def842f3231248fbb4afbada9c57c0e" id="r_a8def842f3231248fbb4afbada9c57c0e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecapability__registrar.html#a8def842f3231248fbb4afbada9c57c0e">package</a></td></tr>
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+<tr class="separator:a2042dee98cea898a5984b8261540b8fb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><pre class="fragment"> Capability Registrar Node
+ a ros node that registers the capabilities of the robot to the capability server
+ the registration is done by calling the capability server's service
+</pre> </div><h2 class="groupheader">Variable Documentation</h2>
+<a id="a85b2e418ce57973bee2d82f33e5738b5" name="a85b2e418ce57973bee2d82f33e5738b5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a85b2e418ce57973bee2d82f33e5738b5">&#9670;&#160;</a></span>args</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.args = parser.parse_args()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a2042dee98cea898a5984b8261540b8fb" name="a2042dee98cea898a5984b8261540b8fb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a2042dee98cea898a5984b8261540b8fb">&#9670;&#160;</a></span>content</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.content</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a81f7c17e781033752eb7c2d5d43953f5" name="a81f7c17e781033752eb7c2d5d43953f5"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a81f7c17e781033752eb7c2d5d43953f5">&#9670;&#160;</a></span>default</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.default</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a643c87ff01a794a2f9a87c0f0c1663a9" name="a643c87ff01a794a2f9a87c0f0c1663a9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a643c87ff01a794a2f9a87c0f0c1663a9">&#9670;&#160;</a></span>filename</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.filename = args.file</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="af66a2aad43c4712a55bee27275bd1e5d" name="af66a2aad43c4712a55bee27275bd1e5d"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af66a2aad43c4712a55bee27275bd1e5d">&#9670;&#160;</a></span>help</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.help</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a8def842f3231248fbb4afbada9c57c0e" name="a8def842f3231248fbb4afbada9c57c0e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8def842f3231248fbb4afbada9c57c0e">&#9670;&#160;</a></span>package</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.package</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7bfea02378cecfeceda9259e91e2e091" name="a7bfea02378cecfeceda9259e91e2e091"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7bfea02378cecfeceda9259e91e2e091">&#9670;&#160;</a></span>parser</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.parser = argparse.ArgumentParser()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aba4d1e7264910b6be4626bff694d10ac" name="aba4d1e7264910b6be4626bff694d10ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aba4d1e7264910b6be4626bff694d10ac">&#9670;&#160;</a></span>registrar</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.registrar = <a class="el" href="classcapability__registrar_1_1CapabilityRegistrar.html">CapabilityRegistrar</a>()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a56cd03cefa17b5d40d607d7efa907b86" name="a56cd03cefa17b5d40d607d7efa907b86"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a56cd03cefa17b5d40d607d7efa907b86">&#9670;&#160;</a></span>request</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.request = RegisterCapability.Request()</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9e88f588295c9d1134a65813e2cba57a" name="a9e88f588295c9d1134a65813e2cba57a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9e88f588295c9d1134a65813e2cba57a">&#9670;&#160;</a></span>required</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.required</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9824c18d0c7c2bc9602902693e664d48" name="a9824c18d0c7c2bc9602902693e664d48"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9824c18d0c7c2bc9602902693e664d48">&#9670;&#160;</a></span>spec</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.spec = yaml.safe_load(<a class="el" href="namespacecapability__registrar.html#a643c87ff01a794a2f9a87c0f0c1663a9">filename</a>)</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="adb5ed3f88c50cdfd43deee3b12020bea" name="adb5ed3f88c50cdfd43deee3b12020bea"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#adb5ed3f88c50cdfd43deee3b12020bea">&#9670;&#160;</a></span>str</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.str</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="acfac32d04d0fcd7c8433ed1b24dc27bd" name="acfac32d04d0fcd7c8433ed1b24dc27bd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#acfac32d04d0fcd7c8433ed1b24dc27bd">&#9670;&#160;</a></span>type</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capability_registrar.type</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/namespacemembers.html b/docs/html/namespacemembers.html
new file mode 100644
index 0000000..7868ad0
--- /dev/null
+++ b/docs/html/namespacemembers.html
@@ -0,0 +1,158 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Namespace Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all namespace members with links to the namespace documentation for each member:</div>
+
+<h3><a id="index_a" name="index_a"></a>- a -</h3><ul>
+<li>args&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a85b2e418ce57973bee2d82f33e5738b5">capability_registrar</a></li>
+</ul>
+
+
+<h3><a id="index_c" name="index_c"></a>- c -</h3><ul>
+<li>content&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a2042dee98cea898a5984b8261540b8fb">capability_registrar</a></li>
+</ul>
+
+
+<h3><a id="index_d" name="index_d"></a>- d -</h3><ul>
+<li>DBBase::exists&lt; models::interface_model_t &gt;()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a6e3d2cbc55c111a6f09bb9adbbf91977">capabilities2_server</a></li>
+<li>DBBase::exists&lt; models::provider_model_t &gt;()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a30c6a598ad096b7253c2b1217c9ddce6">capabilities2_server</a></li>
+<li>DBBase::exists&lt; models::semantic_interface_model_t &gt;()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a01ea1d7937d31e53be0186ccbbded6cd">capabilities2_server</a></li>
+<li>default&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a81f7c17e781033752eb7c2d5d43953f5">capability_registrar</a></li>
+</ul>
+
+
+<h3><a id="index_e" name="index_e"></a>- e -</h3><ul>
+<li>expand_tilde()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a17a8e514c6257c5fddf35be0d6194425">capabilities2_server</a></li>
+</ul>
+
+
+<h3><a id="index_f" name="index_f"></a>- f -</h3><ul>
+<li>filename&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a643c87ff01a794a2f9a87c0f0c1663a9">capability_registrar</a></li>
+<li>from_sql_safe()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">capabilities2_server</a></li>
+</ul>
+
+
+<h3><a id="index_g" name="index_g"></a>- g -</h3><ul>
+<li>generate_launch_description()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a1ec50cd7bc88da49828f161403c6b517">capabilities2_server</a></li>
+</ul>
+
+
+<h3><a id="index_h" name="index_h"></a>- h -</h3><ul>
+<li>help&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#af66a2aad43c4712a55bee27275bd1e5d">capability_registrar</a></li>
+</ul>
+
+
+<h3><a id="index_n" name="index_n"></a>- n -</h3><ul>
+<li>node&#160;:&#160;<a class="el" href="namespacecall__establish__bond.html#a76d78ca9217d39db4716f0c9b663e8fa">call_establish_bond</a>, <a class="el" href="namespacecall__get__interfaces.html#a4811a33a2e010c2c4463526e89191d93">call_get_interfaces</a>, <a class="el" href="namespacecall__get__providers.html#a19989397f7a847fffc5c2aa893a9f351">call_get_providers</a>, <a class="el" href="namespacecall__get__semantic__interfaces.html#a3b2242441665fc109bf9d960b5c732b6">call_get_semantic_interfaces</a>, <a class="el" href="namespacecall__get__specs.html#a54561396e84d4b97d338bfcfb7adf638">call_get_specs</a>, <a class="el" href="namespacecall__register__cap.html#a542c6864d992b2711c9518ffc9c474e2">call_register_cap</a></li>
+</ul>
+
+
+<h3><a id="index_o" name="index_o"></a>- o -</h3><ul>
+<li>OptionType&#160;:&#160;<a class="el" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">capabilities2_events</a></li>
+</ul>
+
+
+<h3><a id="index_p" name="index_p"></a>- p -</h3><ul>
+<li>package&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a8def842f3231248fbb4afbada9c57c0e">capability_registrar</a></li>
+<li>parser&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a7bfea02378cecfeceda9259e91e2e091">capability_registrar</a></li>
+</ul>
+
+
+<h3><a id="index_r" name="index_r"></a>- r -</h3><ul>
+<li>registrar&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#aba4d1e7264910b6be4626bff694d10ac">capability_registrar</a></li>
+<li>request&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a56cd03cefa17b5d40d607d7efa907b86">capability_registrar</a></li>
+<li>required&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a9e88f588295c9d1134a65813e2cba57a">capability_registrar</a></li>
+</ul>
+
+
+<h3><a id="index_s" name="index_s"></a>- s -</h3><ul>
+<li>spec&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a9824c18d0c7c2bc9602902693e664d48">capability_registrar</a></li>
+<li>str&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#adb5ed3f88c50cdfd43deee3b12020bea">capability_registrar</a></li>
+</ul>
+
+
+<h3><a id="index_t" name="index_t"></a>- t -</h3><ul>
+<li>test_establish_bond()&#160;:&#160;<a class="el" href="namespacecall__establish__bond.html#a2300575febd9f503d779af5f6cef21b0">call_establish_bond</a></li>
+<li>test_get_capability_specs_srv()&#160;:&#160;<a class="el" href="namespacecall__get__specs.html#aed98e930040f17e4a3421609861973c2">call_get_specs</a></li>
+<li>test_get_interfaces_srv()&#160;:&#160;<a class="el" href="namespacecall__get__interfaces.html#a244fa53f9a4d366baebc0c54424bb9be">call_get_interfaces</a></li>
+<li>test_get_providers_srv()&#160;:&#160;<a class="el" href="namespacecall__get__providers.html#a9b6b81ded0d5cf7cdc5272d5c1bb79b6">call_get_providers</a></li>
+<li>test_get_semantic_interfaces_srv()&#160;:&#160;<a class="el" href="namespacecall__get__semantic__interfaces.html#a263ddd6a05396d951292f4ec57f3530f">call_get_semantic_interfaces</a></li>
+<li>test_register_cap()&#160;:&#160;<a class="el" href="namespacecall__register__cap.html#af74fb13a93506ad89f393dfd4db52c52">call_register_cap</a></li>
+<li>to_sql_safe()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server</a></li>
+<li>type&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#acfac32d04d0fcd7c8433ed1b24dc27bd">capability_registrar</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/namespacemembers_enum.html b/docs/html/namespacemembers_enum.html
new file mode 100644
index 0000000..cecf552
--- /dev/null
+++ b/docs/html/namespacemembers_enum.html
@@ -0,0 +1,81 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Namespace Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
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+<div class="SRStatus" id="Loading">Loading...</div>
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+
+<div class="contents">
+<div class="textblock">Here is a list of all namespace enums with links to the namespace documentation for each enum:</div><ul>
+<li>OptionType&#160;:&#160;<a class="el" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">capabilities2_events</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/namespacemembers_func.html b/docs/html/namespacemembers_func.html
new file mode 100644
index 0000000..d20ff86
--- /dev/null
+++ b/docs/html/namespacemembers_func.html
@@ -0,0 +1,93 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Namespace Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all namespace functions with links to the namespace documentation for each function:</div><ul>
+<li>DBBase::exists&lt; models::interface_model_t &gt;()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a6e3d2cbc55c111a6f09bb9adbbf91977">capabilities2_server</a></li>
+<li>DBBase::exists&lt; models::provider_model_t &gt;()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a30c6a598ad096b7253c2b1217c9ddce6">capabilities2_server</a></li>
+<li>DBBase::exists&lt; models::semantic_interface_model_t &gt;()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a01ea1d7937d31e53be0186ccbbded6cd">capabilities2_server</a></li>
+<li>expand_tilde()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a17a8e514c6257c5fddf35be0d6194425">capabilities2_server</a></li>
+<li>from_sql_safe()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">capabilities2_server</a></li>
+<li>generate_launch_description()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#a1ec50cd7bc88da49828f161403c6b517">capabilities2_server</a></li>
+<li>test_establish_bond()&#160;:&#160;<a class="el" href="namespacecall__establish__bond.html#a2300575febd9f503d779af5f6cef21b0">call_establish_bond</a></li>
+<li>test_get_capability_specs_srv()&#160;:&#160;<a class="el" href="namespacecall__get__specs.html#aed98e930040f17e4a3421609861973c2">call_get_specs</a></li>
+<li>test_get_interfaces_srv()&#160;:&#160;<a class="el" href="namespacecall__get__interfaces.html#a244fa53f9a4d366baebc0c54424bb9be">call_get_interfaces</a></li>
+<li>test_get_providers_srv()&#160;:&#160;<a class="el" href="namespacecall__get__providers.html#a9b6b81ded0d5cf7cdc5272d5c1bb79b6">call_get_providers</a></li>
+<li>test_get_semantic_interfaces_srv()&#160;:&#160;<a class="el" href="namespacecall__get__semantic__interfaces.html#a263ddd6a05396d951292f4ec57f3530f">call_get_semantic_interfaces</a></li>
+<li>test_register_cap()&#160;:&#160;<a class="el" href="namespacecall__register__cap.html#af74fb13a93506ad89f393dfd4db52c52">call_register_cap</a></li>
+<li>to_sql_safe()&#160;:&#160;<a class="el" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/namespacemembers_vars.html b/docs/html/namespacemembers_vars.html
new file mode 100644
index 0000000..10c3ea8
--- /dev/null
+++ b/docs/html/namespacemembers_vars.html
@@ -0,0 +1,94 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Namespace Members</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="contents">
+<div class="textblock">Here is a list of all namespace variables with links to the namespace documentation for each variable:</div><ul>
+<li>args&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a85b2e418ce57973bee2d82f33e5738b5">capability_registrar</a></li>
+<li>content&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a2042dee98cea898a5984b8261540b8fb">capability_registrar</a></li>
+<li>default&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a81f7c17e781033752eb7c2d5d43953f5">capability_registrar</a></li>
+<li>filename&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a643c87ff01a794a2f9a87c0f0c1663a9">capability_registrar</a></li>
+<li>help&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#af66a2aad43c4712a55bee27275bd1e5d">capability_registrar</a></li>
+<li>node&#160;:&#160;<a class="el" href="namespacecall__establish__bond.html#a76d78ca9217d39db4716f0c9b663e8fa">call_establish_bond</a>, <a class="el" href="namespacecall__get__interfaces.html#a4811a33a2e010c2c4463526e89191d93">call_get_interfaces</a>, <a class="el" href="namespacecall__get__providers.html#a19989397f7a847fffc5c2aa893a9f351">call_get_providers</a>, <a class="el" href="namespacecall__get__semantic__interfaces.html#a3b2242441665fc109bf9d960b5c732b6">call_get_semantic_interfaces</a>, <a class="el" href="namespacecall__get__specs.html#a54561396e84d4b97d338bfcfb7adf638">call_get_specs</a>, <a class="el" href="namespacecall__register__cap.html#a542c6864d992b2711c9518ffc9c474e2">call_register_cap</a></li>
+<li>package&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a8def842f3231248fbb4afbada9c57c0e">capability_registrar</a></li>
+<li>parser&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a7bfea02378cecfeceda9259e91e2e091">capability_registrar</a></li>
+<li>registrar&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#aba4d1e7264910b6be4626bff694d10ac">capability_registrar</a></li>
+<li>request&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a56cd03cefa17b5d40d607d7efa907b86">capability_registrar</a></li>
+<li>required&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a9e88f588295c9d1134a65813e2cba57a">capability_registrar</a></li>
+<li>spec&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#a9824c18d0c7c2bc9602902693e664d48">capability_registrar</a></li>
+<li>str&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#adb5ed3f88c50cdfd43deee3b12020bea">capability_registrar</a></li>
+<li>type&#160;:&#160;<a class="el" href="namespacecapability__registrar.html#acfac32d04d0fcd7c8433ed1b24dc27bd">capability_registrar</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/namespaces.html b/docs/html/namespaces.html
new file mode 100644
index 0000000..27f8f48
--- /dev/null
+++ b/docs/html/namespaces.html
@@ -0,0 +1,145 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
+<head>
+<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
+<meta http-equiv="X-UA-Compatible" content="IE=11"/>
+<meta name="generator" content="Doxygen 1.9.8"/>
+<meta name="viewport" content="width=device-width, initial-scale=1"/>
+<title>Capabilities2: Namespace List</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="jquery.js"></script>
+<script type="text/javascript" src="dynsections.js"></script>
+<link href="search/search.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="search/searchdata.js"></script>
+<script type="text/javascript" src="search/search.js"></script>
+<link href="doxygen.css" rel="stylesheet" type="text/css" />
+</head>
+<body>
+<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+var searchBox = new SearchBox("searchBox", "search/",'.html');
+/* @license-end */
+</script>
+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(function() {
+  initMenu('',true,false,'search.php','Search');
+  $(document).ready(function() { init_search(); });
+});
+/* @license-end */
+</script>
+<div id="main-nav"></div>
+</div><!-- top -->
+<!-- window showing the filter options -->
+<div id="MSearchSelectWindow"
+     onmouseover="return searchBox.OnSearchSelectShow()"
+     onmouseout="return searchBox.OnSearchSelectHide()"
+     onkeydown="return searchBox.OnSearchSelectKey(event)">
+</div>
+
+<!-- iframe showing the search results (closed by default) -->
+<div id="MSearchResultsWindow">
+<div id="MSearchResults">
+<div class="SRPage">
+<div id="SRIndex">
+<div id="SRResults"></div>
+<div class="SRStatus" id="Loading">Loading...</div>
+<div class="SRStatus" id="Searching">Searching...</div>
+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div class="header">
+  <div class="headertitle"><div class="title">Namespace List</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock">Here is a list of all namespaces with brief descriptions:</div><div class="directory">
+<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecall__establish__bond.html" target="_self">call_establish_bond</a></td><td class="desc"></td></tr>
+<tr id="row_1_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecall__get__interfaces.html" target="_self">call_get_interfaces</a></td><td class="desc"></td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecall__get__providers.html" target="_self">call_get_providers</a></td><td class="desc"></td></tr>
+<tr id="row_3_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecall__get__semantic__interfaces.html" target="_self">call_get_semantic_interfaces</a></td><td class="desc"></td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecall__get__specs.html" target="_self">call_get_specs</a></td><td class="desc"></td></tr>
+<tr id="row_5_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecall__register__cap.html" target="_self">call_register_cap</a></td><td class="desc"></td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_6_" class="arrow" onclick="toggleFolder('6_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecapabilities2__events.html" target="_self">capabilities2_events</a></td><td class="desc"></td></tr>
+<tr id="row_6_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1event__exception.html" target="_self">event_exception</a></td><td class="desc">Event exception </td></tr>
+<tr id="row_6_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1EventBase.html" target="_self">EventBase</a></td><td class="desc">Event base class </td></tr>
+<tr id="row_6_2_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_6_2_" class="arrow" onclick="toggleFolder('6_2_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1EventNode.html" target="_self">EventNode</a></td><td class="desc">Event node is a source of an event </td></tr>
+<tr id="row_6_2_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html" target="_self">EventPipe</a></td><td class="desc">Event pipe structure </td></tr>
+<tr id="row_6_3_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1EventParameters.html" target="_self">EventParameters</a></td><td class="desc">Capability options for a capability runner given by interface and provider </td></tr>
+<tr id="row_6_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1options__exception.html" target="_self">options_exception</a></td><td class="desc"></td></tr>
+<tr id="row_6_5_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1Parameter.html" target="_self">Parameter</a></td><td class="desc">Key value pair for capability options </td></tr>
+<tr id="row_6_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html" target="_self">PublishedEvent</a></td><td class="desc"></td></tr>
+<tr id="row_6_7_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1UUIDGenerator.html" target="_self">UUIDGenerator</a></td><td class="desc"></td></tr>
+<tr id="row_7_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_7_" class="arrow" onclick="toggleFolder('7_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecapabilities2__runner.html" target="_self">capabilities2_runner</a></td><td class="desc"></td></tr>
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+<tr id="row_7_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html" target="_self">DummyRunner</a></td><td class="desc">Dummy runner </td></tr>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="dir_ae9b8f7772f36f75ddf7a4660dc4c659.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="dir_d596d1b13e10115fa0e063d9d8185b97.html">include</a></li><li class="navelem"><a class="el" href="dir_c88f82dd231ae0856530de318d7cb819.html">capabilities2_runner</a></li>  </ul>
+</div>
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+<div class="header">
+  <div class="headertitle"><div class="title">notrigger_runner.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="notrigger__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="foldopen" id="foldopen00015" data-start="{" data-end="};">
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1NoTriggerRunner.html">   15</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1NoTriggerRunner.html">NoTriggerRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  <span class="comment">// throw on trigger function</span></div>
+<div class="foldopen" id="foldopen00019" data-start="{" data-end="}">
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">   19</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">trigger</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters, <span class="keyword">const</span> std::string&amp; bond_id,</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>               <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="comment">// emit failed event</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>());</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot trigger this is a no-trigger runner&quot;</span>);</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>  }</div>
+</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>};</div>
+</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1NoTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a></div><div class="ttdoc">no-trigger runner</div><div class="ttdef"><b>Definition</b> notrigger_runner.hpp:16</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1NoTriggerRunner_html_a436e2217ca2c4fd44ac79271200c64d4"><div class="ttname"><a href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">capabilities2_runner::NoTriggerRunner::trigger</a></div><div class="ttdeci">void trigger(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">Trigger the runner.</div><div class="ttdef"><b>Definition</b> notrigger_runner.hpp:19</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5dcd2ac4205bb7f3cf069e0273ec46b7"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">capabilities2_runner::RunnerBase::emit_failed</a></div><div class="ttdeci">void emit_failed(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit FAILED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:457</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9a5419cab317ef239d2f197714136660"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">capabilities2_runner::RunnerBase::param_on_failure</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_failure()</div><div class="ttdoc">Update on_failure event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:256</div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="arunner__base_8hpp_html"><div class="ttname"><a href="runner__base_8hpp.html">runner_base.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a></div><div class="ttdoc">runner exception</div><div class="ttdef"><b>Definition</b> runner_base.hpp:24</div></div>
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+<div class="textblock">Here is a list of all related documentation pages:</div><div class="directory">
+<table class="directory">
+<tr id="row_0_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_capabilities2__events_2readme.html" target="_self">Capabilities2 Events</a></td><td class="desc"></td></tr>
+<tr id="row_1_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_capabilities2__msgs_2readme.html" target="_self">Capabilities2 msgs</a></td><td class="desc"></td></tr>
+<tr id="row_2_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_capabilities2__runner_2docs_2create__runners.html" target="_self">Creating Runner Plugins</a></td><td class="desc"></td></tr>
+<tr id="row_3_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_capabilities2__runner_2docs_2parameter__format.html" target="_self">Parameter Format</a></td><td class="desc"></td></tr>
+<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_capabilities2__runner_2readme.html" target="_self">capabilities2_runner plugin API</a></td><td class="desc"></td></tr>
+<tr id="row_5_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_capabilities2__server_2docs_2register.html" target="_self">Registering a capability</a></td><td class="desc"></td></tr>
+<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_capabilities2__server_2docs_2terminal__usage.html" target="_self">Terminal based capability usage</a></td><td class="desc"></td></tr>
+<tr id="row_7_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_capabilities2__server_2include_2capabilities2__server_2models_2readme.html" target="_self">Capabilities2 Models</a></td><td class="desc"></td></tr>
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+<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_docs_2basic__tutorial.html" target="_self">Basic Tutorial</a></td><td class="desc"></td></tr>
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+<tr id="row_17_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_docs_2securing__capabilities.html" target="_self">Securing Capabilities</a></td><td class="desc"></td></tr>
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+<tr id="row_19_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><a class="el" href="md_docs_2setup.html" target="_self">Using Capabilities package (Development and Deployment)</a></td><td class="desc"></td></tr>
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+  <div class="headertitle"><div class="title">predicate.hpp</div></div>
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+<div class="contents">
+<a href="predicate_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>{</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="foldopen" id="foldopen00018" data-start="{" data-end="};">
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">   18</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">predicate_model_t</a></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
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+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
+<div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
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+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">capabilities2_server::models::predicate_model_t</a></div><div class="ttdoc">predicate model type</div><div class="ttdef"><b>Definition</b> predicate.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html_a0ccafaa770f2722fa3c32e9e4924eef9"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a0ccafaa770f2722fa3c32e9e4924eef9">capabilities2_server::models::predicate_model_t::predicate</a></div><div class="ttdeci">std::string predicate</div><div class="ttdef"><b>Definition</b> predicate.hpp:21</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html_a0e770a26565f064e86ff4251cde950b0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a0e770a26565f064e86ff4251cde950b0">capabilities2_server::models::predicate_model_t::subject</a></div><div class="ttdeci">std::string subject</div><div class="ttdef"><b>Definition</b> predicate.hpp:20</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html_a170de1f39f437dfad9254bc117431828"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a170de1f39f437dfad9254bc117431828">capabilities2_server::models::predicate_model_t::object</a></div><div class="ttdeci">std::string object</div><div class="ttdef"><b>Definition</b> predicate.hpp:22</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html_a913e6b62b99887f12ba12debea26d5ac"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a913e6b62b99887f12ba12debea26d5ac">capabilities2_server::models::predicate_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> predicate.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html_aac7a5018cdb4ffac44a5031358c7b392"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#aac7a5018cdb4ffac44a5031358c7b392">capabilities2_server::models::predicate_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> predicate.hpp:31</div></div>
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+  <div class="headertitle"><div class="title">predicateable_base.hpp</div></div>
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+<a href="predicateable__base_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
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+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
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+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>{</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="foldopen" id="foldopen00018" data-start="{" data-end="};">
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">   18</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">predicateable_base_t</a></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">   20</a></span>  std::vector&lt;predicate_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a>;</div>
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+</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="apredicate_8hpp_html"><div class="ttname"><a href="predicate_8hpp.html">predicate.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicateable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">capabilities2_server::models::predicateable_base_t</a></div><div class="ttdoc">predicateable model base type</div><div class="ttdef"><b>Definition</b> predicateable_base.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicateable__base__t_html_a997eab789e250da877a23377975dafe7"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">capabilities2_server::models::predicateable_base_t::relations</a></div><div class="ttdeci">std::vector&lt; predicate_model_t &gt; relations</div><div class="ttdef"><b>Definition</b> predicateable_base.hpp:20</div></div>
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+<div class="textblock"><code>#include &lt;map&gt;</code><br />
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+<p><a href="provider_8hpp_source.html">Go to the source code of this file.</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="nested-classes" name="nested-classes"></a>
+Classes</h2></td></tr>
+<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">capabilities2_server::models::provider_model_t</a></td></tr>
+<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">provider model  <a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#details">More...</a><br /></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="namespaces" name="namespaces"></a>
+Namespaces</h2></td></tr>
+<tr class="memitem:namespacecapabilities2__server" id="r_namespacecapabilities2__server"><td class="memItemLeft" align="right" valign="top">namespace &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:namespacecapabilities2__server_1_1models" id="r_namespacecapabilities2__server_1_1models"><td class="memItemLeft" align="right" valign="top">namespace &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacecapabilities2__server_1_1models.html">capabilities2_server::models</a></td></tr>
+<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_1bf5b06d15e554f4d54614040e1e0b2d.html">models</a></li>  </ul>
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+  <div class="headertitle"><div class="title">provider.hpp</div></div>
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+<div class="contents">
+<a href="provider_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="header_8hpp.html">capabilities2_server/models/header.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;<a class="code" href="remappable__base_8hpp.html">capabilities2_server/models/remappable_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="defineable__base_8hpp.html">capabilities2_server/models/defineable_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="predicateable__base_8hpp.html">capabilities2_server/models/predicateable_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="defineable__base_8hpp.html">capabilities2_server/models/defineable_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="sql__safe_8hpp.html">capabilities2_server/utils/sql_safe.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="comment">// provider model definition</span></div>
+<div class="foldopen" id="foldopen00025" data-start="{" data-end="};">
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">   25</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">provider_model_t</a> : <span class="keyword">public</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">remappable_base_t</a>, <span class="keyword">public</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">predicateable_base_t</a>, <span class="keyword">public</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">defineable_base_t</a></div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>{</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">   27</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">   28</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">   29</a></span>  std::map&lt;std::string, std::string&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">   30</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">remappings_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">remappings</a>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">   31</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a>;</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#aeaffd1a45ccb1f72dcbca71425ac57c3">   33</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#aeaffd1a45ccb1f72dcbca71425ac57c3">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  {</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a>(node);</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a> = node[<span class="stringliteral">&quot;implements&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a> = node[<span class="stringliteral">&quot;runner&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; dependency : node[<span class="stringliteral">&quot;depends_on&quot;</span>])</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    {</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>      <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a>[dependency.first.as&lt;std::string&gt;()] = dependency.second[<span class="stringliteral">&quot;provider&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    }</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="comment">// if remappings exist</span></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;remappings&quot;</span>])</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    {</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>      <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">from_yaml</a>(node[<span class="stringliteral">&quot;remappings&quot;</span>]);</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    </div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="comment">// definition</span></div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">defineable_base_t::from_yaml</a>(node);</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  }</div>
+</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="foldopen" id="foldopen00052" data-start="{" data-end="}">
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">   52</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    YAML::Node node = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>();</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    node[<span class="stringliteral">&quot;implements&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a>;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; dependency : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a>)</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    {</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>      node[<span class="stringliteral">&quot;depends_on&quot;</span>][dependency.first][<span class="stringliteral">&quot;provider&quot;</span>] = dependency.second;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    }</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    node[<span class="stringliteral">&quot;remappings&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">to_yaml</a>();</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    node[<span class="stringliteral">&quot;runner&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a>;</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// definition</span></div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">defined</a>())</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    {</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      node[<span class="stringliteral">&quot;definition&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a>;</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    }</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>  }</div>
+</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
+<div class="foldopen" id="foldopen00071" data-start="{" data-end="}">
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">   71</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">to_sql_table</a>()</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>  {</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">header_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;, implements TEXT NOT NULL, depends_on TEXT, remappings TEXT, runner &quot;</span></div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                                            <span class="stringliteral">&quot;TEXT, definition TEXT&quot;</span>;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  }</div>
+</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
+<div class="foldopen" id="foldopen00077" data-start="{" data-end="}">
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">   77</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">to_sql_values</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    YAML::Node deps;</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    deps[<span class="stringliteral">&quot;depends_on&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a>;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">to_sql_values</a>() + <span class="stringliteral">&quot;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(YAML::Dump(deps[<span class="stringliteral">&quot;depends_on&quot;</span>])) + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> +</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>           <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(YAML::Dump(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">to_yaml</a>())) + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a> + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>  }</div>
+</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>};</div>
+</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="adefineable__base_8hpp_html"><div class="ttname"><a href="defineable__base_8hpp.html">defineable_base.hpp</a></div></div>
+<div class="ttc" id="aheader_8hpp_html"><div class="ttname"><a href="header_8hpp.html">header.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html_aee2e1db0d5ab5e2c6252db5378dc9d53"><div class="ttname"><a href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server::to_sql_safe</a></div><div class="ttdeci">std::string to_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a generic std::string to a sql safe std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:15</div></div>
+<div class="ttc" id="apredicateable__base_8hpp_html"><div class="ttname"><a href="predicateable__base_8hpp.html">predicateable_base.hpp</a></div></div>
+<div class="ttc" id="aremappable__base_8hpp_html"><div class="ttname"><a href="remappable__base_8hpp.html">remappable_base.hpp</a></div></div>
+<div class="ttc" id="asql__safe_8hpp_html"><div class="ttname"><a href="sql__safe_8hpp.html">sql_safe.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">capabilities2_server::models::defineable_base_t</a></div><div class="ttdoc">defineable base</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:22</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a42cc3313c4a42b7024a455a6b1a4af8a"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">capabilities2_server::models::defineable_base_t::definition_str</a></div><div class="ttdeci">std::string definition_str</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a85af59696809d15f7c890864a80bee96"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">capabilities2_server::models::defineable_base_t::defined</a></div><div class="ttdeci">bool defined() const</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:46</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_ae1bfa5befe1ab21658aeb3e733471f63"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">capabilities2_server::models::defineable_base_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:28</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a184f5969009afde38cf0933b73f58576"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> header.hpp:47</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a5df92e5526b56a061f1b87057926f8f1"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">capabilities2_server::models::header_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> header.hpp:72</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_aaf1c85918945d7e2468748b32c840608"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">capabilities2_server::models::header_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> header.hpp:65</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicateable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">capabilities2_server::models::predicateable_base_t</a></div><div class="ttdoc">predicateable model base type</div><div class="ttdef"><b>Definition</b> predicateable_base.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html">capabilities2_server::models::provider_model_t</a></div><div class="ttdoc">provider model</div><div class="ttdef"><b>Definition</b> provider.hpp:26</div></div>
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+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a1a91763b3ebf0fe9fc9d38a0b9315fb9"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">capabilities2_server::models::provider_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> provider.hpp:52</div></div>
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+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a257a04fc106cbb8b5175768d4e68ce26"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">capabilities2_server::models::provider_model_t::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> provider.hpp:31</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a635ca15a93793a2dfb210d8392a07e0d"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">capabilities2_server::models::provider_model_t::implements</a></div><div class="ttdeci">std::string implements</div><div class="ttdef"><b>Definition</b> provider.hpp:28</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a73b1ea916d98d18ee300968381d6824b"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">capabilities2_server::models::provider_model_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> provider.hpp:30</div></div>
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+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">capabilities2_server::models::remappable_base_t</a></div><div class="ttdoc">remappable base model definition</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:17</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">capabilities2_server::models::remappings_model_t</a></div><div class="ttdef"><b>Definition</b> remapping.hpp:43</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a528143f92b13f7633859774443ee7adc"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">capabilities2_server::models::remappings_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> remapping.hpp:92</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_afc4a97cb962d255f268dbe6970ac59a8"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">capabilities2_server::models::remappings_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> remapping.hpp:49</div></div>
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+  <div class="headertitle"><div class="title">published_event.hpp File Reference</div></div>
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+<div class="textblock"><code>#include &lt;<a class="el" href="event__base_8hpp_source.html">capabilities2_events/event_base.hpp</a>&gt;</code><br />
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+<li class="navelem"><a class="el" href="dir_893eca9b61704b59497c2543c6de837c.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="dir_5d95c21bcb0e08e60d3c845ed072574e.html">include</a></li><li class="navelem"><a class="el" href="dir_930544a6b4d7294c7d05c1cc4fea3dca.html">capabilities2_events</a></li>  </ul>
+</div>
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+  <div class="headertitle"><div class="title">published_event.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="published__event_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;<a class="code" href="event__base_8hpp.html">capabilities2_events/event_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_event_stamped.hpp&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__events.html">capabilities2_events</a></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>{</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="foldopen" id="foldopen00011" data-start="{" data-end="};">
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html">   11</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__events_1_1PublishedEvent.html">PublishedEvent</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__events_1_1EventBase.html">EventBase</a></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00014" data-start="{" data-end="}">
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a171a4a05b8abbd64093cb19cf2935f1d">   14</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a171a4a05b8abbd64093cb19cf2935f1d">PublishedEvent</a>(rclcpp::Publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;::SharedPtr event_pub)</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    : <a class="code hl_class" href="classcapabilities2__events_1_1EventBase.html">EventBase</a>(), <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>(event_pub)</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>  {</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>  }</div>
+</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a6ab23da65edf53a46acb69d5c0e961cc">   19</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a6ab23da65edf53a46acb69d5c0e961cc">~PublishedEvent</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a53e7f3937b84b488db674020a2b90b5a">   24</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a53e7f3937b84b488db674020a2b90b5a">emit</a>(<span class="keyword">const</span> std::string&amp; connection_id, <span class="keyword">const</span> uint8_t&amp; event_code,</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; source, <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; target,</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> callback)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="comment">// split connection id to get trigger id. Assuming connection_id format is &quot;bond_id/instance_id/target_instance_id&quot;</span></div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keywordtype">size_t</span> first_pos = connection_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">size_t</span> second_pos = connection_id.find(<span class="charliteral">&#39;/&#39;</span>, first_pos + 1);</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    std::string instance_id = (second_pos != std::string::npos) ? connection_id.substr(first_pos + 1, second_pos - first_pos - 1) : <span class="stringliteral">&quot;&quot;</span>;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    event_msg.event.trigger_id = instance_id;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    event_msg.event.code.code = event_code;</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    event_msg.event.connection.source = source;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    event_msg.event.connection.target = target;</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="comment">// publish event</span></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="comment">// call super</span></div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">EventBase::emit</a>(connection_id, event_code, source, target, callback);</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  }</div>
+</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="foldopen" id="foldopen00053" data-start="{" data-end="}">
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#aa27e427c12928212ca6b0d9073808787">   53</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#aa27e427c12928212ca6b0d9073808787">on_server_ready</a>(<span class="keyword">const</span> std::string&amp; msg)</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  {</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::SERVER_READY;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    event_msg.event.description = msg;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  }</div>
+</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="foldopen" id="foldopen00070" data-start="{" data-end="}">
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">   70</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">on_process_launched</a>(<span class="keyword">const</span> std::string&amp; pid)</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>  {</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::LAUNCHED;</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    event_msg.event.description = <span class="stringliteral">&quot;Process launched with PID: &quot;</span> + pid;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>  }</div>
+</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="foldopen" id="foldopen00087" data-start="{" data-end="}">
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a91694a1cf354c72670fd65207986955a">   87</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a91694a1cf354c72670fd65207986955a">on_process_terminated</a>(<span class="keyword">const</span> std::string&amp; pid)</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>  {</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::TERMINATED;</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    event_msg.event.description = <span class="stringliteral">&quot;Process terminated with PID: &quot;</span> + pid;</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>  }</div>
+</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="foldopen" id="foldopen00099" data-start="{" data-end="}">
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a5d840357942cab6bcd4a214d7b03b774">   99</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a5d840357942cab6bcd4a214d7b03b774">on_triggered</a>(<span class="keyword">const</span> std::string&amp; trigger_id)</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  {</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::TRIGGERED;</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    event_msg.event.description = <span class="stringliteral">&quot;Triggered event with ID: &quot;</span> + trigger_id;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>  }</div>
+</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
+<div class="foldopen" id="foldopen00111" data-start="{" data-end="}">
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#ae8bacbe30ab75a4703dda81b102b3a13">  111</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#ae8bacbe30ab75a4703dda81b102b3a13">on_connected</a>(<span class="keyword">const</span> std::string&amp; source, <span class="keyword">const</span> std::string&amp; target)</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>  {</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::CONNECTED;</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    event_msg.event.description = <span class="stringliteral">&quot;Connected event from &quot;</span> + source + <span class="stringliteral">&quot; to &quot;</span> + target;</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  }</div>
+</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
+<div class="foldopen" id="foldopen00123" data-start="{" data-end="}">
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a32cfbac8d0facda1f52cebba043d46de">  123</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a32cfbac8d0facda1f52cebba043d46de">on_disconnected</a>(<span class="keyword">const</span> std::string&amp; source, <span class="keyword">const</span> std::string&amp; target)</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>  {</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::DISCONNECTED;</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    event_msg.event.description = <span class="stringliteral">&quot;Disconnected event from &quot;</span> + source + <span class="stringliteral">&quot; to &quot;</span> + target;</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>  }</div>
+</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>  <span class="comment">// event publisher</span></div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">  137</a></span>  rclcpp::Publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>;</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>};</div>
+</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>}  <span class="comment">// namespace capabilities2_events</span></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></div><div class="ttdoc">event base class</div><div class="ttdef"><b>Definition</b> event_base.hpp:43</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a01f110c6b7c9517f8f8ae134b8b22c8e"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">capabilities2_events::EventBase::event_callback_t</a></div><div class="ttdeci">std::function&lt; void(const access_id_t &amp;, const capability_str_t &amp;, const target_instance_id_t &amp;, parameter_t)&gt; event_callback_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:49</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a0fadc2464ce9a54a913aa55e806b7d8c"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">capabilities2_events::EventBase::emit</a></div><div class="ttdeci">virtual void emit(const std::string &amp;connection_id, const uint8_t &amp;event_code, const capabilities2_msgs::msg::Capability &amp;source, const capabilities2_msgs::msg::Capability &amp;target, event_callback_t callback)</div><div class="ttdoc">emit an event</div><div class="ttdef"><b>Definition</b> event_base.hpp:71</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></div><div class="ttdef"><b>Definition</b> published_event.hpp:12</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_a171a4a05b8abbd64093cb19cf2935f1d"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#a171a4a05b8abbd64093cb19cf2935f1d">capabilities2_events::PublishedEvent::PublishedEvent</a></div><div class="ttdeci">PublishedEvent(rclcpp::Publisher&lt; capabilities2_msgs::msg::CapabilityEventStamped &gt;::SharedPtr event_pub)</div><div class="ttdef"><b>Definition</b> published_event.hpp:14</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_a32cfbac8d0facda1f52cebba043d46de"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#a32cfbac8d0facda1f52cebba043d46de">capabilities2_events::PublishedEvent::on_disconnected</a></div><div class="ttdeci">void on_disconnected(const std::string &amp;source, const std::string &amp;target)</div><div class="ttdoc">on disconnected event from server</div><div class="ttdef"><b>Definition</b> published_event.hpp:123</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_a53e7f3937b84b488db674020a2b90b5a"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#a53e7f3937b84b488db674020a2b90b5a">capabilities2_events::PublishedEvent::emit</a></div><div class="ttdeci">void emit(const std::string &amp;connection_id, const uint8_t &amp;event_code, const capabilities2_msgs::msg::Capability &amp;source, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t callback) override</div><div class="ttdoc">see EventBase::emit, specialised to publish events</div><div class="ttdef"><b>Definition</b> published_event.hpp:24</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_a5d840357942cab6bcd4a214d7b03b774"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#a5d840357942cab6bcd4a214d7b03b774">capabilities2_events::PublishedEvent::on_triggered</a></div><div class="ttdeci">void on_triggered(const std::string &amp;trigger_id)</div><div class="ttdoc">on triggered event from server</div><div class="ttdef"><b>Definition</b> published_event.hpp:99</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_a6ab23da65edf53a46acb69d5c0e961cc"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#a6ab23da65edf53a46acb69d5c0e961cc">capabilities2_events::PublishedEvent::~PublishedEvent</a></div><div class="ttdeci">~PublishedEvent()=default</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_a7877d7f7f5112f7505286366eb1d20c4"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">capabilities2_events::PublishedEvent::on_process_launched</a></div><div class="ttdeci">void on_process_launched(const std::string &amp;pid)</div><div class="ttdoc">on process launched event</div><div class="ttdef"><b>Definition</b> published_event.hpp:70</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_a91694a1cf354c72670fd65207986955a"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#a91694a1cf354c72670fd65207986955a">capabilities2_events::PublishedEvent::on_process_terminated</a></div><div class="ttdeci">void on_process_terminated(const std::string &amp;pid)</div><div class="ttdoc">on process terminated event</div><div class="ttdef"><b>Definition</b> published_event.hpp:87</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_a9512517a8907ce9986c103dd45b4f453"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">capabilities2_events::PublishedEvent::event_pub_</a></div><div class="ttdeci">rclcpp::Publisher&lt; capabilities2_msgs::msg::CapabilityEventStamped &gt;::SharedPtr event_pub_</div><div class="ttdef"><b>Definition</b> published_event.hpp:137</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_aa27e427c12928212ca6b0d9073808787"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#aa27e427c12928212ca6b0d9073808787">capabilities2_events::PublishedEvent::on_server_ready</a></div><div class="ttdeci">void on_server_ready(const std::string &amp;msg)</div><div class="ttdoc">on server ready event</div><div class="ttdef"><b>Definition</b> published_event.hpp:53</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1PublishedEvent_html_ae8bacbe30ab75a4703dda81b102b3a13"><div class="ttname"><a href="classcapabilities2__events_1_1PublishedEvent.html#ae8bacbe30ab75a4703dda81b102b3a13">capabilities2_events::PublishedEvent::on_connected</a></div><div class="ttdeci">void on_connected(const std::string &amp;source, const std::string &amp;target)</div><div class="ttdoc">on connected event from server</div><div class="ttdef"><b>Definition</b> published_event.hpp:111</div></div>
+<div class="ttc" id="aevent__base_8hpp_html"><div class="ttname"><a href="event__base_8hpp.html">event_base.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html"><div class="ttname"><a href="namespacecapabilities2__events.html">capabilities2_events</a></div><div class="ttdef"><b>Definition</b> event_base.hpp:14</div></div>
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+  <div class="headertitle"><div class="title">remappable_base.hpp</div></div>
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+<a href="remappable__base_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;<a class="code" href="remapping_8hpp.html">capabilities2_server/models/remapping.hpp</a>&gt;</span></div>
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+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
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+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">   16</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">remappable_base_t</a></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">   18</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">remappings_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>;</div>
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+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="aremapping_8hpp_html"><div class="ttname"><a href="remapping_8hpp.html">remapping.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">capabilities2_server::models::remappable_base_t</a></div><div class="ttdoc">remappable base model definition</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:17</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html_a4a19d77530cc86fc3cd798eaaea9a8dd"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">capabilities2_server::models::remappable_base_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:18</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">capabilities2_server::models::remappings_model_t</a></div><div class="ttdef"><b>Definition</b> remapping.hpp:43</div></div>
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+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_1bf5b06d15e554f4d54614040e1e0b2d.html">models</a></li>  </ul>
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+  <div class="headertitle"><div class="title">remapping.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="remapping_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="foldopen" id="foldopen00012" data-start="{" data-end="};">
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">   12</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">   14</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">from</a>;</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">   15</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">to</a>;</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="foldopen" id="foldopen00017" data-start="{" data-end="}">
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">   17</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">from_yaml_detail_iterator_value</a>(<span class="keyword">const</span> YAML::detail::iterator_value&amp; iter)</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  {</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    <span class="comment">// from is yaml key, to is yaml value</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">from</a> = iter.first.as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">to</a> = iter.second.as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>  }</div>
+</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
+<div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a399e580fe9ca87f3f79413693545452e">   24</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a399e580fe9ca87f3f79413693545452e">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    YAML::Node node;</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    node[<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">from</a>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">to</a>;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  }</div>
+</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="foldopen" id="foldopen00031" data-start="{" data-end="}">
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a07a6910b05af84b8601fe8fd984b8932">   31</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a07a6910b05af84b8601fe8fd984b8932">operator==</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a>&amp; other)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">from</a> == other.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">from</a> &amp;&amp; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">to</a> == other.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">to</a>;</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  }</div>
+</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
+<div class="foldopen" id="foldopen00036" data-start="{" data-end="}">
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a50910626d9a86e867108f51640c8d3b9">   36</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a50910626d9a86e867108f51640c8d3b9">operator!=</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a>&amp; other)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keywordflow">return</span> !(*<span class="keyword">this</span> == other);</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>  }</div>
+</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>};</div>
+</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="foldopen" id="foldopen00042" data-start="{" data-end="};">
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">   42</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">remappings_model_t</a></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>{</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">   44</a></span>  std::vector&lt;remapping_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">parameters</a>;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">   45</a></span>  std::vector&lt;remapping_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">topics</a>;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">   46</a></span>  std::vector&lt;remapping_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">services</a>;</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">   47</a></span>  std::vector&lt;remapping_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">actions</a>;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
+<div class="foldopen" id="foldopen00049" data-start="{" data-end="}">
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">   49</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  {</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;parameters&quot;</span>])</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    {</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; parameter : node[<span class="stringliteral">&quot;parameters&quot;</span>])</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>      {</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a> r;</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        r.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">from_yaml_detail_iterator_value</a>(parameter);</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">parameters</a>.push_back(r);</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>      }</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    }</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;topics&quot;</span>])</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    {</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; topic : node[<span class="stringliteral">&quot;topics&quot;</span>])</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>      {</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a> r;</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        r.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">from_yaml_detail_iterator_value</a>(topic);</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">topics</a>.push_back(r);</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>      }</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    }</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;services&quot;</span>])</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    {</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; service : node[<span class="stringliteral">&quot;services&quot;</span>])</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>      {</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a> r;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        r.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">from_yaml_detail_iterator_value</a>(service);</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">services</a>.push_back(r);</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      }</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    }</div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;actions&quot;</span>])</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    {</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; action : node[<span class="stringliteral">&quot;actions&quot;</span>])</div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>      {</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a> r;</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        r.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">from_yaml_detail_iterator_value</a>(action);</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">actions</a>.push_back(r);</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>      }</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    }</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>  }</div>
+</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="foldopen" id="foldopen00092" data-start="{" data-end="}">
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">   92</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    YAML::Node node;</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="comment">// parameters</span></div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; parameter : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">parameters</a>)</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    {</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>      node[<span class="stringliteral">&quot;parameters&quot;</span>][parameter.from] = parameter.to;</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    }</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="comment">// topics</span></div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    YAML::Node t;</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; topic : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">topics</a>)</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    {</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>      node[<span class="stringliteral">&quot;topics&quot;</span>][topic.from] = topic.to;</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    }</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="comment">// services</span></div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    YAML::Node s;</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; service : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">services</a>)</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    {</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>      node[<span class="stringliteral">&quot;services&quot;</span>][service.from] = service.to;</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    }</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="comment">// actions</span></div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    YAML::Node a;</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; action : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">actions</a>)</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    {</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>      node[<span class="stringliteral">&quot;actions&quot;</span>][action.from] = action.to;</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    }</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    <span class="comment">// return node</span></div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>  }</div>
+</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>};</div>
+</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remapping__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">capabilities2_server::models::remapping_model_t</a></div><div class="ttdef"><b>Definition</b> remapping.hpp:13</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remapping__model__t_html_a07a6910b05af84b8601fe8fd984b8932"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a07a6910b05af84b8601fe8fd984b8932">capabilities2_server::models::remapping_model_t::operator==</a></div><div class="ttdeci">bool operator==(const remapping_model_t &amp;other) const</div><div class="ttdef"><b>Definition</b> remapping.hpp:31</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remapping__model__t_html_a121b210905dbc80d5ed8904e0009579c"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">capabilities2_server::models::remapping_model_t::to</a></div><div class="ttdeci">std::string to</div><div class="ttdef"><b>Definition</b> remapping.hpp:15</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remapping__model__t_html_a169c348158aeb78da894c0c5dea81332"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">capabilities2_server::models::remapping_model_t::from_yaml_detail_iterator_value</a></div><div class="ttdeci">void from_yaml_detail_iterator_value(const YAML::detail::iterator_value &amp;iter)</div><div class="ttdef"><b>Definition</b> remapping.hpp:17</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remapping__model__t_html_a399e580fe9ca87f3f79413693545452e"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a399e580fe9ca87f3f79413693545452e">capabilities2_server::models::remapping_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> remapping.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remapping__model__t_html_a50910626d9a86e867108f51640c8d3b9"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a50910626d9a86e867108f51640c8d3b9">capabilities2_server::models::remapping_model_t::operator!=</a></div><div class="ttdeci">bool operator!=(const remapping_model_t &amp;other) const</div><div class="ttdef"><b>Definition</b> remapping.hpp:36</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remapping__model__t_html_ad797637f1fb60e5cceb5c614695353a3"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">capabilities2_server::models::remapping_model_t::from</a></div><div class="ttdeci">std::string from</div><div class="ttdef"><b>Definition</b> remapping.hpp:14</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">capabilities2_server::models::remappings_model_t</a></div><div class="ttdef"><b>Definition</b> remapping.hpp:43</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a1570369d1b89a3ba0a9cbff9419422cc"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">capabilities2_server::models::remappings_model_t::parameters</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; parameters</div><div class="ttdef"><b>Definition</b> remapping.hpp:44</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a528143f92b13f7633859774443ee7adc"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">capabilities2_server::models::remappings_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> remapping.hpp:92</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a62e2be32cc2b051f7bdfba15ab17a95d"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">capabilities2_server::models::remappings_model_t::actions</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; actions</div><div class="ttdef"><b>Definition</b> remapping.hpp:47</div></div>
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+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_1bf5b06d15e554f4d54614040e1e0b2d.html">models</a></li>  </ul>
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+  <div class="headertitle"><div class="title">resource.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="resource_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>{</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="foldopen" id="foldopen00020" data-start="{" data-end="};">
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">   20</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>{</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">   22</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a>;</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">   23</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a>;</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">   24</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a>;</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="foldopen" id="foldopen00026" data-start="{" data-end="}">
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a46df60e201ca7d0bc6ff3938811a87d7">   26</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a46df60e201ca7d0bc6ff3938811a87d7">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>  {</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a> = node[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a> = node[<span class="stringliteral">&quot;type&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a> = node[<span class="stringliteral">&quot;description&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  }</div>
+</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
+<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#afe7ee416240acbd2582ebc50f31359ef">   33</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#afe7ee416240acbd2582ebc50f31359ef">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    YAML::Node node;</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    node[<span class="stringliteral">&quot;name&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a>;</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    node[<span class="stringliteral">&quot;type&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a>;</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    node[<span class="stringliteral">&quot;description&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a>;</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  }</div>
+</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>};</div>
+</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html">capabilities2_server::models::resource_model_t</a></div><div class="ttdoc">computation graph resource type definition this could be a parameter, topic, service,...</div><div class="ttdef"><b>Definition</b> resource.hpp:21</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html_a46df60e201ca7d0bc6ff3938811a87d7"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a46df60e201ca7d0bc6ff3938811a87d7">capabilities2_server::models::resource_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> resource.hpp:26</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html_a610bb2907636c8ed8c841b76e3778208"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">capabilities2_server::models::resource_model_t::type</a></div><div class="ttdeci">std::string type</div><div class="ttdef"><b>Definition</b> resource.hpp:23</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html_a9baef31aac5d2ebfa99cf4af10e3421f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">capabilities2_server::models::resource_model_t::description</a></div><div class="ttdeci">std::string description</div><div class="ttdef"><b>Definition</b> resource.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html_a9bbd5d0805bca1df20010321ac578674"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">capabilities2_server::models::resource_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> resource.hpp:22</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1resource__model__t_html_afe7ee416240acbd2582ebc50f31359ef"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#afe7ee416240acbd2582ebc50f31359ef">capabilities2_server::models::resource_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> resource.hpp:33</div></div>
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+  <div class="headertitle"><div class="title">run_config.hpp File Reference</div></div>
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+<code>#include &lt;<a class="el" href="header_8hpp_source.html">capabilities2_server/models/header.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="interface_8hpp_source.html">capabilities2_server/models/interface.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="defineable__base_8hpp_source.html">capabilities2_server/models/defineable_base.hpp</a>&gt;</code><br />
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+  <div class="headertitle"><div class="title">run_config.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="run__config_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="header_8hpp.html">capabilities2_server/models/header.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;<a class="code" href="interface_8hpp.html">capabilities2_server/models/interface.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="defineable__base_8hpp.html">capabilities2_server/models/defineable_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>{</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="foldopen" id="foldopen00023" data-start="{" data-end="};">
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">   23</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">run_config_model_t</a> : <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">defineable_base_t</a></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>{</div>
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+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">   26</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">interface_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>;</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">   27</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">global_namespace</a>;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">   28</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">   29</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">started_by</a>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">   30</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">pid</a>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
+<div class="foldopen" id="foldopen00032" data-start="{" data-end="}">
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ad04c7331d5e39eecfff7cd104c0ad923">   32</a></span>  <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ad04c7331d5e39eecfff7cd104c0ad923">to_runner_opts</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="keyword">  </span>{</div>
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+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">provider</a> = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac09a8a96d66f433fdcd43aeae8217cef">global_namespace</a> = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">global_namespace</a>;</div>
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+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// lambda for pushing resources by type</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keyword">auto</span> push_by_type = [&amp;](<span class="keyword">const</span> std::map&lt;std::string, resource_model_t&gt;&amp; resources, <span class="keyword">const</span> std::string&amp; type) {</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; resource : resources)</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>      {</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">resources</a>.push_back({ resource.second.name, type, resource.second.type });</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>      }</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    };</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="comment">// get all resources</span></div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    push_by_type(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a7fbc888249194c37bbbcd6145cdcc272">parameters</a>, <span class="stringliteral">&quot;parameter&quot;</span>);</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    push_by_type(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">topics</a>, <span class="stringliteral">&quot;topic&quot;</span>);</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    push_by_type(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">services</a>, <span class="stringliteral">&quot;service&quot;</span>);</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    push_by_type(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">actions</a>, <span class="stringliteral">&quot;action&quot;</span>);</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="keywordflow">return</span> opts;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>  }</div>
+</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
+<div class="foldopen" id="foldopen00060" data-start="{" data-end="}">
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">   60</a></span>  <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">is_valid</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordflow">return</span> !<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty() &amp;&amp; !<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty();</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  }</div>
+</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="foldopen" id="foldopen00065" data-start="{" data-end="}">
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ab602bc027d2c75ddc51fdf190cd42442">   65</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ab602bc027d2c75ddc51fdf190cd42442">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    YAML::Node node;</div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    node[<span class="stringliteral">&quot;provider&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>();</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    node[<span class="stringliteral">&quot;interface&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">to_yaml</a>();</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">defined</a>())</div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    {</div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>      node[<span class="stringliteral">&quot;definition&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a>;</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    }</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    node[<span class="stringliteral">&quot;global_namespace&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">global_namespace</a>;</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    node[<span class="stringliteral">&quot;runner&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>;</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    node[<span class="stringliteral">&quot;started_by&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">started_by</a>;</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    node[<span class="stringliteral">&quot;pid&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">pid</a>;</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>  }</div>
+</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>};</div>
+</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="adefineable__base_8hpp_html"><div class="ttname"><a href="defineable__base_8hpp.html">defineable_base.hpp</a></div></div>
+<div class="ttc" id="aheader_8hpp_html"><div class="ttname"><a href="header_8hpp.html">header.hpp</a></div></div>
+<div class="ttc" id="ainterface_8hpp_html"><div class="ttname"><a href="interface_8hpp.html">interface.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="arunner__base_8hpp_html"><div class="ttname"><a href="runner__base_8hpp.html">runner_base.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a2af9b9108b7a7a08c35f674b6c684dbb"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">capabilities2_runner::runner_opts::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> runner_base.hpp:63</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a574ca498d3677393093c36193cf108db"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">capabilities2_runner::runner_opts::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> runner_base.hpp:62</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a72794f94e6e05ab6de8f5ff0200658cc"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">capabilities2_runner::runner_opts::interface</a></div><div class="ttdeci">std::string interface</div><div class="ttdef"><b>Definition</b> runner_base.hpp:57</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ac09a8a96d66f433fdcd43aeae8217cef"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ac09a8a96d66f433fdcd43aeae8217cef">capabilities2_runner::runner_opts::global_namespace</a></div><div class="ttdeci">std::string global_namespace</div><div class="ttdef"><b>Definition</b> runner_base.hpp:60</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ac592b9b0cde8eef4f39dfa9ed619252e"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">capabilities2_runner::runner_opts::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> runner_base.hpp:61</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ae271547e3464d837ba35365591393369"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">capabilities2_runner::runner_opts::provider</a></div><div class="ttdeci">std::string provider</div><div class="ttdef"><b>Definition</b> runner_base.hpp:58</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_af54ee8576a824bb7b5a09879a2f33948"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">capabilities2_runner::runner_opts::resources</a></div><div class="ttdeci">std::vector&lt; resource &gt; resources</div><div class="ttdef"><b>Definition</b> runner_base.hpp:59</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">capabilities2_server::models::defineable_base_t</a></div><div class="ttdoc">defineable base</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:22</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a42cc3313c4a42b7024a455a6b1a4af8a"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">capabilities2_server::models::defineable_base_t::definition_str</a></div><div class="ttdeci">std::string definition_str</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a85af59696809d15f7c890864a80bee96"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">capabilities2_server::models::defineable_base_t::defined</a></div><div class="ttdeci">bool defined() const</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:46</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a3a9a79ce313a985930e2cd97d27ebd5f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">capabilities2_server::models::header_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> header.hpp:42</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html">capabilities2_server::models::interface_model_t</a></div><div class="ttdoc">interface model</div><div class="ttdef"><b>Definition</b> interface.hpp:124</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a9e396d80ed9427c8020057757a605c07"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">capabilities2_server::models::interface_model_t::interface</a></div><div class="ttdeci">specification_model_t interface</div><div class="ttdef"><b>Definition</b> interface.hpp:126</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ab4974dddde348826f754eeba41fab1d0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">capabilities2_server::models::interface_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> interface.hpp:144</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ad4dfd8817581f04f0def9017ca898c64"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">capabilities2_server::models::interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> interface.hpp:125</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a></div><div class="ttdoc">run configuration type</div><div class="ttdef"><b>Definition</b> run_config.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a2b11f1cbc79ce42856b706df73bb87e3"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">capabilities2_server::models::run_config_model_t::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> run_config.hpp:29</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a49ff00fef777b60efedd894d773d9153"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">capabilities2_server::models::run_config_model_t::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> run_config.hpp:28</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a7ce34838226d280eba1e9498acf20475"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">capabilities2_server::models::run_config_model_t::is_valid</a></div><div class="ttdeci">const bool is_valid() const</div><div class="ttdef"><b>Definition</b> run_config.hpp:60</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a8edab59f62bc89e5a7dc4a7c1508f79c"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">capabilities2_server::models::run_config_model_t::provider</a></div><div class="ttdeci">header_model_t provider</div><div class="ttdef"><b>Definition</b> run_config.hpp:25</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a9b14481ebe1d875a691437a77a1ce992"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">capabilities2_server::models::run_config_model_t::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> run_config.hpp:30</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_ab602bc027d2c75ddc51fdf190cd42442"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ab602bc027d2c75ddc51fdf190cd42442">capabilities2_server::models::run_config_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> run_config.hpp:65</div></div>
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+<div class="contents">
+<a href="runner__base_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;stdexcept&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="event__node_8hpp.html">capabilities2_events/event_node.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="event__parameters_8hpp.html">capabilities2_events/event_parameters.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_event_code.hpp&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="foldopen" id="foldopen00023" data-start="{" data-end="};">
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__exception.html">   23</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a> : <span class="keyword">public</span> std::runtime_error</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>{</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  <span class="keyword">using </span>std::runtime_error::runtime_error;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
+<div class="foldopen" id="foldopen00027" data-start="{" data-end="}">
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__exception.html#aa6373ae91bb89b6306491195465b2b07">   27</a></span>  <a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#aa6373ae91bb89b6306491195465b2b07">runner_exception</a>(<span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>) : std::runtime_error(<a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>)</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>  {</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  }</div>
+</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="foldopen" id="foldopen00031" data-start="{" data-end="}">
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">   31</a></span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>() const noexcept<span class="keyword"> override</span></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordflow">return</span> std::runtime_error::what();</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  }</div>
+</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>};</div>
+</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
+<div class="foldopen" id="foldopen00041" data-start="{" data-end="};">
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1resource.html">   41</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a></div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>{</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1resource.html#a31be624a9bd871d94918db90d774ae46">   43</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a31be624a9bd871d94918db90d774ae46">name</a>;</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1resource.html#a94b6972f420c15250a370d44bd08ccc2">   44</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a94b6972f420c15250a370d44bd08ccc2">resource_type</a>;</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1resource.html#a1bebf375d0bb9439251e8ef393e837a5">   45</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a1bebf375d0bb9439251e8ef393e837a5">msg_type</a>;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>};</div>
+</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
+<div class="foldopen" id="foldopen00055" data-start="{" data-end="};">
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html">   55</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a></div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>{</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">   57</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>;</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">   58</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">provider</a>;</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">   59</a></span>  std::vector&lt;resource&gt; <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">resources</a>;</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#ac09a8a96d66f433fdcd43aeae8217cef">   60</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac09a8a96d66f433fdcd43aeae8217cef">global_namespace</a>;</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">   61</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">runner</a>;</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">   62</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">started_by</a>;</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">   63</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">pid</a>;</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#a42f3c1ecdad43cea48e2ae4df1bfcdbd">   64</a></span>  <span class="keywordtype">int</span> <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a42f3c1ecdad43cea48e2ae4df1bfcdbd">input_count</a>;</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>};</div>
+</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
+<div class="foldopen" id="foldopen00073" data-start="{" data-end="};">
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html">   73</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>{</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00076" data-start="{" data-end="}">
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">   76</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>() : <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>(nullptr), <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>()</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>  {</div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>  }</div>
+</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">   80</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>() = <span class="keywordflow">default</span>;</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>  <span class="comment">// incorporates event callbacks</span></div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">   94</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config, <span class="keyword">const</span> std::string&amp; bond_id) = 0;</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">  101</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>) = 0;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">  117</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">trigger</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters, <span class="keyword">const</span> std::string&amp; bond_id,</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>                       <span class="keyword">const</span> std::string&amp; instance_id) = 0;</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
+<div class="foldopen" id="foldopen00126" data-start="{" data-end="}">
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">  126</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config)</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>  {</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="comment">// store node connection source</span></div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    capabilities2_msgs::msg::Capability source_capability;</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    source_capability.capability = run_config.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>;</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    source_capability.provider = run_config.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">provider</a>;</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(source_capability);</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="comment">// store node pointer and opts</span></div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a> = node;</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a> = run_config;</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>  }</div>
+</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span> </div>
+<div class="foldopen" id="foldopen00144" data-start="{" data-end="}">
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">  144</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt;capabilities2_events::EventBase&gt; events)</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>  {</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>())</div>
+<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    {</div>
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>      <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(events);</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    }</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>  }</div>
+</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
+<div class="foldopen" id="foldopen00164" data-start="{" data-end="}">
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">  164</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(<span class="keyword">const</span> std::string&amp; connection_id, <span class="keyword">const</span> capabilities2_msgs::msg::CapabilityEventCode&amp; type,</div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>                      <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; target,</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>                      std::function&lt;<span class="keywordtype">void</span>(<span class="keyword">const</span> std::string&amp;, <span class="keyword">const</span> std::string&amp;, <span class="keyword">const</span> std::string&amp;,</div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>                                         <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt;</div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>                          callback)</div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>  {</div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    EventNode::add_connection(connection_id, type, target, callback);</div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>  }</div>
+</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
+<div class="foldopen" id="foldopen00176" data-start="{" data-end="}">
+<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">  176</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</div>
+<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>  {</div>
+<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>.substr(0, <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>.find(<span class="stringliteral">&quot;/&quot;</span>));</div>
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>  }</div>
+</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
+<div class="foldopen" id="foldopen00184" data-start="{" data-end="}">
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">  184</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>;</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>  }</div>
+</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
+<div class="foldopen" id="foldopen00192" data-start="{" data-end="}">
+<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">  192</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">provider</a>;</div>
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>  }</div>
+</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span> </div>
+<div class="foldopen" id="foldopen00200" data-start="{" data-end="}">
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">  200</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">started_by</a>;</div>
+<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>  }</div>
+</div>
+<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
+<div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
+<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">  208</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">pid</a>;</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>  }</div>
+</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span> </div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>  <span class="comment">// FIXME: implement new event subsystem</span></div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
+<div class="foldopen" id="foldopen00226" data-start="{" data-end="}">
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">  226</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>  {</div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>();</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>  };</div>
+</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span> </div>
+<div class="foldopen" id="foldopen00241" data-start="{" data-end="}">
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">  241</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>  {</div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>();</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>  };</div>
+</div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
+<div class="foldopen" id="foldopen00256" data-start="{" data-end="}">
+<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">  256</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</div>
+<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>  {</div>
+<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>();</div>
+<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>  };</div>
+</div>
+<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span> </div>
+<div class="foldopen" id="foldopen00271" data-start="{" data-end="}">
+<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">  271</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</div>
+<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>  {</div>
+<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>();</div>
+<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>  };</div>
+</div>
+<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span> </div>
+<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>  <span class="comment">// run config getters</span></div>
+<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span> </div>
+<div class="foldopen" id="foldopen00289" data-start="{" data-end="}">
+<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">  289</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="keyword">const</span> std::string&amp; resource_type, <span class="keyword">const</span> std::string&amp; msg_type)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; <a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a> : <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">resources</a>)</div>
+<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>    {</div>
+<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>      <span class="keywordflow">if</span> (<a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a94b6972f420c15250a370d44bd08ccc2">resource_type</a> == resource_type)</div>
+<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>      {</div>
+<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>        <span class="keywordflow">if</span> (<a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a1bebf375d0bb9439251e8ef393e837a5">msg_type</a> == msg_type)</div>
+<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>        {</div>
+<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>          <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a31be624a9bd871d94918db90d774ae46">name</a>;</div>
+<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>        }</div>
+<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>      }</div>
+<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>    }</div>
+<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span> </div>
+<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>    <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;no resource found: &quot;</span> + msg_type);</div>
+<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>  }</div>
+</div>
+<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span> </div>
+<div class="foldopen" id="foldopen00311" data-start="{" data-end="}">
+<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">  311</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(<span class="keyword">const</span> std::string&amp; param_type)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="stringliteral">&quot;parameter&quot;</span>, param_type);</div>
+<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>  }</div>
+</div>
+<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span> </div>
+<div class="foldopen" id="foldopen00322" data-start="{" data-end="}">
+<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">  322</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(<span class="keyword">const</span> std::string&amp; topic_type)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="stringliteral">&quot;topic&quot;</span>, topic_type);</div>
+<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>  }</div>
+</div>
+<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span> </div>
+<div class="foldopen" id="foldopen00333" data-start="{" data-end="}">
+<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">  333</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(<span class="keyword">const</span> std::string&amp; srv_type)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="stringliteral">&quot;service&quot;</span>, srv_type);</div>
+<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>  }</div>
+</div>
+<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span> </div>
+<div class="foldopen" id="foldopen00344" data-start="{" data-end="}">
+<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">  344</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(<span class="keyword">const</span> std::string&amp; action_type)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="stringliteral">&quot;action&quot;</span>, action_type);</div>
+<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>  }</div>
+</div>
+<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span> </div>
+<div class="foldopen" id="foldopen00356" data-start="{" data-end="}">
+<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">  356</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="keyword">const</span> std::string&amp; resource_type)<span class="keyword"> const</span></div>
+<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; <a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a> : <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">resources</a>)</div>
+<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>    {</div>
+<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>      <span class="keywordflow">if</span> (<a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a94b6972f420c15250a370d44bd08ccc2">resource_type</a> == resource_type)</div>
+<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>      {</div>
+<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>        <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a31be624a9bd871d94918db90d774ae46">name</a>;</div>
+<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>      }</div>
+<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>    }</div>
+<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span> </div>
+<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>    <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;no &quot;</span> + resource_type + <span class="stringliteral">&quot; resource found for interface: &quot;</span> + <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>);</div>
+<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>  }</div>
+</div>
+<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span> </div>
+<div class="foldopen" id="foldopen00374" data-start="{" data-end="}">
+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">  374</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="stringliteral">&quot;parameter&quot;</span>);</div>
+<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>  }</div>
+</div>
+<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span> </div>
+<div class="foldopen" id="foldopen00384" data-start="{" data-end="}">
+<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">  384</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="stringliteral">&quot;topic&quot;</span>);</div>
+<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>  }</div>
+</div>
+<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span> </div>
+<div class="foldopen" id="foldopen00394" data-start="{" data-end="}">
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">  394</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="stringliteral">&quot;service&quot;</span>);</div>
+<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>  }</div>
+</div>
+<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span> </div>
+<div class="foldopen" id="foldopen00404" data-start="{" data-end="}">
+<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">  404</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="stringliteral">&quot;action&quot;</span>);</div>
+<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>  }</div>
+</div>
+<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span> </div>
+<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>  <span class="comment">// FIXME: implement new event subsystem</span></div>
+<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span>  <span class="comment">// STATE CHANGE HELPERS</span></div>
+<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span> </div>
+<div class="foldopen" id="foldopen00418" data-start="{" data-end="}">
+<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">  418</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id,</div>
+<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>                    <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
+<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>  {</div>
+<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;emitting STARTED event with bond_id: %s&quot;</span>, bond_id.c_str());</div>
+<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::STARTED, parameters);</div>
+<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>  }</div>
+</div>
+<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span> </div>
+<div class="foldopen" id="foldopen00431" data-start="{" data-end="}">
+<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">  431</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id,</div>
+<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>                    <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
+<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>  {</div>
+<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;emitting STOPPED event with bond_id: %s&quot;</span>, bond_id.c_str());</div>
+<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::STOPPED, parameters);</div>
+<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>  }</div>
+</div>
+<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span> </div>
+<div class="foldopen" id="foldopen00444" data-start="{" data-end="}">
+<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">  444</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id,</div>
+<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>                      <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
+<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>  {</div>
+<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;emitting SUCCEEDED event with bond_id: %s&quot;</span>, bond_id.c_str());</div>
+<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::SUCCEEDED, parameters);</div>
+<div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>  }</div>
+</div>
+<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span> </div>
+<div class="foldopen" id="foldopen00457" data-start="{" data-end="}">
+<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">  457</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id,</div>
+<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>                   <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
+<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>  {</div>
+<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;emitting FAILED event with bond_id: %s&quot;</span>, bond_id.c_str());</div>
+<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::FAILED, parameters);</div>
+<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>  }</div>
+</div>
+<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span> </div>
+<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">  469</a></span>  rclcpp::Node::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>;</div>
+<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span> </div>
+<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">  474</a></span>  <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>;</div>
+<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>};</div>
+</div>
+<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span> </div>
+<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></div><div class="ttdoc">an event node is a source of an event</div><div class="ttdef"><b>Definition</b> event_node.hpp:26</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a10f7d884696c76f58fa43a03d69369f4"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">capabilities2_events::EventNode::set_source</a></div><div class="ttdeci">void set_source(const capabilities2_msgs::msg::Capability &amp;src)</div><div class="ttdoc">Set the source object.</div><div class="ttdef"><b>Definition</b> event_node.hpp:123</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a41dc0f4b8ad35d358181f25d646f396e"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">capabilities2_events::EventNode::set_event_emitter</a></div><div class="ttdeci">void set_event_emitter(std::shared_ptr&lt; EventBase &gt; event_emitter)</div><div class="ttdoc">event emitter for this event node</div><div class="ttdef"><b>Definition</b> event_node.hpp:135</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_aa66f138bc8fa897c84d8ffd529396002"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">capabilities2_events::EventNode::is_event_emitter_set</a></div><div class="ttdeci">bool is_event_emitter_set() const</div><div class="ttdoc">event emitter is set on this node</div><div class="ttdef"><b>Definition</b> event_node.hpp:278</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_ad1b79fbe33fd75339bcaa77417240e57"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">capabilities2_events::EventNode::emit_event</a></div><div class="ttdeci">void emit_event(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit an event from this event node to all matching connections</div><div class="ttdef"><b>Definition</b> event_node.hpp:64</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a144e9cc074f34a69677fa9c2b461160e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">capabilities2_runner::RunnerBase::get_first_service_name</a></div><div class="ttdeci">const std::string get_first_service_name() const</div><div class="ttdoc">Get the first service name.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:394</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a561039712ffa38c2617baf266fc22896"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">capabilities2_runner::RunnerBase::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success()</div><div class="ttdoc">Update on_success event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:271</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5865a398c1ad27e89d4d6947ef9404c2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">capabilities2_runner::RunnerBase::emit_succeeded</a></div><div class="ttdeci">void emit_succeeded(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit SUCCEEDED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:444</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a590b4f109de1d343ad88db826d72d6f2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</div><div class="ttdoc">stop the runner</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5dcd2ac4205bb7f3cf069e0273ec46b7"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">capabilities2_runner::RunnerBase::emit_failed</a></div><div class="ttdeci">void emit_failed(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit FAILED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:457</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5ec5051ab90eb6d67890b9a56ac78c66"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">capabilities2_runner::RunnerBase::get_pid</a></div><div class="ttdeci">const std::string &amp; get_pid() const</div><div class="ttdoc">get the pid of the runner.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:208</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a6667a04bdf0d6a83a7663b4f8b10c0cf"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">capabilities2_runner::RunnerBase::get_first_resource_name</a></div><div class="ttdeci">const std::string get_first_resource_name(const std::string &amp;resource_type) const</div><div class="ttdoc">get first name of a given resource</div><div class="ttdef"><b>Definition</b> runner_base.hpp:356</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a68a4f300a106474d09ccda51efc57a5a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">capabilities2_runner::RunnerBase::param_on_started</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_started()</div><div class="ttdoc">Update on_started event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:226</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a6c40b1ee8b85cd357ebc9102ee1b5d12"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">capabilities2_runner::RunnerBase::get_first_action_name</a></div><div class="ttdeci">const std::string get_first_action_name() const</div><div class="ttdoc">Get the first action name.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:404</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a7a66fa34cdf7a2868dfb9f1d8f8d65ca"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">capabilities2_runner::RunnerBase::add_connection</a></div><div class="ttdeci">void add_connection(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</div><div class="ttdoc">make EventNode::add_connection public method on runner api.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:164</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a7ca628af3cfb83cb2e17f2348c66f5a9"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">capabilities2_runner::RunnerBase::get_parameter_name_by_type</a></div><div class="ttdeci">const std::string get_parameter_name_by_type(const std::string &amp;param_type) const</div><div class="ttdoc">Get a parameter name by type.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:311</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a819adec0f6c9d29e70fe1c39c578e96b"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">capabilities2_runner::RunnerBase::get_resource_name_by_type</a></div><div class="ttdeci">const std::string get_resource_name_by_type(const std::string &amp;resource_type, const std::string &amp;msg_type) const</div><div class="ttdoc">Get a resource name by data type from the config.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:289</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a921754cdc1cbf69547f67860d5fd2f92"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">capabilities2_runner::RunnerBase::get_topic_name_by_type</a></div><div class="ttdeci">const std::string get_topic_name_by_type(const std::string &amp;topic_type) const</div><div class="ttdoc">Get a topic name by type.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:322</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9414f4fca9459b457f306bbf8b4c1cdf"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">capabilities2_runner::RunnerBase::get_first_parameter_name</a></div><div class="ttdeci">const std::string get_first_parameter_name() const</div><div class="ttdoc">Get the first parameter name.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:374</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a94f0b66e78d66b770ba91d9f55b202ce"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">capabilities2_runner::RunnerBase::run_config_</a></div><div class="ttdeci">runner_opts run_config_</div><div class="ttdoc">run_config_ runner configuration</div><div class="ttdef"><b>Definition</b> runner_base.hpp:474</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9a5419cab317ef239d2f197714136660"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">capabilities2_runner::RunnerBase::param_on_failure</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_failure()</div><div class="ttdoc">Update on_failure event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:256</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9f51d46e66d0e3e33677fc6b41a7ab2b"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">capabilities2_runner::RunnerBase::get_interface</a></div><div class="ttdeci">const std::string &amp; get_interface() const</div><div class="ttdoc">get the interface of the runner.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:184</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_aa43dcda95ec5bbfae42229acb621527a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">capabilities2_runner::RunnerBase::get_package_name</a></div><div class="ttdeci">const std::string get_package_name()</div><div class="ttdoc">get the package name to which the runner belong to.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:176</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_aaa8cf2feec5aa8c1b10dcd49f0cc114a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">capabilities2_runner::RunnerBase::enable_events</a></div><div class="ttdeci">void enable_events(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</div><div class="ttdoc">enable events system for this runner</div><div class="ttdef"><b>Definition</b> runner_base.hpp:144</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_abdb647861aa50def64cb7005e1234d5c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">capabilities2_runner::RunnerBase::get_started_by</a></div><div class="ttdeci">const std::string &amp; get_started_by() const</div><div class="ttdoc">get the starter of the runner.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:200</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_abe103d834226cfae197630ef45387e95"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">capabilities2_runner::RunnerBase::get_first_topic_name</a></div><div class="ttdeci">const std::string get_first_topic_name() const</div><div class="ttdoc">Get the first topic name.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:384</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ac92696dfbfe4b50331ca156c4449954c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase::emit_started</a></div><div class="ttdeci">void emit_started(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STARTED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:418</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">capabilities2_runner::RunnerBase::get_action_name_by_type</a></div><div class="ttdeci">const std::string get_action_name_by_type(const std::string &amp;action_type) const</div><div class="ttdoc">Get the action name by type object.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:344</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ad677f8a60b0e32510794315243a946d6"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">capabilities2_runner::RunnerBase::RunnerBase</a></div><div class="ttdeci">RunnerBase()</div><div class="ttdef"><b>Definition</b> runner_base.hpp:76</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ad85529d5a99b6e1373d89beadcb71a47"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase::trigger</a></div><div class="ttdeci">virtual void trigger(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id)=0</div><div class="ttdoc">Trigger the runner.</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ae6b41bc7b4e1ed845c8ef865ea76feaf"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">capabilities2_runner::RunnerBase::get_provider</a></div><div class="ttdeci">const std::string &amp; get_provider() const</div><div class="ttdoc">get the provider of the runner.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:192</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af253678258e86285dc2a12ecb5c1db84"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</div><div class="ttdoc">start the runner</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af3397f1baa438b11e40a2a9c8e771f75"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">capabilities2_runner::RunnerBase::get_service_name_by_type</a></div><div class="ttdeci">const std::string get_service_name_by_type(const std::string &amp;srv_type) const</div><div class="ttdoc">Get a service name by type.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:333</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_afaf475264dc30c93758087ffca3754e6"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">capabilities2_runner::RunnerBase::~RunnerBase</a></div><div class="ttdeci">~RunnerBase()=default</div></div>
+<div class="ttc" id="aevent__node_8hpp_html"><div class="ttname"><a href="event__node_8hpp.html">event_node.hpp</a></div></div>
+<div class="ttc" id="aevent__parameters_8hpp_html"><div class="ttname"><a href="event__parameters_8hpp.html">event_parameters.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1resource_html"><div class="ttname"><a href="structcapabilities2__runner_1_1resource.html">capabilities2_runner::resource</a></div><div class="ttdoc">resource definition</div><div class="ttdef"><b>Definition</b> runner_base.hpp:42</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1resource_html_a1bebf375d0bb9439251e8ef393e837a5"><div class="ttname"><a href="structcapabilities2__runner_1_1resource.html#a1bebf375d0bb9439251e8ef393e837a5">capabilities2_runner::resource::msg_type</a></div><div class="ttdeci">std::string msg_type</div><div class="ttdef"><b>Definition</b> runner_base.hpp:45</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1resource_html_a31be624a9bd871d94918db90d774ae46"><div class="ttname"><a href="structcapabilities2__runner_1_1resource.html#a31be624a9bd871d94918db90d774ae46">capabilities2_runner::resource::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> runner_base.hpp:43</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1resource_html_a94b6972f420c15250a370d44bd08ccc2"><div class="ttname"><a href="structcapabilities2__runner_1_1resource.html#a94b6972f420c15250a370d44bd08ccc2">capabilities2_runner::resource::resource_type</a></div><div class="ttdeci">std::string resource_type</div><div class="ttdef"><b>Definition</b> runner_base.hpp:44</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a></div><div class="ttdoc">runner exception</div><div class="ttdef"><b>Definition</b> runner_base.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html_a5d58c674021b3d7bd0599b73c5617473"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">capabilities2_runner::runner_exception::what</a></div><div class="ttdeci">virtual const char * what() const noexcept override</div><div class="ttdef"><b>Definition</b> runner_base.hpp:31</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html_aa6373ae91bb89b6306491195465b2b07"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html#aa6373ae91bb89b6306491195465b2b07">capabilities2_runner::runner_exception::runner_exception</a></div><div class="ttdeci">runner_exception(const std::string &amp;what)</div><div class="ttdef"><b>Definition</b> runner_base.hpp:27</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a2af9b9108b7a7a08c35f674b6c684dbb"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">capabilities2_runner::runner_opts::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> runner_base.hpp:63</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a42f3c1ecdad43cea48e2ae4df1bfcdbd"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a42f3c1ecdad43cea48e2ae4df1bfcdbd">capabilities2_runner::runner_opts::input_count</a></div><div class="ttdeci">int input_count</div><div class="ttdef"><b>Definition</b> runner_base.hpp:64</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a574ca498d3677393093c36193cf108db"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">capabilities2_runner::runner_opts::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> runner_base.hpp:62</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a72794f94e6e05ab6de8f5ff0200658cc"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">capabilities2_runner::runner_opts::interface</a></div><div class="ttdeci">std::string interface</div><div class="ttdef"><b>Definition</b> runner_base.hpp:57</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ac09a8a96d66f433fdcd43aeae8217cef"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ac09a8a96d66f433fdcd43aeae8217cef">capabilities2_runner::runner_opts::global_namespace</a></div><div class="ttdeci">std::string global_namespace</div><div class="ttdef"><b>Definition</b> runner_base.hpp:60</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ac592b9b0cde8eef4f39dfa9ed619252e"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">capabilities2_runner::runner_opts::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> runner_base.hpp:61</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ae271547e3464d837ba35365591393369"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">capabilities2_runner::runner_opts::provider</a></div><div class="ttdeci">std::string provider</div><div class="ttdef"><b>Definition</b> runner_base.hpp:58</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_af54ee8576a824bb7b5a09879a2f33948"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">capabilities2_runner::runner_opts::resources</a></div><div class="ttdeci">std::vector&lt; resource &gt; resources</div><div class="ttdef"><b>Definition</b> runner_base.hpp:59</div></div>
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+  <div class="headertitle"><div class="title">runner_cache.hpp File Reference</div></div>
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+<div class="textblock"><code>#include &lt;map&gt;</code><br />
+<code>#include &lt;string&gt;</code><br />
+<code>#include &lt;vector&gt;</code><br />
+<code>#include &lt;functional&gt;</code><br />
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+<code>#include &lt;rclcpp/rclcpp.hpp&gt;</code><br />
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+<code>#include &lt;<a class="el" href="run__config_8hpp_source.html">capabilities2_server/models/run_config.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="runner__base_8hpp_source.html">capabilities2_runner/runner_base.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="event__base_8hpp_source.html">capabilities2_events/event_base.hpp</a>&gt;</code><br />
+<code>#include &lt;capabilities2_msgs/msg/capability_connection.hpp&gt;</code><br />
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diff --git a/docs/html/runner__cache_8hpp_source.html b/docs/html/runner__cache_8hpp_source.html
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
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+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">runner_cache.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="runner__cache_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// #include &lt;tinyxml2.h&gt;</span></div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;pluginlib/class_loader.hpp&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;<a class="code" href="run__config_8hpp.html">capabilities2_server/models/run_config.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;<a class="code" href="event__base_8hpp.html">capabilities2_events/event_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_connection.hpp&gt;</span></div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>{</div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
+<div class="foldopen" id="foldopen00031" data-start="{" data-end="};">
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html">   31</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1RunnerCache.html">RunnerCache</a></div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>{</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00034" data-start="{" data-end="}">
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a54ca36d2ea36c95783ed042c1ab31b7f">   34</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a54ca36d2ea36c95783ed042c1ab31b7f">RunnerCache</a>() : <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a>(<span class="stringliteral">&quot;capabilities2_runner&quot;</span>, <span class="stringliteral">&quot;capabilities2_runner::RunnerBase&quot;</span>)</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  }</div>
+</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">   45</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">add_runner</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> std::string&amp; capability,</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>                  <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a>&amp; run_config)</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  {</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="comment">// if the runner exists then throw an error preserving uniqueness</span></div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    {</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability is running already: &quot;</span> + capability);</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    }</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="comment">// check if run config is valid</span></div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordflow">if</span> (!run_config.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">is_valid</a>())</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    {</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;run config is not valid: &quot;</span> + YAML::Dump(run_config.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ab602bc027d2c75ddc51fdf190cd42442">to_yaml</a>()));</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    }</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="comment">// create the runner, add the runner to map, and if the spec runner contains a path to a launch file then use the</span></div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="comment">// launch file runner</span></div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordflow">if</span> (run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>.find(<span class="stringliteral">&quot;.launch&quot;</span>) != std::string::npos || run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>.find(<span class="stringliteral">&quot;/&quot;</span>) != std::string::npos ||</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>.find(<span class="stringliteral">&quot;.py&quot;</span>) != std::string::npos)</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    {</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability] = <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a>.createSharedInstance(<span class="stringliteral">&quot;capabilities2_runner::LaunchRunner&quot;</span>);</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    }</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    {</div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability] = <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a>.createSharedInstance(run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>);</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    }</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="comment">// start the runner</span></div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;start(node, run_config.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ad04c7331d5e39eecfff7cd104c0ad923">to_runner_opts</a>(), <span class="stringliteral">&quot;&quot;</span>);</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>  }</div>
+</div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
+<div class="foldopen" id="foldopen00086" data-start="{" data-end="}">
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">   86</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">trigger_runner</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; instance_id,</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>                      <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters)</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>  {</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// TODO: validate trigger id (DEPRECATED?)</span></div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="comment">// is the runner in the cache</span></div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    {</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;trigger(parameters, bond_id, instance_id);</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    }</div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    {</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    }</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  }</div>
+</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
+<div class="foldopen" id="foldopen00111" data-start="{" data-end="}">
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">  111</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">add_connection</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; connection_id,</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>                      <span class="keyword">const</span> capabilities2_msgs::msg::CapabilityConnection&amp; connection,</div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>                      std::shared_ptr&lt;capabilities2_events::EventBase&gt; event_emitter = <span class="keyword">nullptr</span>)</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>  {</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="comment">// find the runner in the cache and if not found then throw an error</span></div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    {</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    }</div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="comment">// pass the event api to the runner</span></div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="comment">// for emitting events on state changes</span></div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;enable_events(event_emitter);</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    {</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>      <span class="comment">// add connection to the runner</span></div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>      <span class="comment">// callback signature: (capability, parameters, bond_id, instance_id)</span></div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;add_connection(connection_id, connection.type, connection.target,</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>                                                std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">capabilities2_server::RunnerCache::trigger_runner</a>, <span class="keyword">this</span>,</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>                                                          std::placeholders::_1, std::placeholders::_2,</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>                                                          std::placeholders::_3, std::placeholders::_4));</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    }</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__events_1_1event__exception.html">capabilities2_events::event_exception</a>&amp; e)</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    {</div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(e.<a class="code hl_function" href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">what</a>());</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    }</div>
+<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  }</div>
+</div>
+<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
+<div class="foldopen" id="foldopen00148" data-start="{" data-end="}">
+<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">  148</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">remove_runner</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>  {</div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="comment">// find the runner in the cache and if not found then throw an error</span></div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    {</div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
+<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    }</div>
+<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span> </div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="comment">// safely stop the runner</span></div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keywordflow">try</span></div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    {</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;stop(<span class="stringliteral">&quot;&quot;</span>);</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    }</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
+<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    {</div>
+<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>      <span class="comment">// pass</span></div>
+<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>      <span class="comment">// RCLCPP_ERROR(node_logging_interface_ptr_-&gt;get_logger(), &quot;%s&quot;, e.what());</span></div>
+<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    }</div>
+<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span> </div>
+<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    <span class="comment">// reset the runner pointer</span></div>
+<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    <span class="comment">// runner_cache_[capability].reset();</span></div>
+<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
+<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="comment">// remove the runner from map</span></div>
+<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>.erase(capability);</div>
+<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>  }</div>
+</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
+<div class="foldopen" id="foldopen00179" data-start="{" data-end="}">
+<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">  179</a></span>  <span class="keyword">const</span> std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">get_running_capabilities</a>()</div>
+<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  {</div>
+<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    std::vector&lt;std::string&gt; runners;</div>
+<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; runner : <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>)</div>
+<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    {</div>
+<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>      runners.push_back(runner.first);</div>
+<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    }</div>
+<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="keywordflow">return</span> runners;</div>
+<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>  }</div>
+</div>
+<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
+<div class="foldopen" id="foldopen00195" data-start="{" data-end="}">
+<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">  195</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">provider</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>  {</div>
+<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
+<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
+<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span> </div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;get_provider();</div>
+<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>  }</div>
+</div>
+<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span> </div>
+<div class="foldopen" id="foldopen00209" data-start="{" data-end="}">
+<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">  209</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">started_by</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>  {</div>
+<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
+<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
+<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span> </div>
+<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;get_started_by();</div>
+<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>  }</div>
+</div>
+<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span> </div>
+<div class="foldopen" id="foldopen00223" data-start="{" data-end="}">
+<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">  223</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">pid</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>  {</div>
+<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
+<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
+<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span> </div>
+<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;get_pid();</div>
+<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>  }</div>
+</div>
+<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span> </div>
+<div class="foldopen" id="foldopen00238" data-start="{" data-end="}">
+<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">  238</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
+<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>  {</div>
+<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>.find(capability) != <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>.end();</div>
+<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>  }</div>
+</div>
+<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
+<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>  <span class="comment">// map capability to running model</span></div>
+<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>  <span class="comment">// capability / provider specs -&gt; runner</span></div>
+<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">  246</a></span>  std::map&lt;std::string, std::shared_ptr&lt;capabilities2_runner::RunnerBase&gt;&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>;</div>
+<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span> </div>
+<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>  <span class="comment">// runner plugin loader</span></div>
+<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">  249</a></span>  pluginlib::ClassLoader&lt;capabilities2_runner::RunnerBase&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a>;</div>
+<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>};</div>
+</div>
+<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span> </div>
+<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></div><div class="ttdoc">runner cache class responsible for caching the currently active runners of capabilities this cache de...</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:32</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a20513c9b45a313ab7bdc6f2d15f490c8"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">capabilities2_server::RunnerCache::provider</a></div><div class="ttdeci">const std::string provider(const std::string &amp;capability)</div><div class="ttdoc">Get provider of capability.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:195</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a245acdb1f0c4b4b81f1ed46906b446cb"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">capabilities2_server::RunnerCache::get_running_capabilities</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_running_capabilities()</div><div class="ttdoc">Get a list of active runners in the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:179</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a278cd90fadd01341151fb48b8c93745e"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">capabilities2_server::RunnerCache::running</a></div><div class="ttdeci">bool running(const std::string &amp;capability)</div><div class="ttdoc">Check if a capability has a runner.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:238</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a38cd41426d0a9dbe36d3842e5ef0310c"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">capabilities2_server::RunnerCache::remove_runner</a></div><div class="ttdeci">void remove_runner(const std::string &amp;capability)</div><div class="ttdoc">Remove a given runner.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:148</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a4a485c20947d8e4808556630b593d6b4"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">capabilities2_server::RunnerCache::runner_loader_</a></div><div class="ttdeci">pluginlib::ClassLoader&lt; capabilities2_runner::RunnerBase &gt; runner_loader_</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:249</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a54ca36d2ea36c95783ed042c1ab31b7f"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a54ca36d2ea36c95783ed042c1ab31b7f">capabilities2_server::RunnerCache::RunnerCache</a></div><div class="ttdeci">RunnerCache()</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:34</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a64a32e4605c82f06baf0902bd0bab746"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">capabilities2_server::RunnerCache::pid</a></div><div class="ttdeci">const std::string pid(const std::string &amp;capability)</div><div class="ttdoc">get pid of capability</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:223</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aa3c38f7a92d055d73e3acb2422094f9a"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">capabilities2_server::RunnerCache::trigger_runner</a></div><div class="ttdeci">void trigger_runner(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</div><div class="ttdoc">Trigger a runner in the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:86</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aba905c19f2ffec5e72028d8a246a3edf"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">capabilities2_server::RunnerCache::add_connection</a></div><div class="ttdeci">void add_connection(const std::string &amp;capability, const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection, std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_emitter=nullptr)</div><div class="ttdoc">Add state change connection between runners via an event.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:111</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_ad07093aa785e7f24ef4e1648e46c7c0f"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">capabilities2_server::RunnerCache::started_by</a></div><div class="ttdeci">const std::string started_by(const std::string &amp;capability)</div><div class="ttdoc">get started_by of capability</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:209</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_ae72647019b3b65e02ee663652b208b32"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">capabilities2_server::RunnerCache::runner_cache_</a></div><div class="ttdeci">std::map&lt; std::string, std::shared_ptr&lt; capabilities2_runner::RunnerBase &gt; &gt; runner_cache_</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:246</div></div>
+<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aefd112af41b8ef36ccdce3cfebb5dd25"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">capabilities2_server::RunnerCache::add_runner</a></div><div class="ttdeci">void add_runner(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const models::run_config_model_t &amp;run_config)</div><div class="ttdoc">Add a runner to the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:45</div></div>
+<div class="ttc" id="aevent__base_8hpp_html"><div class="ttname"><a href="event__base_8hpp.html">event_base.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="arun__config_8hpp_html"><div class="ttname"><a href="run__config_8hpp.html">run_config.hpp</a></div></div>
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+<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html">capabilities2_events::event_exception</a></div><div class="ttdoc">event exception</div><div class="ttdef"><b>Definition</b> event_base.hpp:22</div></div>
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+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a></div><div class="ttdoc">runner exception</div><div class="ttdef"><b>Definition</b> runner_base.hpp:24</div></div>
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+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_ad04c7331d5e39eecfff7cd104c0ad923"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ad04c7331d5e39eecfff7cd104c0ad923">capabilities2_server::models::run_config_model_t::to_runner_opts</a></div><div class="ttdeci">const capabilities2_runner::runner_opts to_runner_opts() const</div><div class="ttdef"><b>Definition</b> run_config.hpp:32</div></div>
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+  <div class="headertitle"><div class="title">running.hpp</div></div>
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+<a href="running_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>{</div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
+<div class="foldopen" id="foldopen00012" data-start="{" data-end="};">
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1capability__model__t.html">   12</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1capability__model__t.html">capability_model_t</a></div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">   14</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">interface</a>;</div>
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+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>};</div>
+</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
+<div class="foldopen" id="foldopen00026" data-start="{" data-end="};">
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+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>{</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>  <span class="comment">// std::string interface;</span></div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  <span class="comment">// std::string provider;</span></div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">   30</a></span>  std::vector&lt;capability_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a>;</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1running__model__t.html#a0037a0006d89c68a56be1ed1337f7c37">   31</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#a0037a0006d89c68a56be1ed1337f7c37">started_by</a>;</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1running__model__t.html#a1c0cff01cc7973eb2f1ffa49ae2ad5b9">   32</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#a1c0cff01cc7973eb2f1ffa49ae2ad5b9">pid</a>;</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>};</div>
+</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html">capabilities2_server::models::capability_model_t</a></div><div class="ttdef"><b>Definition</b> running.hpp:13</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a23939963edc32d7a2da5f1552973fecb"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">capabilities2_server::models::capability_model_t::provider</a></div><div class="ttdeci">std::string provider</div><div class="ttdef"><b>Definition</b> running.hpp:15</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a73be59339462fe3f6699bd127e99a918"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">capabilities2_server::models::capability_model_t::interface</a></div><div class="ttdeci">std::string interface</div><div class="ttdef"><b>Definition</b> running.hpp:14</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html">capabilities2_server::models::running_model_t</a></div><div class="ttdoc">running capability model</div><div class="ttdef"><b>Definition</b> running.hpp:27</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html_a0037a0006d89c68a56be1ed1337f7c37"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html#a0037a0006d89c68a56be1ed1337f7c37">capabilities2_server::models::running_model_t::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> running.hpp:31</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html_a1c0cff01cc7973eb2f1ffa49ae2ad5b9"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html#a1c0cff01cc7973eb2f1ffa49ae2ad5b9">capabilities2_server::models::running_model_t::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> running.hpp:32</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html_af93e104248e91870612dcf3a82e29029"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">capabilities2_server::models::running_model_t::dependencies</a></div><div class="ttdeci">std::vector&lt; capability_model_t &gt; dependencies</div><div class="ttdef"><b>Definition</b> running.hpp:30</div></div>
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+ "https://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg
+   xmlns="http://www.w3.org/2000/svg"
+   version="1.1"
+   id="svg2"
+   width="20"
+   height="19"
+   viewBox="0 0 20 19"
+  >
+  <defs
+     id="defs6" />
+  <circle
+     style="fill:#000000;fill-opacity:0;stroke:#c5C5C5;stroke-width:1.4;stroke-opacity:1;stroke-miterlimit:4;stroke-dasharray:none"
+     id="path4611"
+     cx="5.5"
+     cy="8.5"
+     r="3.5" />
+  <path
+     style="fill:#c5C5C5;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
+     d="M 11,7 13.5,10 16,7 Z"
+     id="path4609"
+     />
+  <path
+     style="fill:none;stroke:#c5C5C5;stroke-width:1.4;stroke-linecap:round;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
+     d="m 8.1085854,11.109059 2.7823556,2.782356"
+     id="path4630"
+     />
+</svg>
diff --git a/docs/html/search/namespaces_0.js b/docs/html/search/namespaces_0.js
new file mode 100644
index 0000000..4a385a5
--- /dev/null
+++ b/docs/html/search/namespaces_0.js
@@ -0,0 +1,14 @@
+var searchData=
+[
+  ['call_5festablish_5fbond_0',['call_establish_bond',['../namespacecall__establish__bond.html',1,'']]],
+  ['call_5fget_5finterfaces_1',['call_get_interfaces',['../namespacecall__get__interfaces.html',1,'']]],
+  ['call_5fget_5fproviders_2',['call_get_providers',['../namespacecall__get__providers.html',1,'']]],
+  ['call_5fget_5fsemantic_5finterfaces_3',['call_get_semantic_interfaces',['../namespacecall__get__semantic__interfaces.html',1,'']]],
+  ['call_5fget_5fspecs_4',['call_get_specs',['../namespacecall__get__specs.html',1,'']]],
+  ['call_5fregister_5fcap_5',['call_register_cap',['../namespacecall__register__cap.html',1,'']]],
+  ['capabilities2_5fevents_6',['capabilities2_events',['../namespacecapabilities2__events.html',1,'']]],
+  ['capabilities2_5frunner_7',['capabilities2_runner',['../namespacecapabilities2__runner.html',1,'']]],
+  ['capabilities2_5fserver_8',['capabilities2_server',['../namespacecapabilities2__server.html',1,'']]],
+  ['capabilities2_5fserver_3a_3amodels_9',['models',['../namespacecapabilities2__server_1_1models.html',1,'capabilities2_server']]],
+  ['capability_5fregistrar_10',['capability_registrar',['../namespacecapability__registrar.html',1,'']]]
+];
diff --git a/docs/html/search/pages_0.js b/docs/html/search/pages_0.js
new file mode 100644
index 0000000..90ad1d3
--- /dev/null
+++ b/docs/html/search/pages_0.js
@@ -0,0 +1,6 @@
+var searchData=
+[
+  ['a_20capability_0',['Registering a capability',['../md_capabilities2__server_2docs_2register.html',1,'']]],
+  ['and_20deployment_1',['and deployment',['../md_docs_2setup.html',1,'Using Capabilities package (Development and Deployment)'],['../md_docs_2setup__with__dev.html',1,'Using Capabilities package (Development and Deployment)']]],
+  ['api_2',['capabilities2_runner plugin API',['../md_capabilities2__runner_2readme.html',1,'']]]
+];
diff --git a/docs/html/search/pages_1.js b/docs/html/search/pages_1.js
new file mode 100644
index 0000000..33de65f
--- /dev/null
+++ b/docs/html/search/pages_1.js
@@ -0,0 +1,5 @@
+var searchData=
+[
+  ['based_20capability_20usage_0',['Terminal based capability usage',['../md_capabilities2__server_2docs_2terminal__usage.html',1,'']]],
+  ['basic_20tutorial_1',['Basic Tutorial',['../md_docs_2basic__tutorial.html',1,'']]]
+];
diff --git a/docs/html/search/pages_2.js b/docs/html/search/pages_2.js
new file mode 100644
index 0000000..59895d7
--- /dev/null
+++ b/docs/html/search/pages_2.js
@@ -0,0 +1,15 @@
+var searchData=
+[
+  ['capabilities_0',['Securing Capabilities',['../md_docs_2securing__capabilities.html',1,'']]],
+  ['capabilities_20package_20development_20and_20deployment_1',['capabilities package development and deployment',['../md_docs_2setup.html',1,'Using Capabilities package (Development and Deployment)'],['../md_docs_2setup__with__dev.html',1,'Using Capabilities package (Development and Deployment)']]],
+  ['capabilities2_2',['Capabilities2',['../index.html',1,'']]],
+  ['capabilities2_20events_3',['Capabilities2 Events',['../md_capabilities2__events_2readme.html',1,'']]],
+  ['capabilities2_20models_4',['Capabilities2 Models',['../md_capabilities2__server_2include_2capabilities2__server_2models_2readme.html',1,'']]],
+  ['capabilities2_20msgs_5',['Capabilities2 msgs',['../md_capabilities2__msgs_2readme.html',1,'']]],
+  ['capabilities2_20server_6',['Capabilities2 Server',['../md_capabilities2__server_2readme.html',1,'']]],
+  ['capabilities2_5frunner_20plugin_20api_7',['capabilities2_runner plugin API',['../md_capabilities2__runner_2readme.html',1,'']]],
+  ['capability_8',['Registering a capability',['../md_capabilities2__server_2docs_2register.html',1,'']]],
+  ['capability_20usage_9',['Terminal based capability usage',['../md_capabilities2__server_2docs_2terminal__usage.html',1,'']]],
+  ['changelog_10',['Changelog',['../md_changelog.html',1,'']]],
+  ['creating_20runner_20plugins_11',['Creating Runner Plugins',['../md_capabilities2__runner_2docs_2create__runners.html',1,'']]]
+];
diff --git a/docs/html/search/pages_3.js b/docs/html/search/pages_3.js
new file mode 100644
index 0000000..ba6e326
--- /dev/null
+++ b/docs/html/search/pages_3.js
@@ -0,0 +1,7 @@
+var searchData=
+[
+  ['deployment_0',['deployment',['../md_docs_2setup.html',1,'Using Capabilities package (Development and Deployment)'],['../md_docs_2setup__with__dev.html',1,'Using Capabilities package (Development and Deployment)']]],
+  ['design_1',['Design',['../md_docs_2design.html',1,'']]],
+  ['development_20and_20deployment_2',['development and deployment',['../md_docs_2setup.html',1,'Using Capabilities package (Development and Deployment)'],['../md_docs_2setup__with__dev.html',1,'Using Capabilities package (Development and Deployment)']]],
+  ['docs_3',['Docs',['../md_docs_2readme.html',1,'']]]
+];
diff --git a/docs/html/search/pages_4.js b/docs/html/search/pages_4.js
new file mode 100644
index 0000000..4816093
--- /dev/null
+++ b/docs/html/search/pages_4.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['events_0',['Capabilities2 Events',['../md_capabilities2__events_2readme.html',1,'']]]
+];
diff --git a/docs/html/search/pages_5.js b/docs/html/search/pages_5.js
new file mode 100644
index 0000000..8292501
--- /dev/null
+++ b/docs/html/search/pages_5.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['format_0',['Parameter Format',['../md_capabilities2__runner_2docs_2parameter__format.html',1,'']]]
+];
diff --git a/docs/html/search/pages_6.js b/docs/html/search/pages_6.js
new file mode 100644
index 0000000..81ee070
--- /dev/null
+++ b/docs/html/search/pages_6.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['interfaces_0',['interfaces',['../md_docs_2interfaces.html',1,'Interfaces'],['../md_docs_2semantic__interfaces.html',1,'Semantic Interfaces']]]
+];
diff --git a/docs/html/search/pages_7.js b/docs/html/search/pages_7.js
new file mode 100644
index 0000000..9530f4f
--- /dev/null
+++ b/docs/html/search/pages_7.js
@@ -0,0 +1,4 @@
+var searchData=
+[
+  ['list_0',['TODO list',['../md_TODO.html',1,'']]]
+];
diff --git a/docs/html/search/pages_8.js b/docs/html/search/pages_8.js
new file mode 100644
index 0000000..891338a
--- /dev/null
+++ b/docs/html/search/pages_8.js
@@ -0,0 +1,6 @@
+var searchData=
+[
+  ['models_0',['Capabilities2 Models',['../md_capabilities2__server_2include_2capabilities2__server_2models_2readme.html',1,'']]],
+  ['motivation_1',['Motivation',['../md_docs_2motivation__and__examples.html',1,'']]],
+  ['msgs_2',['Capabilities2 msgs',['../md_capabilities2__msgs_2readme.html',1,'']]]
+];
diff --git a/docs/html/search/pages_9.js b/docs/html/search/pages_9.js
new file mode 100644
index 0000000..5c00869
--- /dev/null
+++ b/docs/html/search/pages_9.js
@@ -0,0 +1,9 @@
+var searchData=
+[
+  ['package_20development_20and_20deployment_0',['package development and deployment',['../md_docs_2setup.html',1,'Using Capabilities package (Development and Deployment)'],['../md_docs_2setup__with__dev.html',1,'Using Capabilities package (Development and Deployment)']]],
+  ['parameter_20format_1',['Parameter Format',['../md_capabilities2__runner_2docs_2parameter__format.html',1,'']]],
+  ['plugin_20api_2',['capabilities2_runner plugin API',['../md_capabilities2__runner_2readme.html',1,'']]],
+  ['plugins_3',['Creating Runner Plugins',['../md_capabilities2__runner_2docs_2create__runners.html',1,'']]],
+  ['providers_4',['Providers',['../md_docs_2providers.html',1,'']]],
+  ['pull_20request_20template_5',['Pull Request Template',['../md_pull__request__template.html',1,'']]]
+];
diff --git a/docs/html/search/pages_a.js b/docs/html/search/pages_a.js
new file mode 100644
index 0000000..4b0a792
--- /dev/null
+++ b/docs/html/search/pages_a.js
@@ -0,0 +1,7 @@
+var searchData=
+[
+  ['registering_20a_20capability_0',['Registering a capability',['../md_capabilities2__server_2docs_2register.html',1,'']]],
+  ['request_20template_1',['Pull Request Template',['../md_pull__request__template.html',1,'']]],
+  ['run_20test_20scripts_2',['Run test scripts',['../md_docs_2run__test__scripts.html',1,'']]],
+  ['runner_20plugins_3',['Creating Runner Plugins',['../md_capabilities2__runner_2docs_2create__runners.html',1,'']]]
+];
diff --git a/docs/html/search/pages_b.js b/docs/html/search/pages_b.js
new file mode 100644
index 0000000..f04ee7a
--- /dev/null
+++ b/docs/html/search/pages_b.js
@@ -0,0 +1,7 @@
+var searchData=
+[
+  ['scripts_0',['Run test scripts',['../md_docs_2run__test__scripts.html',1,'']]],
+  ['securing_20capabilities_1',['Securing Capabilities',['../md_docs_2securing__capabilities.html',1,'']]],
+  ['semantic_20interfaces_2',['Semantic Interfaces',['../md_docs_2semantic__interfaces.html',1,'']]],
+  ['server_3',['Capabilities2 Server',['../md_capabilities2__server_2readme.html',1,'']]]
+];
diff --git a/docs/html/search/pages_c.js b/docs/html/search/pages_c.js
new file mode 100644
index 0000000..5ef68e8
--- /dev/null
+++ b/docs/html/search/pages_c.js
@@ -0,0 +1,8 @@
+var searchData=
+[
+  ['template_0',['Pull Request Template',['../md_pull__request__template.html',1,'']]],
+  ['terminal_20based_20capability_20usage_1',['Terminal based capability usage',['../md_capabilities2__server_2docs_2terminal__usage.html',1,'']]],
+  ['test_20scripts_2',['Run test scripts',['../md_docs_2run__test__scripts.html',1,'']]],
+  ['todo_20list_3',['TODO list',['../md_TODO.html',1,'']]],
+  ['tutorial_4',['Basic Tutorial',['../md_docs_2basic__tutorial.html',1,'']]]
+];
diff --git a/docs/html/search/pages_d.js b/docs/html/search/pages_d.js
new file mode 100644
index 0000000..528fcca
--- /dev/null
+++ b/docs/html/search/pages_d.js
@@ -0,0 +1,5 @@
+var searchData=
+[
+  ['usage_0',['Terminal based capability usage',['../md_capabilities2__server_2docs_2terminal__usage.html',1,'']]],
+  ['using_20capabilities_20package_20development_20and_20deployment_1',['using capabilities package development and deployment',['../md_docs_2setup.html',1,'Using Capabilities package (Development and Deployment)'],['../md_docs_2setup__with__dev.html',1,'Using Capabilities package (Development and Deployment)']]]
+];
diff --git a/docs/html/search/search.css b/docs/html/search/search.css
new file mode 100644
index 0000000..19f76f9
--- /dev/null
+++ b/docs/html/search/search.css
@@ -0,0 +1,291 @@
+/*---------------- Search Box positioning */
+
+#main-menu > li:last-child {
+    /* This <li> object is the parent of the search bar */
+    display: flex;
+    justify-content: center;
+    align-items: center;
+    height: 36px;
+    margin-right: 1em;
+}
+
+/*---------------- Search box styling */
+
+.SRPage * {
+    font-weight: normal;
+    line-height: normal;
+}
+
+dark-mode-toggle {
+    margin-left: 5px;
+    display: flex;
+    float: right;
+}
+
+#MSearchBox {
+    display: inline-block;
+    white-space : nowrap;
+    background: var(--search-background-color);
+    border-radius: 0.65em;
+    box-shadow: var(--search-box-shadow);
+    z-index: 102;
+}
+
+#MSearchBox .left {
+    display: inline-block;
+    vertical-align: middle;
+    height: 1.4em;
+}
+
+#MSearchSelect {
+    display: inline-block;
+    vertical-align: middle;
+    width: 20px;
+    height: 19px;
+    background-image: var(--search-magnification-select-image);
+    margin: 0 0 0 0.3em;
+    padding: 0;
+}
+
+#MSearchSelectExt {
+    display: inline-block;
+    vertical-align: middle;
+    width: 10px;
+    height: 19px;
+    background-image: var(--search-magnification-image);
+    margin: 0 0 0 0.5em;
+    padding: 0;
+}
+
+
+#MSearchField {
+    display: inline-block;
+    vertical-align: middle;
+    width: 7.5em;
+    height: 19px;
+    margin: 0 0.15em;
+    padding: 0;
+    line-height: 1em;
+    border:none;
+    color: var(--search-foreground-color);
+    outline: none;
+    font-family: var(--font-family-search);
+    -webkit-border-radius: 0px;
+    border-radius: 0px;
+    background: none;
+}
+
+@media(hover: none) {
+    /* to avoid zooming on iOS */
+    #MSearchField {
+        font-size: 16px;
+    }
+}
+
+#MSearchBox .right {
+    display: inline-block;
+    vertical-align: middle;
+    width: 1.4em;
+    height: 1.4em;
+}
+
+#MSearchClose {
+    display: none;
+    font-size: inherit;
+    background : none;
+    border: none;
+    margin: 0;
+    padding: 0;
+    outline: none;
+
+}
+
+#MSearchCloseImg {
+    padding: 0.3em;
+    margin: 0;
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--search-active-color);
+}
+
+
+
+/*---------------- Search filter selection */
+
+#MSearchSelectWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-filter-border-color);
+    background-color: var(--search-filter-background-color);
+    z-index: 10001;
+    padding-top: 4px;
+    padding-bottom: 4px;
+    -moz-border-radius: 4px;
+    -webkit-border-top-left-radius: 4px;
+    -webkit-border-top-right-radius: 4px;
+    -webkit-border-bottom-left-radius: 4px;
+    -webkit-border-bottom-right-radius: 4px;
+    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
+}
+
+.SelectItem {
+    font: 8pt var(--font-family-search);
+    padding-left:  2px;
+    padding-right: 12px;
+    border: 0px;
+}
+
+span.SelectionMark {
+    margin-right: 4px;
+    font-family: var(--font-family-monospace);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem {
+    display: block;
+    outline-style: none;
+    color: var(--search-filter-foreground-color);
+    text-decoration: none;
+    padding-left:   6px;
+    padding-right: 12px;
+}
+
+a.SelectItem:focus,
+a.SelectItem:active {
+    color: var(--search-filter-foreground-color);
+    outline-style: none;
+    text-decoration: none;
+}
+
+a.SelectItem:hover {
+    color: var(--search-filter-highlight-text-color);
+    background-color: var(--search-filter-highlight-bg-color);
+    outline-style: none;
+    text-decoration: none;
+    cursor: pointer;
+    display: block;
+}
+
+/*---------------- Search results window */
+
+iframe#MSearchResults {
+    /*width: 60ex;*/
+    height: 15em;
+}
+
+#MSearchResultsWindow {
+    display: none;
+    position: absolute;
+    left: 0; top: 0;
+    border: 1px solid var(--search-results-border-color);
+    background-color: var(--search-results-background-color);
+    z-index:10000;
+    width: 300px;
+    height: 400px;
+    overflow: auto;
+}
+
+/* ----------------------------------- */
+
+
+#SRIndex {
+    clear:both; 
+}
+
+.SREntry {
+    font-size: 10pt;
+    padding-left: 1ex;
+}
+
+.SRPage .SREntry {
+    font-size: 8pt;
+    padding: 1px 5px;
+}
+
+div.SRPage {
+    margin: 5px 2px;
+    background-color: var(--search-results-background-color);
+}
+
+.SRChildren {
+    padding-left: 3ex; padding-bottom: .5em 
+}
+
+.SRPage .SRChildren {
+    display: none;
+}
+
+.SRSymbol {
+    font-weight: bold;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRScope {
+    display: block;
+    color: var(--search-results-foreground-color);
+    font-family: var(--font-family-search);
+    font-size: 8pt;
+    text-decoration: none;
+    outline: none;
+}
+
+a.SRSymbol:focus, a.SRSymbol:active,
+a.SRScope:focus, a.SRScope:active {
+    text-decoration: underline;
+}
+
+span.SRScope {
+    padding-left: 4px;
+    font-family: var(--font-family-search);
+}
+
+.SRPage .SRStatus {
+    padding: 2px 5px;
+    font-size: 8pt;
+    font-style: italic;
+    font-family: var(--font-family-search);
+}
+
+.SRResult {
+    display: none;
+}
+
+div.searchresults {
+    margin-left: 10px;
+    margin-right: 10px;
+}
+
+/*---------------- External search page results */
+
+.pages b {
+   color: white;
+   padding: 5px 5px 3px 5px;
+   background-image: var(--nav-gradient-active-image-parent);
+   background-repeat: repeat-x;
+   text-shadow: 0 1px 1px #000000;
+}
+
+.pages {
+    line-height: 17px;
+    margin-left: 4px;
+    text-decoration: none;
+}
+
+.hl {
+    font-weight: bold;
+}
+
+#searchresults {
+    margin-bottom: 20px;
+}
+
+.searchpages {
+    margin-top: 10px;
+}
+
diff --git a/docs/html/search/search.js b/docs/html/search/search.js
new file mode 100644
index 0000000..6fd40c6
--- /dev/null
+++ b/docs/html/search/search.js
@@ -0,0 +1,840 @@
+/*
+ @licstart  The following is the entire license notice for the JavaScript code in this file.
+
+ The MIT License (MIT)
+
+ Copyright (C) 1997-2020 by Dimitri van Heesch
+
+ Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ and associated documentation files (the "Software"), to deal in the Software without restriction,
+ including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ furnished to do so, subject to the following conditions:
+
+ The above copyright notice and this permission notice shall be included in all copies or
+ substantial portions of the Software.
+
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+ @licend  The above is the entire license notice for the JavaScript code in this file
+ */
+function convertToId(search)
+{
+  var result = '';
+  for (i=0;i<search.length;i++)
+  {
+    var c = search.charAt(i);
+    var cn = c.charCodeAt(0);
+    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
+    {
+      result+=c;
+    }
+    else if (cn<16)
+    {
+      result+="_0"+cn.toString(16);
+    }
+    else
+    {
+      result+="_"+cn.toString(16);
+    }
+  }
+  return result;
+}
+
+function getXPos(item)
+{
+  var x = 0;
+  if (item.offsetWidth)
+  {
+    while (item && item!=document.body)
+    {
+      x   += item.offsetLeft;
+      item = item.offsetParent;
+    }
+  }
+  return x;
+}
+
+function getYPos(item)
+{
+  var y = 0;
+  if (item.offsetWidth)
+  {
+     while (item && item!=document.body)
+     {
+       y   += item.offsetTop;
+       item = item.offsetParent;
+     }
+  }
+  return y;
+}
+
+var searchResults = new SearchResults("searchResults");
+
+/* A class handling everything associated with the search panel.
+
+   Parameters:
+   name - The name of the global variable that will be
+          storing this instance.  Is needed to be able to set timeouts.
+   resultPath - path to use for external files
+*/
+function SearchBox(name, resultsPath, extension)
+{
+  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
+  if (!extension || extension == "") { extension = ".html"; }
+
+  // ---------- Instance variables
+  this.name                  = name;
+  this.resultsPath           = resultsPath;
+  this.keyTimeout            = 0;
+  this.keyTimeoutLength      = 500;
+  this.closeSelectionTimeout = 300;
+  this.lastSearchValue       = "";
+  this.lastResultsPage       = "";
+  this.hideTimeout           = 0;
+  this.searchIndex           = 0;
+  this.searchActive          = false;
+  this.extension             = extension;
+
+  // ----------- DOM Elements
+
+  this.DOMSearchField = function()
+  {  return document.getElementById("MSearchField");  }
+
+  this.DOMSearchSelect = function()
+  {  return document.getElementById("MSearchSelect");  }
+
+  this.DOMSearchSelectWindow = function()
+  {  return document.getElementById("MSearchSelectWindow");  }
+
+  this.DOMPopupSearchResults = function()
+  {  return document.getElementById("MSearchResults");  }
+
+  this.DOMPopupSearchResultsWindow = function()
+  {  return document.getElementById("MSearchResultsWindow");  }
+
+  this.DOMSearchClose = function()
+  {  return document.getElementById("MSearchClose"); }
+
+  this.DOMSearchBox = function()
+  {  return document.getElementById("MSearchBox");  }
+
+  // ------------ Event Handlers
+
+  // Called when focus is added or removed from the search field.
+  this.OnSearchFieldFocus = function(isActive)
+  {
+    this.Activate(isActive);
+  }
+
+  this.OnSearchSelectShow = function()
+  {
+    var searchSelectWindow = this.DOMSearchSelectWindow();
+    var searchField        = this.DOMSearchSelect();
+
+    var left = getXPos(searchField);
+    var top  = getYPos(searchField);
+    top += searchField.offsetHeight;
+
+    // show search selection popup
+    searchSelectWindow.style.display='block';
+    searchSelectWindow.style.left =  left + 'px';
+    searchSelectWindow.style.top  =  top  + 'px';
+
+    // stop selection hide timer
+    if (this.hideTimeout)
+    {
+      clearTimeout(this.hideTimeout);
+      this.hideTimeout=0;
+    }
+    return false; // to avoid "image drag" default event
+  }
+
+  this.OnSearchSelectHide = function()
+  {
+    this.hideTimeout = setTimeout(this.CloseSelectionWindow.bind(this),
+                                  this.closeSelectionTimeout);
+  }
+
+  // Called when the content of the search field is changed.
+  this.OnSearchFieldChange = function(evt)
+  {
+    if (this.keyTimeout) // kill running timer
+    {
+      clearTimeout(this.keyTimeout);
+      this.keyTimeout = 0;
+    }
+
+    var e  = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 || e.keyCode==13)
+    {
+      if (e.shiftKey==1)
+      {
+        this.OnSearchSelectShow();
+        var win=this.DOMSearchSelectWindow();
+        for (i=0;i<win.childNodes.length;i++)
+        {
+          var child = win.childNodes[i]; // get span within a
+          if (child.className=='SelectItem')
+          {
+            child.focus();
+            return;
+          }
+        }
+        return;
+      }
+      else
+      {
+        var elem = searchResults.NavNext(0);
+        if (elem) elem.focus();
+      }
+    }
+    else if (e.keyCode==27) // Escape out of the search field
+    {
+      e.stopPropagation();
+      this.DOMSearchField().blur();
+      this.DOMPopupSearchResultsWindow().style.display = 'none';
+      this.DOMSearchClose().style.display = 'none';
+      this.lastSearchValue = '';
+      this.Activate(false);
+      return;
+    }
+
+    // strip whitespaces
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+
+    if (searchValue != this.lastSearchValue) // search value has changed
+    {
+      if (searchValue != "") // non-empty search
+      {
+        // set timer for search update
+        this.keyTimeout = setTimeout(this.Search.bind(this),
+                                     this.keyTimeoutLength);
+      }
+      else // empty search field
+      {
+        this.DOMPopupSearchResultsWindow().style.display = 'none';
+        this.DOMSearchClose().style.display = 'none';
+        this.lastSearchValue = '';
+      }
+    }
+  }
+
+  this.SelectItemCount = function(id)
+  {
+    var count=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        count++;
+      }
+    }
+    return count;
+  }
+
+  this.SelectItemSet = function(id)
+  {
+    var i,j=0;
+    var win=this.DOMSearchSelectWindow();
+    for (i=0;i<win.childNodes.length;i++)
+    {
+      var child = win.childNodes[i]; // get span within a
+      if (child.className=='SelectItem')
+      {
+        var node = child.firstChild;
+        if (j==id)
+        {
+          node.innerHTML='&#8226;';
+        }
+        else
+        {
+          node.innerHTML='&#160;';
+        }
+        j++;
+      }
+    }
+  }
+
+  // Called when an search filter selection is made.
+  // set item with index id as the active item
+  this.OnSelectItem = function(id)
+  {
+    this.searchIndex = id;
+    this.SelectItemSet(id);
+    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
+    if (searchValue!="" && this.searchActive) // something was found -> do a search
+    {
+      this.Search();
+    }
+  }
+
+  this.OnSearchSelectKey = function(evt)
+  {
+    var e = (evt) ? evt : window.event; // for IE
+    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
+    {
+      this.searchIndex++;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==38 && this.searchIndex>0) // Up
+    {
+      this.searchIndex--;
+      this.OnSelectItem(this.searchIndex);
+    }
+    else if (e.keyCode==13 || e.keyCode==27)
+    {
+      e.stopPropagation();
+      this.OnSelectItem(this.searchIndex);
+      this.CloseSelectionWindow();
+      this.DOMSearchField().focus();
+    }
+    return false;
+  }
+
+  // --------- Actions
+
+  // Closes the results window.
+  this.CloseResultsWindow = function()
+  {
+    this.DOMPopupSearchResultsWindow().style.display = 'none';
+    this.DOMSearchClose().style.display = 'none';
+    this.Activate(false);
+  }
+
+  this.CloseSelectionWindow = function()
+  {
+    this.DOMSearchSelectWindow().style.display = 'none';
+  }
+
+  // Performs a search.
+  this.Search = function()
+  {
+    this.keyTimeout = 0;
+
+    // strip leading whitespace
+    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
+
+    var code = searchValue.toLowerCase().charCodeAt(0);
+    var idxChar = searchValue.substr(0, 1).toLowerCase();
+    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
+    {
+      idxChar = searchValue.substr(0, 2);
+    }
+
+    var jsFile;
+
+    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
+    if (idx!=-1)
+    {
+       var hexCode=idx.toString(16);
+       jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js';
+    }
+
+    var loadJS = function(url, impl, loc){
+      var scriptTag = document.createElement('script');
+      scriptTag.src = url;
+      scriptTag.onload = impl;
+      scriptTag.onreadystatechange = impl;
+      loc.appendChild(scriptTag);
+    }
+
+    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
+    var domSearchBox = this.DOMSearchBox();
+    var domPopupSearchResults = this.DOMPopupSearchResults();
+    var domSearchClose = this.DOMSearchClose();
+    var resultsPath = this.resultsPath;
+
+    var handleResults = function() {
+      document.getElementById("Loading").style.display="none";
+      if (typeof searchData !== 'undefined') {
+        createResults(resultsPath);
+        document.getElementById("NoMatches").style.display="none";
+      }
+ 
+      if (idx!=-1) {
+        searchResults.Search(searchValue);
+      } else { // no file with search results => force empty search results
+        searchResults.Search('====');
+      }
+
+      if (domPopupSearchResultsWindow.style.display!='block')
+      {
+        domSearchClose.style.display = 'inline-block';
+        var left = getXPos(domSearchBox) + 150;
+        var top  = getYPos(domSearchBox) + 20;
+        domPopupSearchResultsWindow.style.display = 'block';
+        left -= domPopupSearchResults.offsetWidth;
+        var maxWidth  = document.body.clientWidth;
+        var maxHeight = document.body.clientHeight;
+        var width = 300;
+        if (left<10) left=10;
+        if (width+left+8>maxWidth) width=maxWidth-left-8;
+        var height = 400;
+        if (height+top+8>maxHeight) height=maxHeight-top-8;
+        domPopupSearchResultsWindow.style.top     = top  + 'px';
+        domPopupSearchResultsWindow.style.left    = left + 'px';
+        domPopupSearchResultsWindow.style.width   = width + 'px';
+        domPopupSearchResultsWindow.style.height  = height + 'px';
+      }
+    }
+
+    if (jsFile) {
+      loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow());
+    } else {
+      handleResults();
+    }
+
+    this.lastSearchValue = searchValue;
+  }
+
+  // -------- Activation Functions
+
+  // Activates or deactivates the search panel, resetting things to
+  // their default values if necessary.
+  this.Activate = function(isActive)
+  {
+    if (isActive || // open it
+        this.DOMPopupSearchResultsWindow().style.display == 'block'
+       )
+    {
+      this.DOMSearchBox().className = 'MSearchBoxActive';
+      this.searchActive = true;
+    }
+    else if (!isActive) // directly remove the panel
+    {
+      this.DOMSearchBox().className = 'MSearchBoxInactive';
+      this.searchActive             = false;
+      this.lastSearchValue          = ''
+      this.lastResultsPage          = '';
+      this.DOMSearchField().value   = '';
+    }
+  }
+}
+
+// -----------------------------------------------------------------------
+
+// The class that handles everything on the search results page.
+function SearchResults(name)
+{
+    // The number of matches from the last run of <Search()>.
+    this.lastMatchCount = 0;
+    this.lastKey = 0;
+    this.repeatOn = false;
+
+    // Toggles the visibility of the passed element ID.
+    this.FindChildElement = function(id)
+    {
+      var parentElement = document.getElementById(id);
+      var element = parentElement.firstChild;
+
+      while (element && element!=parentElement)
+      {
+        if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren')
+        {
+          return element;
+        }
+
+        if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes())
+        {
+           element = element.firstChild;
+        }
+        else if (element.nextSibling)
+        {
+           element = element.nextSibling;
+        }
+        else
+        {
+          do
+          {
+            element = element.parentNode;
+          }
+          while (element && element!=parentElement && !element.nextSibling);
+
+          if (element && element!=parentElement)
+          {
+            element = element.nextSibling;
+          }
+        }
+      }
+    }
+
+    this.Toggle = function(id)
+    {
+      var element = this.FindChildElement(id);
+      if (element)
+      {
+        if (element.style.display == 'block')
+        {
+          element.style.display = 'none';
+        }
+        else
+        {
+          element.style.display = 'block';
+        }
+      }
+    }
+
+    // Searches for the passed string.  If there is no parameter,
+    // it takes it from the URL query.
+    //
+    // Always returns true, since other documents may try to call it
+    // and that may or may not be possible.
+    this.Search = function(search)
+    {
+      if (!search) // get search word from URL
+      {
+        search = window.location.search;
+        search = search.substring(1);  // Remove the leading '?'
+        search = unescape(search);
+      }
+
+      search = search.replace(/^ +/, ""); // strip leading spaces
+      search = search.replace(/ +$/, ""); // strip trailing spaces
+      search = search.toLowerCase();
+      search = convertToId(search);
+
+      var resultRows = document.getElementsByTagName("div");
+      var matches = 0;
+
+      var i = 0;
+      while (i < resultRows.length)
+      {
+        var row = resultRows.item(i);
+        if (row.className == "SRResult")
+        {
+          var rowMatchName = row.id.toLowerCase();
+          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
+
+          if (search.length<=rowMatchName.length &&
+             rowMatchName.substr(0, search.length)==search)
+          {
+            row.style.display = 'block';
+            matches++;
+          }
+          else
+          {
+            row.style.display = 'none';
+          }
+        }
+        i++;
+      }
+      document.getElementById("Searching").style.display='none';
+      if (matches == 0) // no results
+      {
+        document.getElementById("NoMatches").style.display='block';
+      }
+      else // at least one result
+      {
+        document.getElementById("NoMatches").style.display='none';
+      }
+      this.lastMatchCount = matches;
+      return true;
+    }
+
+    // return the first item with index index or higher that is visible
+    this.NavNext = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index++;
+      }
+      return focusItem;
+    }
+
+    this.NavPrev = function(index)
+    {
+      var focusItem;
+      while (1)
+      {
+        var focusName = 'Item'+index;
+        focusItem = document.getElementById(focusName);
+        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
+        {
+          break;
+        }
+        else if (!focusItem) // last element
+        {
+          break;
+        }
+        focusItem=null;
+        index--;
+      }
+      return focusItem;
+    }
+
+    this.ProcessKeys = function(e)
+    {
+      if (e.type == "keydown")
+      {
+        this.repeatOn = false;
+        this.lastKey = e.keyCode;
+      }
+      else if (e.type == "keypress")
+      {
+        if (!this.repeatOn)
+        {
+          if (this.lastKey) this.repeatOn = true;
+          return false; // ignore first keypress after keydown
+        }
+      }
+      else if (e.type == "keyup")
+      {
+        this.lastKey = 0;
+        this.repeatOn = false;
+      }
+      return this.lastKey!=0;
+    }
+
+    this.Nav = function(evt,itemIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        var newIndex = itemIndex-1;
+        var focusItem = this.NavPrev(newIndex);
+        if (focusItem)
+        {
+          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
+          if (child && child.style.display == 'block') // children visible
+          {
+            var n=0;
+            var tmpElem;
+            while (1) // search for last child
+            {
+              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
+              if (tmpElem)
+              {
+                focusItem = tmpElem;
+              }
+              else // found it!
+              {
+                break;
+              }
+              n++;
+            }
+          }
+        }
+        if (focusItem)
+        {
+          focusItem.focus();
+        }
+        else // return focus to search field
+        {
+           document.getElementById("MSearchField").focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = itemIndex+1;
+        var focusItem;
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem && elem.style.display == 'block') // children visible
+        {
+          focusItem = document.getElementById('Item'+itemIndex+'_c0');
+        }
+        if (!focusItem) focusItem = this.NavNext(newIndex);
+        if (focusItem)  focusItem.focus();
+      }
+      else if (this.lastKey==39) // Right
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'block';
+      }
+      else if (this.lastKey==37) // Left
+      {
+        var item = document.getElementById('Item'+itemIndex);
+        var elem = this.FindChildElement(item.parentNode.parentNode.id);
+        if (elem) elem.style.display = 'none';
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        e.stopPropagation();
+        searchBox.CloseResultsWindow();
+        document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+
+    this.NavChild = function(evt,itemIndex,childIndex)
+    {
+      var e  = (evt) ? evt : window.event; // for IE
+      if (e.keyCode==13) return true;
+      if (!this.ProcessKeys(e)) return false;
+
+      if (this.lastKey==38) // Up
+      {
+        if (childIndex>0)
+        {
+          var newIndex = childIndex-1;
+          document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
+        }
+        else // already at first child, jump to parent
+        {
+          document.getElementById('Item'+itemIndex).focus();
+        }
+      }
+      else if (this.lastKey==40) // Down
+      {
+        var newIndex = childIndex+1;
+        var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
+        if (!elem) // last child, jump to parent next parent
+        {
+          elem = this.NavNext(itemIndex+1);
+        }
+        if (elem)
+        {
+          elem.focus();
+        }
+      }
+      else if (this.lastKey==27) // Escape
+      {
+        e.stopPropagation();
+        searchBox.CloseResultsWindow();
+        document.getElementById("MSearchField").focus();
+      }
+      else if (this.lastKey==13) // Enter
+      {
+        return true;
+      }
+      return false;
+    }
+}
+
+function setKeyActions(elem,action)
+{
+  elem.setAttribute('onkeydown',action);
+  elem.setAttribute('onkeypress',action);
+  elem.setAttribute('onkeyup',action);
+}
+
+function setClassAttr(elem,attr)
+{
+  elem.setAttribute('class',attr);
+  elem.setAttribute('className',attr);
+}
+
+function createResults(resultsPath)
+{
+  var results = document.getElementById("SRResults");
+  results.innerHTML = '';
+  for (var e=0; e<searchData.length; e++)
+  {
+    var id = searchData[e][0];
+    var srResult = document.createElement('div');
+    srResult.setAttribute('id','SR_'+id);
+    setClassAttr(srResult,'SRResult');
+    var srEntry = document.createElement('div');
+    setClassAttr(srEntry,'SREntry');
+    var srLink = document.createElement('a');
+    srLink.setAttribute('id','Item'+e);
+    setKeyActions(srLink,'return searchResults.Nav(event,'+e+')');
+    setClassAttr(srLink,'SRSymbol');
+    srLink.innerHTML = searchData[e][1][0];
+    srEntry.appendChild(srLink);
+    if (searchData[e][1].length==2) // single result
+    {
+      srLink.setAttribute('href',resultsPath+searchData[e][1][1][0]);
+      srLink.setAttribute('onclick','searchBox.CloseResultsWindow()');
+      if (searchData[e][1][1][1])
+      {
+       srLink.setAttribute('target','_parent');
+      }
+      else
+      {
+       srLink.setAttribute('target','_blank');
+      }
+      var srScope = document.createElement('span');
+      setClassAttr(srScope,'SRScope');
+      srScope.innerHTML = searchData[e][1][1][2];
+      srEntry.appendChild(srScope);
+    }
+    else // multiple results
+    {
+      srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
+      var srChildren = document.createElement('div');
+      setClassAttr(srChildren,'SRChildren');
+      for (var c=0; c<searchData[e][1].length-1; c++)
+      {
+        var srChild = document.createElement('a');
+        srChild.setAttribute('id','Item'+e+'_c'+c);
+        setKeyActions(srChild,'return searchResults.NavChild(event,'+e+','+c+')');
+        setClassAttr(srChild,'SRScope');
+        srChild.setAttribute('href',resultsPath+searchData[e][1][c+1][0]);
+        srChild.setAttribute('onclick','searchBox.CloseResultsWindow()');
+        if (searchData[e][1][c+1][1])
+        {
+         srChild.setAttribute('target','_parent');
+        }
+        else
+        {
+         srChild.setAttribute('target','_blank');
+        }
+        srChild.innerHTML = searchData[e][1][c+1][2];
+        srChildren.appendChild(srChild);
+      }
+      srEntry.appendChild(srChildren);
+    }
+    srResult.appendChild(srEntry);
+    results.appendChild(srResult);
+  }
+}
+
+function init_search()
+{
+  var results = document.getElementById("MSearchSelectWindow");
+  results.tabIndex=0;
+  for (var key in indexSectionLabels)
+  {
+    var link = document.createElement('a');
+    link.setAttribute('class','SelectItem');
+    link.setAttribute('onclick','searchBox.OnSelectItem('+key+')');
+    link.href='javascript:void(0)';
+    link.innerHTML='<span class="SelectionMark">&#160;</span>'+indexSectionLabels[key];
+    results.appendChild(link);
+  }
+  searchBox.OnSelectItem(0);
+
+  var input = document.getElementById("MSearchSelect");
+  var searchSelectWindow = document.getElementById("MSearchSelectWindow");
+  input.tabIndex=0;
+  input.addEventListener("keydown", function(event) {
+    if (event.keyCode==13 || event.keyCode==40) {
+      event.preventDefault();
+      if (searchSelectWindow.style.display == 'block') {
+        searchBox.CloseSelectionWindow();
+      } else {
+        searchBox.OnSearchSelectShow();
+        searchBox.DOMSearchSelectWindow().focus();
+      }
+    }
+  });
+}
+/* @license-end */
diff --git a/docs/html/search/searchdata.js b/docs/html/search/searchdata.js
new file mode 100644
index 0000000..d4b28ab
--- /dev/null
+++ b/docs/html/search/searchdata.js
@@ -0,0 +1,42 @@
+var indexSectionsWithContent =
+{
+  0: "012_abcdefghiklmnopqrstuvwxy~",
+  1: "abcdeghilmnoprstu",
+  2: "c",
+  3: "abcdeghilmnprstu",
+  4: "_abcdefghilmoprstuw~",
+  5: "abcdefghiklmnoprstuvw",
+  6: "acept",
+  7: "o",
+  8: "bdisuv",
+  9: "abcdefilmprstu"
+};
+
+var indexSectionNames =
+{
+  0: "all",
+  1: "classes",
+  2: "namespaces",
+  3: "files",
+  4: "functions",
+  5: "variables",
+  6: "typedefs",
+  7: "enums",
+  8: "enumvalues",
+  9: "pages"
+};
+
+var indexSectionLabels =
+{
+  0: "All",
+  1: "Classes",
+  2: "Namespaces",
+  3: "Files",
+  4: "Functions",
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+<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_1bf5b06d15e554f4d54614040e1e0b2d.html">models</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">semantic_interface.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="semantic__interface_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;<a class="code" href="header_8hpp.html">capabilities2_server/models/header.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="remappable__base_8hpp.html">capabilities2_server/models/remappable_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;<a class="code" href="predicateable__base_8hpp.html">capabilities2_server/models/predicateable_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="sql__safe_8hpp.html">capabilities2_server/utils/sql_safe.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span>models</div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="comment">// semantic interface model definition</span></div>
+<div class="foldopen" id="foldopen00024" data-start="{" data-end="};">
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">   24</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">semantic_interface_model_t</a> : <span class="keyword">public</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">remappable_base_t</a>, <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">predicateable_base_t</a></div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>{</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">   26</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>;</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">   27</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">redefines</a>;</div>
+<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">   28</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">global_namespace</a>;</div>
+<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">   29</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">remappings_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">remappings</a>;</div>
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
+<div class="foldopen" id="foldopen00031" data-start="{" data-end="}">
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a1c82841795835d4359d6bc1fd40b9f26">   31</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a1c82841795835d4359d6bc1fd40b9f26">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  {</div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a>(node);</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">redefines</a> = node[<span class="stringliteral">&quot;redefines&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">global_namespace</a> = node[<span class="stringliteral">&quot;global_namespace&quot;</span>].as&lt;std::string&gt;();</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="comment">// if remappings exist</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;remappings&quot;</span>])</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    {</div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>      <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">from_yaml</a>(node[<span class="stringliteral">&quot;remappings&quot;</span>]);</div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    }</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>  }</div>
+</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
+<div class="foldopen" id="foldopen00043" data-start="{" data-end="}">
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a27bcd752bad7f0e68baaa7754a6221c5">   43</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a27bcd752bad7f0e68baaa7754a6221c5">to_yaml</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    YAML::Node node = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>();</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    node[<span class="stringliteral">&quot;redefines&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">redefines</a>;</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    node[<span class="stringliteral">&quot;global_namespace&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">global_namespace</a>;</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    node[<span class="stringliteral">&quot;remappings&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">to_yaml</a>();</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="keywordflow">return</span> node;</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  };</div>
+</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="foldopen" id="foldopen00052" data-start="{" data-end="}">
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a189e051f8785603c611c13a71f202fdd">   52</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a189e051f8785603c611c13a71f202fdd">to_sql_table</a>()</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>  {</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="comment">// redefines is foreign key to interfaces</span></div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">header_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;, redefines TEXT NOT NULL, global_namespace TEXT, remappings TEXT, &quot;</span></div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                                            <span class="stringliteral">&quot;FOREIGN KEY(redefines) REFERENCES interfaces(name)&quot;</span>;</div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>  }</div>
+</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">   59</a></span>  std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">to_sql_values</a>()<span class="keyword"> const</span></div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">to_sql_values</a>() + <span class="stringliteral">&quot;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">redefines</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">global_namespace</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> +</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>           <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(YAML::Dump(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">to_yaml</a>())) + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  }</div>
+</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>};</div>
+</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>}  <span class="comment">// namespace models</span></div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="aheader_8hpp_html"><div class="ttname"><a href="header_8hpp.html">header.hpp</a></div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html_aee2e1db0d5ab5e2c6252db5378dc9d53"><div class="ttname"><a href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server::to_sql_safe</a></div><div class="ttdeci">std::string to_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a generic std::string to a sql safe std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:15</div></div>
+<div class="ttc" id="apredicateable__base_8hpp_html"><div class="ttname"><a href="predicateable__base_8hpp.html">predicateable_base.hpp</a></div></div>
+<div class="ttc" id="aremappable__base_8hpp_html"><div class="ttname"><a href="remappable__base_8hpp.html">remappable_base.hpp</a></div></div>
+<div class="ttc" id="asql__safe_8hpp_html"><div class="ttname"><a href="sql__safe_8hpp.html">sql_safe.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a184f5969009afde38cf0933b73f58576"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> header.hpp:47</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a5df92e5526b56a061f1b87057926f8f1"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">capabilities2_server::models::header_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> header.hpp:72</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_aaf1c85918945d7e2468748b32c840608"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">capabilities2_server::models::header_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> header.hpp:65</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicateable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">capabilities2_server::models::predicateable_base_t</a></div><div class="ttdoc">predicateable model base type</div><div class="ttdef"><b>Definition</b> predicateable_base.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">capabilities2_server::models::remappable_base_t</a></div><div class="ttdoc">remappable base model definition</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:17</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">capabilities2_server::models::remappings_model_t</a></div><div class="ttdef"><b>Definition</b> remapping.hpp:43</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a528143f92b13f7633859774443ee7adc"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">capabilities2_server::models::remappings_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> remapping.hpp:92</div></div>
+<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_afc4a97cb962d255f268dbe6970ac59a8"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">capabilities2_server::models::remappings_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> remapping.hpp:49</div></div>
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+  <div class="headertitle"><div class="title">service_runner.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="service__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;chrono&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="threadtrigger__runner_8hpp.html">capabilities2_runner/threadtrigger_runner.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> ServiceT&gt;</div>
+<div class="foldopen" id="foldopen00016" data-start="{" data-end="};">
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html">   16</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1ServiceRunner.html">ServiceRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00022" data-start="{" data-end="}">
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">   22</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">ServiceRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a>()</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  {</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  }</div>
+</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">   33</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">init_service</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>                            <span class="keyword">const</span> std::string&amp; service_name)</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="comment">// initialize the runner base by storing node pointer and run config</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(node, run_config);</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="comment">// create a service client</span></div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a> = <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;create_client&lt;ServiceT&gt;(service_name);</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="comment">// wait for service server</span></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;waiting for service: %s&quot;</span>, service_name.c_str());</div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a>-&gt;wait_for_service(std::chrono::seconds(3)))</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    {</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to connect to service: %s&quot;</span>, service_name.c_str());</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;failed to connect to server&quot;</span>);</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    }</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;connected with service: %s&quot;</span>, service_name.c_str());</div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>  }</div>
+</div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
+<div class="foldopen" id="foldopen00058" data-start="{" data-end="}">
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">   58</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="comment">// if the node pointer is empty then throw an error</span></div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="comment">// this means that the runner was not started and is being used out of order</span></div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>)</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner that was not started&quot;</span>);</div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="comment">// throw an error if the service client is null</span></div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// this can happen if the runner is not able to find the action resource</span></div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
+<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a>)</div>
+<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner action that was not started&quot;</span>);</div>
+<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
+<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="comment">// emit stopped event</span></div>
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>());</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;runner cleaned. stopping..&quot;</span>);</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>  }</div>
+</div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="keyword">protected</span>:</div>
+<div class="foldopen" id="foldopen00087" data-start="{" data-end="}">
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">   87</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// split thread_id to get bond_id and instance_id (format: &quot;bond_id/instance_id&quot;)</span></div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">ThreadTriggerRunner::bond_from_thread_id</a>(thread_id);</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    std::string instance_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">ThreadTriggerRunner::instance_from_thread_id</a>(thread_id);</div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="comment">// generate a goal from parameters if provided</span></div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="keyword">auto</span> request_msg = std::make_shared&lt;typename ServiceT::Request&gt;(<a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">generate_request</a>(parameters));</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;request generated for event :%s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    std::mutex block_mutex;</div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    std::unique_lock&lt;std::mutex&gt; lock(block_mutex);</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    std::condition_variable cv;</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordtype">bool</span> completed = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="keyword">auto</span> result_future = <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a>-&gt;async_send_request(</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        request_msg, [<span class="keyword">this</span>,  &amp;instance_id, &amp;completed, &amp;bond_id, &amp;cv](<span class="keyword">typename</span> rclcpp::Client&lt;ServiceT&gt;::SharedFuture future) {</div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>          <span class="keywordflow">if</span> (!future.valid())</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>          {</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>            RCLCPP_ERROR(node_-&gt;get_logger(), <span class="stringliteral">&quot;get result call failed&quot;</span>);</div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>            <span class="comment">// emit failed event</span></div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>            emit_failed(bond_id, instance_id, param_on_failure());</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>          }</div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>          <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>          {</div>
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>            RCLCPP_INFO(node_-&gt;get_logger(), <span class="stringliteral">&quot;get result call succeeded for event :%s&quot;</span>, instance_id.c_str());</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>            response_ = future.get();</div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>            process_response(response_);</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>            <span class="comment">// emit success event</span></div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>            emit_succeeded(bond_id, instance_id, param_on_success());</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>          }</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>          completed = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>          cv.notify_all();</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        });</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="comment">// Conditional wait</span></div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    cv.wait(lock, [&amp;completed] { <span class="keywordflow">return</span> completed; });</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Service request complete. Thread closing.&quot;</span>);</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>  }</div>
+</div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">  144</a></span>  <span class="keyword">virtual</span> <span class="keyword">typename</span> ServiceT::Request <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">generate_request</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters) = 0;</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
+<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#a20fd8d22e15f75d7acb79663fec67f6c">  156</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#a20fd8d22e15f75d7acb79663fec67f6c">process_response</a>(<span class="keyword">typename</span> ServiceT::Response::SharedPtr <span class="comment">/*response*/</span>) {}</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
+<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">  158</a></span>  <span class="keyword">typename</span> rclcpp::Client&lt;ServiceT&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a>;</div>
+<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">  159</a></span>  <span class="keyword">typename</span> ServiceT::Response::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">response_</a>;</div>
+<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>};</div>
+</div>
+<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a></div><div class="ttdoc">service runner base class</div><div class="ttdef"><b>Definition</b> service_runner.hpp:17</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_a20fd8d22e15f75d7acb79663fec67f6c"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#a20fd8d22e15f75d7acb79663fec67f6c">capabilities2_runner::ServiceRunner::process_response</a></div><div class="ttdeci">virtual void process_response(typename ServiceT::Response::SharedPtr)</div><div class="ttdoc">Process the reponse and print data as required.</div><div class="ttdef"><b>Definition</b> service_runner.hpp:156</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_a32ecc311b5288486dc0c3625a8cb2633"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">capabilities2_runner::ServiceRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> service_runner.hpp:58</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_a922e5faa87fc64185221e220bb9450dc"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">capabilities2_runner::ServiceRunner::generate_request</a></div><div class="ttdeci">virtual ServiceT::Request generate_request(capabilities2_events::EventParameters &amp;parameters)=0</div><div class="ttdoc">Generate a request from parameters.</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_aaeb5709d7016d6d71df4d1528b61ca41"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">capabilities2_runner::ServiceRunner::execution</a></div><div class="ttdeci">virtual void execution(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</div><div class="ttdoc">Trigger process to be executed.</div><div class="ttdef"><b>Definition</b> service_runner.hpp:87</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_ac32c7560e8ae8138cf88616644a65804"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">capabilities2_runner::ServiceRunner::ServiceRunner</a></div><div class="ttdeci">ServiceRunner()</div><div class="ttdoc">Constructor which needs to be empty due to plugin semantics.</div><div class="ttdef"><b>Definition</b> service_runner.hpp:22</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_ac79326190434b37f66792de962c9a431"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">capabilities2_runner::ServiceRunner::service_client_</a></div><div class="ttdeci">rclcpp::Client&lt; ServiceT &gt;::SharedPtr service_client_</div><div class="ttdef"><b>Definition</b> service_runner.hpp:158</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_ace6965aa2bfd8927f48977a0125f2e87"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">capabilities2_runner::ServiceRunner::init_service</a></div><div class="ttdeci">virtual void init_service(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;service_name)</div><div class="ttdoc">Initializer function for initializing the service runner in place of constructor due to plugin semant...</div><div class="ttdef"><b>Definition</b> service_runner.hpp:33</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_af9e954bc70da5f30aaf2906658805188"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">capabilities2_runner::ServiceRunner::response_</a></div><div class="ttdeci">ServiceT::Response::SharedPtr response_</div><div class="ttdef"><b>Definition</b> service_runner.hpp:159</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></div><div class="ttdoc">add threaded trigger execution to the runner</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:21</div></div>
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+  <div class="headertitle"><div class="title">sql_safe.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="sql__safe_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;regex&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
+<div class="foldopen" id="foldopen00015" data-start="{" data-end="}">
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">   15</a></span>std::string <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(<span class="keyword">const</span> std::string&amp; input)</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>  std::string result = input;</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>  <span class="comment">// Escape backslashes (if necessary for your SQL dialect)</span></div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>  result = std::regex_replace(result, std::regex(R<span class="stringliteral">&quot;(\\)&quot;), R</span><span class="stringliteral">&quot;(\\\\)&quot;);</span></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="stringliteral"></span> </div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="stringliteral">  </span><span class="comment">// Escape single quotes by replacing them with two single quotes</span></div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  result = std::regex_replace(result, std::regex(R<span class="stringliteral">&quot;(&#39;)&quot;), R</span><span class="stringliteral">&quot;(&#39;&#39;)&quot;);</span></div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="stringliteral"></span> </div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="stringliteral">  </span><span class="keywordflow">return</span> result;</div>
+<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>}</div>
+</div>
+<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
+<div class="foldopen" id="foldopen00035" data-start="{" data-end="}">
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">   35</a></span>std::string <a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(<span class="keyword">const</span> std::string&amp; input)</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>{</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  std::string result = input;</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>  <span class="comment">// Escape backslashes (if necessary for your SQL dialect)</span></div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  result = std::regex_replace(result, std::regex(R<span class="stringliteral">&quot;(\\\\)&quot;), R</span><span class="stringliteral">&quot;(\\)&quot;);</span></div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="stringliteral"></span> </div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="stringliteral">  </span><span class="comment">// Escape single quotes by replacing them with two single quotes</span></div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>  result = std::regex_replace(result, std::regex(R<span class="stringliteral">&quot;(&#39;&#39;)&quot;), R</span><span class="stringliteral">&quot;(&#39;)&quot;);</span></div>
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="stringliteral"></span> </div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="stringliteral">  </span><span class="keywordflow">return</span> result;</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>}</div>
+</div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>}  <span class="comment">// namespace capabilities2_server</span></div>
+<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html_a2fefe1de489dfc709310ae4fa1afaa13"><div class="ttname"><a href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">capabilities2_server::from_sql_safe</a></div><div class="ttdeci">std::string from_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a sql safe std::string to a generic std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:35</div></div>
+<div class="ttc" id="anamespacecapabilities2__server_html_aee2e1db0d5ab5e2c6252db5378dc9d53"><div class="ttname"><a href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server::to_sql_safe</a></div><div class="ttdeci">std::string to_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a generic std::string to a sql safe std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:15</div></div>
+</div><!-- fragment --></div><!-- contents -->
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diff --git a/docs/html/structcapabilities2__events_1_1EventNode_1_1EventPipe.html b/docs/html/structcapabilities2__events_1_1EventNode_1_1EventPipe.html
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+<title>Capabilities2: capabilities2_events::EventNode::EventPipe Struct Reference</title>
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+<script type="text/javascript">
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1EventNode.html">EventNode</a></li><li class="navelem"><a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">EventPipe</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__events_1_1EventNode_1_1EventPipe-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_events::EventNode::EventPipe Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>event pipe structure  
+ <a href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#details">More...</a></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a6ba64f70d3638982a9ed986a57b30e5b" id="r_a6ba64f70d3638982a9ed986a57b30e5b"><td class="memItemLeft" align="right" valign="top">capabilities2_msgs::msg::CapabilityEventCode&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a6ba64f70d3638982a9ed986a57b30e5b">type</a></td></tr>
+<tr class="separator:a6ba64f70d3638982a9ed986a57b30e5b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a94675fdb0b3dd0e0f490b2878da45b33"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a16c36ae362fd1de3c6046acbe0307c40"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>event pipe structure </p>
+<p>represents a connection from this event node to a target capability contains the callback to be invoked when the event is emitted </p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a16c36ae362fd1de3c6046acbe0307c40" name="a16c36ae362fd1de3c6046acbe0307c40"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a16c36ae362fd1de3c6046acbe0307c40">&#9670;&#160;</a></span>callback</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> capabilities2_events::EventNode::EventPipe::callback</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a94675fdb0b3dd0e0f490b2878da45b33" name="a94675fdb0b3dd0e0f490b2878da45b33"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a94675fdb0b3dd0e0f490b2878da45b33">&#9670;&#160;</a></span>target</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_msgs::msg::Capability capabilities2_events::EventNode::EventPipe::target</td>
+        </tr>
+      </table>
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+
+</div>
+</div>
+<a id="a6ba64f70d3638982a9ed986a57b30e5b" name="a6ba64f70d3638982a9ed986a57b30e5b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a6ba64f70d3638982a9ed986a57b30e5b">&#9670;&#160;</a></span>type</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
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+          <td class="memname">capabilities2_msgs::msg::CapabilityEventCode capabilities2_events::EventNode::EventPipe::type</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_events/include/capabilities2_events/<a class="el" href="event__node_8hpp_source.html">event_node.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#a57fdeb9d660eee744ef4bcd58e96339e">EventParameters</a>()=default</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#a124050d50c5d5870b1e85697c33ba759">EventParameters</a>(const capabilities2_msgs::msg::Capability &amp;msg)</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">get_value</a>(const std::string &amp;key, std::any default_value)</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">has_value</a>(const std::string &amp;key) const</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#ac26732100aab80ff256b54636c57b85c">is_empty</a>() const</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a></td><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">set_value</a>(const std::string &amp;key, const std::any &amp;value, const OptionType &amp;type)</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#af4cb9521061d29b8e77d19cd7b13cfdd">toMsg</a>() const</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+</table></div><!-- contents -->
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+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">EventParameters</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__events_1_1EventParameters-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_events::EventParameters Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>capability options for a capability runner given by interface and provider  
+ <a href="structcapabilities2__events_1_1EventParameters.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="event__parameters_8hpp_source.html">event_parameters.hpp</a>&quot;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a57fdeb9d660eee744ef4bcd58e96339e" id="r_a57fdeb9d660eee744ef4bcd58e96339e"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#a57fdeb9d660eee744ef4bcd58e96339e">EventParameters</a> ()=default</td></tr>
+<tr class="separator:a57fdeb9d660eee744ef4bcd58e96339e"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a124050d50c5d5870b1e85697c33ba759" id="r_a124050d50c5d5870b1e85697c33ba759"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#a124050d50c5d5870b1e85697c33ba759">EventParameters</a> (const capabilities2_msgs::msg::Capability &amp;msg)</td></tr>
+<tr class="separator:a124050d50c5d5870b1e85697c33ba759"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac26732100aab80ff256b54636c57b85c" id="r_ac26732100aab80ff256b54636c57b85c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#ac26732100aab80ff256b54636c57b85c">is_empty</a> () const</td></tr>
+<tr class="separator:ac26732100aab80ff256b54636c57b85c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af3f6a280eb464e33f4f4ba7092a70cac" id="r_af3f6a280eb464e33f4f4ba7092a70cac"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">has_value</a> (const std::string &amp;key) const</td></tr>
+<tr class="memdesc:af3f6a280eb464e33f4f4ba7092a70cac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if an option with the given key exists.  <br /></td></tr>
+<tr class="separator:af3f6a280eb464e33f4f4ba7092a70cac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a06e1a6f60cb6c8830d6769532b1f3cdb" id="r_a06e1a6f60cb6c8830d6769532b1f3cdb"><td class="memItemLeft" align="right" valign="top">std::any&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">get_value</a> (const std::string &amp;key, std::any default_value)</td></tr>
+<tr class="memdesc:a06e1a6f60cb6c8830d6769532b1f3cdb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the value of an option by key.  <br /></td></tr>
+<tr class="separator:a06e1a6f60cb6c8830d6769532b1f3cdb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:abc8bda9430434f26bb4db99e17455e5a" id="r_abc8bda9430434f26bb4db99e17455e5a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">set_value</a> (const std::string &amp;key, const std::any &amp;value, const <a class="el" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a> &amp;type)</td></tr>
+<tr class="memdesc:abc8bda9430434f26bb4db99e17455e5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the value of an option by key, if the option does not exist it will be created.  <br /></td></tr>
+<tr class="separator:abc8bda9430434f26bb4db99e17455e5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:af4cb9521061d29b8e77d19cd7b13cfdd" id="r_af4cb9521061d29b8e77d19cd7b13cfdd"><td class="memItemLeft" align="right" valign="top">capabilities2_msgs::msg::Capability&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#af4cb9521061d29b8e77d19cd7b13cfdd">toMsg</a> () const</td></tr>
+<tr class="separator:af4cb9521061d29b8e77d19cd7b13cfdd"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:ae339697fb5abfa540e2e4338f9266308" id="r_ae339697fb5abfa540e2e4338f9266308"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="structcapabilities2__events_1_1Parameter.html">Parameter</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a> = {}</td></tr>
+<tr class="separator:ae339697fb5abfa540e2e4338f9266308"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>capability options for a capability runner given by interface and provider </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">interface</td><td>the interface of the capability </td></tr>
+    <tr><td class="paramname">provider</td><td>the provider of the capability </td></tr>
+    <tr><td class="paramname">options</td><td>the options for the capability </td></tr>
+  </table>
+  </dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a57fdeb9d660eee744ef4bcd58e96339e" name="a57fdeb9d660eee744ef4bcd58e96339e"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a57fdeb9d660eee744ef4bcd58e96339e">&#9670;&#160;</a></span>EventParameters() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::EventParameters::EventParameters </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a124050d50c5d5870b1e85697c33ba759" name="a124050d50c5d5870b1e85697c33ba759"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a124050d50c5d5870b1e85697c33ba759">&#9670;&#160;</a></span>EventParameters() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::EventParameters::EventParameters </td>
+          <td>(</td>
+          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a06e1a6f60cb6c8830d6769532b1f3cdb" name="a06e1a6f60cb6c8830d6769532b1f3cdb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a06e1a6f60cb6c8830d6769532b1f3cdb">&#9670;&#160;</a></span>get_value()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::any capabilities2_events::EventParameters::get_value </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">std::any&#160;</td>
+          <td class="paramname"><em>default_value</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Get the value of an option by key. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">key</td><td>the key of the option to get the value of </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>std::any the value of the option, can be cast to the appropriate type based on the OptionType </dd></dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structcapabilities2__events_1_1options__exception.html">options_exception</a></td><td>if the key is not found or if there is a type conversion error </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af3f6a280eb464e33f4f4ba7092a70cac" name="af3f6a280eb464e33f4f4ba7092a70cac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af3f6a280eb464e33f4f4ba7092a70cac">&#9670;&#160;</a></span>has_value()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_events::EventParameters::has_value </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>key</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Check if an option with the given key exists. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">key</td><td>the key of the option to check </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="section return"><dt>Returns</dt><dd>true if the option exists, false otherwise </dd></dl>
+
+</div>
+</div>
+<a id="ac26732100aab80ff256b54636c57b85c" name="ac26732100aab80ff256b54636c57b85c"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac26732100aab80ff256b54636c57b85c">&#9670;&#160;</a></span>is_empty()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_events::EventParameters::is_empty </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="abc8bda9430434f26bb4db99e17455e5a" name="abc8bda9430434f26bb4db99e17455e5a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#abc8bda9430434f26bb4db99e17455e5a">&#9670;&#160;</a></span>set_value()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::EventParameters::set_value </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>key</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const std::any &amp;&#160;</td>
+          <td class="paramname"><em>value</em>, </td>
+        </tr>
+        <tr>
+          <td class="paramkey"></td>
+          <td></td>
+          <td class="paramtype">const <a class="el" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a> &amp;&#160;</td>
+          <td class="paramname"><em>type</em>&#160;</td>
+        </tr>
+        <tr>
+          <td></td>
+          <td>)</td>
+          <td></td><td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+<p>Set the value of an option by key, if the option does not exist it will be created. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">key</td><td>the key of the option to set the value of </td></tr>
+    <tr><td class="paramname">type</td><td>the type of the option to set </td></tr>
+    <tr><td class="paramname">value</td><td>the value to set, should be castable to the appropriate type based on the OptionType </td></tr>
+  </table>
+  </dd>
+</dl>
+<dl class="exception"><dt>Exceptions</dt><dd>
+  <table class="exception">
+    <tr><td class="paramname"><a class="el" href="structcapabilities2__events_1_1options__exception.html">options_exception</a></td><td>if there is a type conversion error </td></tr>
+  </table>
+  </dd>
+</dl>
+
+</div>
+</div>
+<a id="af4cb9521061d29b8e77d19cd7b13cfdd" name="af4cb9521061d29b8e77d19cd7b13cfdd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af4cb9521061d29b8e77d19cd7b13cfdd">&#9670;&#160;</a></span>toMsg()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_msgs::msg::Capability capabilities2_events::EventParameters::toMsg </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="ae339697fb5abfa540e2e4338f9266308" name="ae339697fb5abfa540e2e4338f9266308"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ae339697fb5abfa540e2e4338f9266308">&#9670;&#160;</a></span>options</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt;<a class="el" href="structcapabilities2__events_1_1Parameter.html">Parameter</a>&gt; capabilities2_events::EventParameters::options = {}</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_events/include/capabilities2_events/<a class="el" href="event__parameters_8hpp_source.html">event_parameters.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="structcapabilities2__events_1_1Parameter.html">Parameter</a></li>  </ul>
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+  <div class="headertitle"><div class="title">capabilities2_events::Parameter Member List</div></div>
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+
+<p>This is the complete list of members for <a class="el" href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a>, including all inherited members.</p>
+<table class="directory">
+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a3b30e4d048001e9cd6e25df5f8ebc392">get_value</a>()</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a></td><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a></td><td class="entry"></td></tr>
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+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a097dc936b8692fa57498b7975a3fe8a9">Parameter</a>(const capabilities2_msgs::msg::CapabilityParameter &amp;msg)</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a7e297cd1d51c0c23a56146275f41c431">set_value</a>(std::string new_key, std::any new_value, OptionType new_type)</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a40731837f170a632f96e0187c8138e7a">toMsg</a>() const</td><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a></td><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a></td><td class="entry"><a class="el" href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a></td><td class="entry"></td></tr>
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diff --git a/docs/html/structcapabilities2__events_1_1Parameter.html b/docs/html/structcapabilities2__events_1_1Parameter.html
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__events_1_1Parameter-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_events::Parameter Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>Key value pair for capability options.  
+ <a href="structcapabilities2__events_1_1Parameter.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="event__parameters_8hpp_source.html">event_parameters.hpp</a>&quot;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="separator:a3fd3f8d62c0e49aa657535e3df9c8430"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a097dc936b8692fa57498b7975a3fe8a9"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a3b30e4d048001e9cd6e25df5f8ebc392"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a7e297cd1d51c0c23a56146275f41c431"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a40731837f170a632f96e0187c8138e7a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
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+Public Attributes</h2></td></tr>
+<tr class="memitem:a57b71a8358c3a4af184b1713a772474a" id="r_a57b71a8358c3a4af184b1713a772474a"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a></td></tr>
+<tr class="separator:a57b71a8358c3a4af184b1713a772474a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5cd5fb07b1a96468bdbed99bd904a234" id="r_a5cd5fb07b1a96468bdbed99bd904a234"><td class="memItemLeft" align="right" valign="top">std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a></td></tr>
+<tr class="separator:a5cd5fb07b1a96468bdbed99bd904a234"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a63eaf7bcb8ab3f2a3839c9963563b546" id="r_a63eaf7bcb8ab3f2a3839c9963563b546"><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a></td></tr>
+<tr class="separator:a63eaf7bcb8ab3f2a3839c9963563b546"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>Key value pair for capability options. </p>
+<dl class="params"><dt>Parameters</dt><dd>
+  <table class="params">
+    <tr><td class="paramname">key</td><td>the key of the option </td></tr>
+    <tr><td class="paramname">value</td><td>the value of the option </td></tr>
+  </table>
+  </dd>
+</dl>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="a3fd3f8d62c0e49aa657535e3df9c8430" name="a3fd3f8d62c0e49aa657535e3df9c8430"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3fd3f8d62c0e49aa657535e3df9c8430">&#9670;&#160;</a></span>Parameter() <span class="overload">[1/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::Parameter::Parameter </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">default</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a097dc936b8692fa57498b7975a3fe8a9" name="a097dc936b8692fa57498b7975a3fe8a9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a097dc936b8692fa57498b7975a3fe8a9">&#9670;&#160;</a></span>Parameter() <span class="overload">[2/2]</span></h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::Parameter::Parameter </td>
+          <td>(</td>
+          <td class="paramtype">const capabilities2_msgs::msg::CapabilityParameter &amp;&#160;</td>
+          <td class="paramname"><em>msg</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a3b30e4d048001e9cd6e25df5f8ebc392" name="a3b30e4d048001e9cd6e25df5f8ebc392"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a3b30e4d048001e9cd6e25df5f8ebc392">&#9670;&#160;</a></span>get_value()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::any capabilities2_events::Parameter::get_value </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a7e297cd1d51c0c23a56146275f41c431" name="a7e297cd1d51c0c23a56146275f41c431"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7e297cd1d51c0c23a56146275f41c431">&#9670;&#160;</a></span>set_value()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_events::Parameter::set_value </td>
+          <td>(</td>
+          <td class="paramtype">std::string&#160;</td>
+          <td class="paramname"><em>new_key</em>, </td>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+  <div class="headertitle"><div class="title">capabilities2_events::event_exception Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
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+<p>event exception  
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+<hr/>The documentation for this struct was generated from the following file:<ul>
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+</div>
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+  <div class="headertitle"><div class="title">capabilities2_events::options_exception Member List</div></div>
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+<title>Capabilities2: capabilities2_events::options_exception Struct Reference</title>
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+<script type="text/javascript" src="dynsections.js"></script>
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+<table cellspacing="0" cellpadding="0">
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+  <div class="headertitle"><div class="title">capabilities2_events::options_exception Struct Reference</div></div>
+</div><!--header-->
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memitem:af6cd097f7264ece12deaa7ae6cc9f0dc" id="r_af6cd097f7264ece12deaa7ae6cc9f0dc"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1options__exception.html#af6cd097f7264ece12deaa7ae6cc9f0dc">options_exception</a> (const std::string &amp;<a class="el" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">what</a>)</td></tr>
+<tr class="separator:af6cd097f7264ece12deaa7ae6cc9f0dc"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:ac09b30e0d9fa0933bd3ba0cee8d53532" id="r_ac09b30e0d9fa0933bd3ba0cee8d53532"><td class="memItemLeft" align="right" valign="top">virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">what</a> () const noexcept override</td></tr>
+<tr class="separator:ac09b30e0d9fa0933bd3ba0cee8d53532"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
+<a id="af6cd097f7264ece12deaa7ae6cc9f0dc" name="af6cd097f7264ece12deaa7ae6cc9f0dc"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af6cd097f7264ece12deaa7ae6cc9f0dc">&#9670;&#160;</a></span>options_exception()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">capabilities2_events::options_exception::options_exception </td>
+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>what</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="ac09b30e0d9fa0933bd3ba0cee8d53532" name="ac09b30e0d9fa0933bd3ba0cee8d53532"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#ac09b30e0d9fa0933bd3ba0cee8d53532">&#9670;&#160;</a></span>what()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual const char * capabilities2_events::options_exception::what </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_events/include/capabilities2_events/<a class="el" href="event__parameters_8hpp_source.html">event_parameters.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__runner_1_1resource-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::resource Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>resource definition  
+ <a href="structcapabilities2__runner_1_1resource.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="runner__base_8hpp_source.html">runner_base.hpp</a>&quot;</code></p>
+<table class="memberdecls">
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a94b6972f420c15250a370d44bd08ccc2">&#9670;&#160;</a></span>resource_type</h2>
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+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="runner__base_8hpp_source.html">runner_base.hpp</a></li>
+</ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="structcapabilities2__runner_1_1runner__exception-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_runner::runner_exception Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>runner exception  
+ <a href="structcapabilities2__runner_1_1runner__exception.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="runner__base_8hpp_source.html">runner_base.hpp</a>&quot;</code></p>
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+<div class="dyncontent">
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<p>Base class for runner exceptions </p>
+</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#aa6373ae91bb89b6306491195465b2b07">&#9670;&#160;</a></span>runner_exception()</h2>
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+          <td>(</td>
+          <td class="paramtype">const std::string &amp;&#160;</td>
+          <td class="paramname"><em>what</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Function Documentation</h2>
+<a id="a5d58c674021b3d7bd0599b73c5617473" name="a5d58c674021b3d7bd0599b73c5617473"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d58c674021b3d7bd0599b73c5617473">&#9670;&#160;</a></span>what()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">virtual const char * capabilities2_runner::runner_exception::what </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span><span class="mlabel">noexcept</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_runner/include/capabilities2_runner/<a class="el" href="runner__base_8hpp_source.html">runner_base.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/structcapabilities2__runner_1_1runner__exception__coll__graph.map b/docs/html/structcapabilities2__runner_1_1runner__exception__coll__graph.map
new file mode 100644
index 0000000..847b4b7
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new file mode 100644
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+<p>runner options  
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<p>Contains the options required to start and maintain a consistent runner. normally loaded from the yaml file </p>
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+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="namespacecapabilities2__server_1_1models.html">models</a></li><li class="navelem"><a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html">capability_model_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1capability__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::capability_model_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &quot;<a class="el" href="running_8hpp_source.html">running.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_server::models::capability_model_t:</div>
+<div class="dyncontent">
+<div class="center"><img src="structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.png" border="0" usemap="#acapabilities2__server_1_1models_1_1capability__model__t_inherit__map" alt="Inheritance graph"/></div>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a73be59339462fe3f6699bd127e99a918" id="r_a73be59339462fe3f6699bd127e99a918"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">interface</a></td></tr>
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+<tr class="memitem:a23939963edc32d7a2da5f1552973fecb" id="r_a23939963edc32d7a2da5f1552973fecb"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">provider</a></td></tr>
+<tr class="separator:a23939963edc32d7a2da5f1552973fecb"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a73be59339462fe3f6699bd127e99a918" name="a73be59339462fe3f6699bd127e99a918"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a73be59339462fe3f6699bd127e99a918">&#9670;&#160;</a></span>interface</h2>
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+<div class="memitem">
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+        <tr>
+          <td class="memname">std::string capabilities2_server::models::capability_model_t::interface</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a23939963edc32d7a2da5f1552973fecb" name="a23939963edc32d7a2da5f1552973fecb"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a23939963edc32d7a2da5f1552973fecb">&#9670;&#160;</a></span>provider</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::models::capability_model_t::provider</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/models/<a class="el" href="running_8hpp_source.html">running.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="namespacecapabilities2__server_1_1models.html">models</a></li><li class="navelem"><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">defineable_base_t</a></li>  </ul>
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+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::models::defineable_base_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">capabilities2_server::models::defineable_base_t</a>, including all inherited members.</p>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1defineable__base__t.html b/docs/html/structcapabilities2__server_1_1models_1_1defineable__base__t.html
new file mode 100644
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+++ b/docs/html/structcapabilities2__server_1_1models_1_1defineable__base__t.html
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+<title>Capabilities2: capabilities2_server::models::defineable_base_t Struct Reference</title>
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+<div id="titlearea">
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+<!-- Generated by Doxygen 1.9.8 -->
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="namespacecapabilities2__server_1_1models.html">models</a></li><li class="navelem"><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">defineable_base_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1defineable__base__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::defineable_base_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>defineable base  
+ <a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="defineable__base_8hpp_source.html">defineable_base.hpp</a>&quot;</code></p>
+<div class="dynheader">
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+<div class="dyncontent">
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+<area shape="rect" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html" title="run configuration type" alt="" coords="231,70,385,125"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="memitem:ae1bfa5befe1ab21658aeb3e733471f63" id="r_ae1bfa5befe1ab21658aeb3e733471f63"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">from_yaml</a> (const YAML::Node &amp;node)</td></tr>
+<tr class="separator:ae1bfa5befe1ab21658aeb3e733471f63"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a1cdd384efe4e025a1e5d85438ab2bae1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a85af59696809d15f7c890864a80bee96"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
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+<tr class="separator:a42cc3313c4a42b7024a455a6b1a4af8a"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a5d607a31ac2fa6e91c3503795336b8f0" id="r_a5d607a31ac2fa6e91c3503795336b8f0"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a5d607a31ac2fa6e91c3503795336b8f0">valid</a> = false</td></tr>
+<tr class="separator:a5d607a31ac2fa6e91c3503795336b8f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>defineable base </p>
+<p>store the definition of an implementation of a capability the definition is stored in a character format but may contain a specific behaviour language to define a provider specialise the definition later when the capability is run </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a85af59696809d15f7c890864a80bee96" name="a85af59696809d15f7c890864a80bee96"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a85af59696809d15f7c890864a80bee96">&#9670;&#160;</a></span>defined()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_server::models::defineable_base_t::defined </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ae1bfa5befe1ab21658aeb3e733471f63">&#9670;&#160;</a></span>from_yaml()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::models::defineable_base_t::from_yaml </td>
+          <td>(</td>
+          <td class="paramtype">const YAML::Node &amp;&#160;</td>
+          <td class="paramname"><em>node</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a1cdd384efe4e025a1e5d85438ab2bae1">&#9670;&#160;</a></span>to_yaml()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">YAML::Node capabilities2_server::models::defineable_base_t::to_yaml </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a42cc3313c4a42b7024a455a6b1a4af8a" name="a42cc3313c4a42b7024a455a6b1a4af8a"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a42cc3313c4a42b7024a455a6b1a4af8a">&#9670;&#160;</a></span>definition_str</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::models::defineable_base_t::definition_str = &quot;&quot;</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a5d607a31ac2fa6e91c3503795336b8f0" name="a5d607a31ac2fa6e91c3503795336b8f0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a5d607a31ac2fa6e91c3503795336b8f0">&#9670;&#160;</a></span>valid</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">bool capabilities2_server::models::defineable_base_t::valid = false</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/models/<a class="el" href="defineable__base_8hpp_source.html">defineable_base.hpp</a></li>
+</ul>
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+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::models::header_model_t Member List</div></div>
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+<div class="contents">
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+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a>(const YAML::Node &amp;node)</td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html#a9926e5d160570e2c46e1dfc56da5b5ba">id</a></td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html">capabilities2_server::models::identifiable_base_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html#a1480da544e2fcd0a4bda449621f472a5">is_deleted</a></td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html">capabilities2_server::models::soft_deleteable_base_t</a></td><td class="entry"></td></tr>
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+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">to_sql_table</a>()</td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1header__model__t.html b/docs/html/structcapabilities2__server_1_1models_1_1header__model__t.html
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+<div id="titlearea">
+<table cellspacing="0" cellpadding="0">
+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
+ </tr>
+ </tbody>
+</table>
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+<!-- Generated by Doxygen 1.9.8 -->
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+<script type="text/javascript" src="menudata.js"></script>
+<script type="text/javascript" src="menu.js"></script>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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+  $(document).ready(function() { init_search(); });
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+/* @license-end */
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+<div class="SRStatus" id="NoMatches">No Matches</div>
+</div>
+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1header__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::header_model_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability  
+ <a href="structcapabilities2__server_1_1models_1_1header__model__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="header_8hpp_source.html">header.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_server::models::header_model_t:</div>
+<div class="dyncontent">
+<div class="center"><img src="structcapabilities2__server_1_1models_1_1header__model__t__inherit__graph.png" border="0" usemap="#acapabilities2__server_1_1models_1_1header__model__t_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="poly" title=" " alt="" coords="192,61,275,89,273,94,191,66"/>
+<area shape="rect" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html" title="base model for all models that can be soft deleted" alt="" coords="5,84,192,139"/>
+<area shape="poly" title=" " alt="" coords="206,109,240,109,240,114,206,114"/>
+<area shape="rect" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html" title="base model for all models that can be modified" alt="" coords="21,163,176,217"/>
+<area shape="poly" title=" " alt="" coords="189,157,273,129,275,134,190,162"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<div class="dynheader">
+Collaboration diagram for capabilities2_server::models::header_model_t:</div>
+<div class="dyncontent">
+<div class="center"><img src="structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.png" border="0" usemap="#acapabilities2__server_1_1models_1_1header__model__t_coll__map" alt="Collaboration graph"/></div>
+<map name="acapabilities2__server_1_1models_1_1header__model__t_coll__map" id="acapabilities2__server_1_1models_1_1header__model__t_coll__map">
+<area shape="rect" title="the header model is a simple model for the header of a capability type it includes the name,..." alt="" coords="240,91,431,131"/>
+<area shape="rect" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html" title="unique key for a row" alt="" coords="19,5,178,60"/>
+<area shape="poly" title=" " alt="" coords="192,61,275,89,273,94,191,66"/>
+<area shape="rect" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html" title="base model for all models that can be soft deleted" alt="" coords="5,84,192,139"/>
+<area shape="poly" title=" " alt="" coords="206,109,240,109,240,114,206,114"/>
+<area shape="rect" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html" title="base model for all models that can be modified" alt="" coords="21,163,176,217"/>
+<area shape="poly" title=" " alt="" coords="189,157,273,129,275,134,190,162"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a184f5969009afde38cf0933b73f58576" id="r_a184f5969009afde38cf0933b73f58576"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a> (const YAML::Node &amp;node)</td></tr>
+<tr class="separator:a184f5969009afde38cf0933b73f58576"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</div>
+</div>
+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="namespacecapabilities2__server_1_1models.html">models</a></li><li class="navelem"><a class="el" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html">identifiable_base_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1identifiable__base__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::identifiable_base_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>unique key for a row  
+ <a href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="header_8hpp_source.html">header.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_server::models::identifiable_base_t:</div>
+<div class="dyncontent">
+<div class="center"><img src="structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.png" border="0" usemap="#acapabilities2__server_1_1models_1_1identifiable__base__t_inherit__map" alt="Inheritance graph"/></div>
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+<area shape="poly" title=" " alt="" coords="103,74,103,108,98,108,98,74"/>
+</map>
+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a9926e5d160570e2c46e1dfc56da5b5ba" id="r_a9926e5d160570e2c46e1dfc56da5b5ba"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html#a9926e5d160570e2c46e1dfc56da5b5ba">id</a></td></tr>
+<tr class="separator:a9926e5d160570e2c46e1dfc56da5b5ba"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>unique key for a row </p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9926e5d160570e2c46e1dfc56da5b5ba" name="a9926e5d160570e2c46e1dfc56da5b5ba"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9926e5d160570e2c46e1dfc56da5b5ba">&#9670;&#160;</a></span>id</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">int capabilities2_server::models::identifiable_base_t::id</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/models/<a class="el" href="header_8hpp_source.html">header.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
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+  <div class="headertitle"><div class="title">capabilities2_server::models::interface_model_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">capabilities2_server::models::interface_model_t</a>, including all inherited members.</p>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1interface__model__t.html b/docs/html/structcapabilities2__server_1_1models_1_1interface__model__t.html
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
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+<a href="#pub-attribs">Public Attributes</a> &#124;
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+  <div class="headertitle"><div class="title">capabilities2_server::models::interface_model_t Struct Reference</div></div>
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+<div class="contents">
+
+<p>interface model  
+ <a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#details">More...</a></p>
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+          <td></td>
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+  <div class="headertitle"><div class="title">capabilities2_server::models::predicate_model_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">capabilities2_server::models::predicate_model_t</a>, including all inherited members.</p>
+<table class="directory">
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+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a170de1f39f437dfad9254bc117431828">object</a></td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">capabilities2_server::models::predicate_model_t</a></td><td class="entry"></td></tr>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1predicate__model__t.html b/docs/html/structcapabilities2__server_1_1models_1_1predicate__model__t.html
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1predicate__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::predicate_model_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>predicate model type  
+ <a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="predicate_8hpp_source.html">predicate.hpp</a>&quot;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a913e6b62b99887f12ba12debea26d5ac" id="r_a913e6b62b99887f12ba12debea26d5ac"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a913e6b62b99887f12ba12debea26d5ac">from_yaml</a> (const YAML::Node &amp;node)</td></tr>
+<tr class="separator:a913e6b62b99887f12ba12debea26d5ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:aac7a5018cdb4ffac44a5031358c7b392" id="r_aac7a5018cdb4ffac44a5031358c7b392"><td class="memItemLeft" align="right" valign="top">YAML::Node&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#aac7a5018cdb4ffac44a5031358c7b392">to_yaml</a> () const</td></tr>
+<tr class="separator:aac7a5018cdb4ffac44a5031358c7b392"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a0e770a26565f064e86ff4251cde950b0" id="r_a0e770a26565f064e86ff4251cde950b0"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a0e770a26565f064e86ff4251cde950b0">subject</a></td></tr>
+<tr class="separator:a0e770a26565f064e86ff4251cde950b0"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a0ccafaa770f2722fa3c32e9e4924eef9" id="r_a0ccafaa770f2722fa3c32e9e4924eef9"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a0ccafaa770f2722fa3c32e9e4924eef9">predicate</a></td></tr>
+<tr class="separator:a0ccafaa770f2722fa3c32e9e4924eef9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a170de1f39f437dfad9254bc117431828" id="r_a170de1f39f437dfad9254bc117431828"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a170de1f39f437dfad9254bc117431828">object</a></td></tr>
+<tr class="separator:a170de1f39f437dfad9254bc117431828"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>predicate model type </p>
+<p>the predicate model is used to specify a relation between two capability resources subject -&gt; predicate -&gt; object </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a913e6b62b99887f12ba12debea26d5ac" name="a913e6b62b99887f12ba12debea26d5ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a913e6b62b99887f12ba12debea26d5ac">&#9670;&#160;</a></span>from_yaml()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::models::predicate_model_t::from_yaml </td>
+          <td>(</td>
+          <td class="paramtype">const YAML::Node &amp;&#160;</td>
+          <td class="paramname"><em>node</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="aac7a5018cdb4ffac44a5031358c7b392" name="aac7a5018cdb4ffac44a5031358c7b392"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#aac7a5018cdb4ffac44a5031358c7b392">&#9670;&#160;</a></span>to_yaml()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">YAML::Node capabilities2_server::models::predicate_model_t::to_yaml </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a170de1f39f437dfad9254bc117431828" name="a170de1f39f437dfad9254bc117431828"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a170de1f39f437dfad9254bc117431828">&#9670;&#160;</a></span>object</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::models::predicate_model_t::object</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0ccafaa770f2722fa3c32e9e4924eef9" name="a0ccafaa770f2722fa3c32e9e4924eef9"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0ccafaa770f2722fa3c32e9e4924eef9">&#9670;&#160;</a></span>predicate</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::models::predicate_model_t::predicate</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a0e770a26565f064e86ff4251cde950b0" name="a0e770a26565f064e86ff4251cde950b0"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a0e770a26565f064e86ff4251cde950b0">&#9670;&#160;</a></span>subject</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">std::string capabilities2_server::models::predicate_model_t::subject</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/models/<a class="el" href="predicate_8hpp_source.html">predicate.hpp</a></li>
+</ul>
+</div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1predicateable__base__t-members.html b/docs/html/structcapabilities2__server_1_1models_1_1predicateable__base__t-members.html
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+</div>
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+  <div class="headertitle"><div class="title">capabilities2_server::models::predicateable_base_t Member List</div></div>
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+<p>This is the complete list of members for <a class="el" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">capabilities2_server::models::predicateable_base_t</a>, including all inherited members.</p>
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+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="namespacecapabilities2__server_1_1models.html">models</a></li><li class="navelem"><a class="el" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">predicateable_base_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1predicateable__base__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::predicateable_base_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>predicateable model base type  
+ <a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="predicateable__base_8hpp_source.html">predicateable_base.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_server::models::predicateable_base_t:</div>
+<div class="dyncontent">
+<div class="center"><img src="structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.png" border="0" usemap="#acapabilities2__server_1_1models_1_1predicateable__base__t_inherit__map" alt="Inheritance graph"/></div>
+<map name="acapabilities2__server_1_1models_1_1predicateable__base__t_inherit__map" id="acapabilities2__server_1_1models_1_1predicateable__base__t_inherit__map">
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+<area shape="rect" href="structcapabilities2__server_1_1models_1_1interface__model__t.html" title="interface model" alt="" coords="231,5,435,45"/>
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+<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a997eab789e250da877a23377975dafe7" id="r_a997eab789e250da877a23377975dafe7"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">predicate_model_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a></td></tr>
+<tr class="separator:a997eab789e250da877a23377975dafe7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>predicateable model base type </p>
+<p>base class for all models with relations contains a vector of relations (see <a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html" title="predicate model type">predicate_model_t</a>) </p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="a997eab789e250da877a23377975dafe7" name="a997eab789e250da877a23377975dafe7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a997eab789e250da877a23377975dafe7">&#9670;&#160;</a></span>relations</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt;<a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">predicate_model_t</a>&gt; capabilities2_server::models::predicateable_base_t::relations</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/models/<a class="el" href="predicateable__base_8hpp_source.html">predicateable_base.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+<hr class="footer"/><address class="footer"><small>
+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">to_sql_table</a>()</td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">capabilities2_server::models::provider_model_t</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1provider__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::provider_model_t Struct Reference</div></div>
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+<div class="contents">
+
+<p>provider model  
+ <a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#details">More...</a></p>
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+<p><code>#include &quot;<a class="el" href="provider_8hpp_source.html">provider.hpp</a>&quot;</code></p>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<p>a provider model defines the implementation of a capability the provider can be specific to a robot implementation of a general capability </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#aeaffd1a45ccb1f72dcbca71425ac57c3">&#9670;&#160;</a></span>from_yaml()</h2>
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+          <td class="paramname"><em>node</em></td><td>)</td>
+          <td></td>
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+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+</div>
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">static const std::string capabilities2_server::models::provider_model_t::to_sql_table </td>
+          <td>(</td>
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+          <td></td>
+        </tr>
+      </table>
+  </td>
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+          <td>(</td>
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+          <td> const</td>
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+          <td>(</td>
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+          <td> const</td>
+        </tr>
+      </table>
+  </td>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ab621238ee4492bc03265cdf0bfb84001">&#9670;&#160;</a></span>depends_on</h2>
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+<div class="memitem">
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+<div class="memitem">
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+</div>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1remappable__base__t.html b/docs/html/structcapabilities2__server_1_1models_1_1remappable__base__t.html
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+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1remappable__base__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::remappable_base_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
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+<p>remappable base model definition  
+ <a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="remappable__base_8hpp_source.html">remappable_base.hpp</a>&quot;</code></p>
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+Inheritance diagram for capabilities2_server::models::remappable_base_t:</div>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>remappable base model definition </p>
+<p>base class for remappable models to inherit from </p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4a19d77530cc86fc3cd798eaaea9a8dd">&#9670;&#160;</a></span>remappings</h2>
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+          <td class="memname"><a class="el" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">remappings_model_t</a> capabilities2_server::models::remappable_base_t::remappings</td>
+        </tr>
+      </table>
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+
+</div>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/models/<a class="el" href="remappable__base_8hpp_source.html">remappable_base.hpp</a></li>
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+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="namespacecapabilities2__server_1_1models.html">models</a></li><li class="navelem"><a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::models::remapping_model_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">capabilities2_server::models::remapping_model_t</a>, including all inherited members.</p>
+<table class="directory">
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+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">from_yaml_detail_iterator_value</a>(const YAML::detail::iterator_value &amp;iter)</td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">capabilities2_server::models::remapping_model_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1remapping__model__t.html b/docs/html/structcapabilities2__server_1_1models_1_1remapping__model__t.html
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1remapping__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::remapping_model_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p><code>#include &quot;<a class="el" href="remapping_8hpp_source.html">remapping.hpp</a>&quot;</code></p>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="separator:a07a6910b05af84b8601fe8fd984b8932"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
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+<tr class="separator:a121b210905dbc80d5ed8904e0009579c"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<h2 class="groupheader">Member Function Documentation</h2>
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+<h2 class="memtitle"><span class="permalink"><a href="#a169c348158aeb78da894c0c5dea81332">&#9670;&#160;</a></span>from_yaml_detail_iterator_value()</h2>
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+<table class="mlabels">
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+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">void capabilities2_server::models::remapping_model_t::from_yaml_detail_iterator_value </td>
+          <td>(</td>
+          <td class="paramtype">const YAML::detail::iterator_value &amp;&#160;</td>
+          <td class="paramname"><em>iter</em></td><td>)</td>
+          <td></td>
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+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a50910626d9a86e867108f51640c8d3b9">&#9670;&#160;</a></span>operator!=()</h2>
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+      <table class="memname">
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+          <td class="memname">bool capabilities2_server::models::remapping_model_t::operator!= </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
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+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a07a6910b05af84b8601fe8fd984b8932">&#9670;&#160;</a></span>operator==()</h2>
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+<div class="memitem">
+<div class="memproto">
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+      <table class="memname">
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+          <td class="memname">bool capabilities2_server::models::remapping_model_t::operator== </td>
+          <td>(</td>
+          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a> &amp;&#160;</td>
+          <td class="paramname"><em>other</em></td><td>)</td>
+          <td> const</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a399e580fe9ca87f3f79413693545452e">&#9670;&#160;</a></span>to_yaml()</h2>
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+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">YAML::Node capabilities2_server::models::remapping_model_t::to_yaml </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#ad797637f1fb60e5cceb5c614695353a3">&#9670;&#160;</a></span>from</h2>
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+<div class="memitem">
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+          <td class="memname">std::string capabilities2_server::models::remapping_model_t::from</td>
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+</div><div class="memdoc">
+
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+<div class="memitem">
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+          <td class="memname">std::string capabilities2_server::models::remapping_model_t::to</td>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/models/<a class="el" href="remapping_8hpp_source.html">remapping.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1remappings__model__t-members.html b/docs/html/structcapabilities2__server_1_1models_1_1remappings__model__t-members.html
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+</div>
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+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::models::remappings_model_t Member List</div></div>
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+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">capabilities2_server::models::remappings_model_t</a>, including all inherited members.</p>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1remappings__model__t.html b/docs/html/structcapabilities2__server_1_1models_1_1remappings__model__t.html
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+  <div class="summary">
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+<a href="structcapabilities2__server_1_1models_1_1remappings__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::remappings_model_t Struct Reference</div></div>
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+<p><code>#include &quot;<a class="el" href="remapping_8hpp_source.html">remapping.hpp</a>&quot;</code></p>
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+<h2 class="memtitle"><span class="permalink"><a href="#afc4a97cb962d255f268dbe6970ac59a8">&#9670;&#160;</a></span>from_yaml()</h2>
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+<div class="memitem">
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+          <td class="memname">std::vector&lt;<a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a>&gt; capabilities2_server::models::remappings_model_t::services</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a9b83cf9b0b6306e5580f9babb42b8a11">&#9670;&#160;</a></span>topics</h2>
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+<div class="memitem">
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+          <td class="memname">std::vector&lt;<a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a>&gt; capabilities2_server::models::remappings_model_t::topics</td>
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+<hr/>The documentation for this struct was generated from the following file:<ul>
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+</ul>
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+<div class="contents">
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+<p>This is the complete list of members for <a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">capabilities2_server::models::resource_model_t</a>, including all inherited members.</p>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1resource__model__t.html b/docs/html/structcapabilities2__server_1_1models_1_1resource__model__t.html
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+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1resource__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::resource_model_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std_msgs/String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph  
+ <a href="structcapabilities2__server_1_1models_1_1resource__model__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="resource_8hpp_source.html">resource.hpp</a>&quot;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
+<tr class="memitem:a46df60e201ca7d0bc6ff3938811a87d7" id="r_a46df60e201ca7d0bc6ff3938811a87d7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a46df60e201ca7d0bc6ff3938811a87d7">from_yaml</a> (const YAML::Node &amp;node)</td></tr>
+<tr class="separator:a46df60e201ca7d0bc6ff3938811a87d7"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:afe7ee416240acbd2582ebc50f31359ef" id="r_afe7ee416240acbd2582ebc50f31359ef"><td class="memItemLeft" align="right" valign="top">YAML::Node&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#afe7ee416240acbd2582ebc50f31359ef">to_yaml</a> () const</td></tr>
+<tr class="separator:afe7ee416240acbd2582ebc50f31359ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
+<tr class="memitem:a9bbd5d0805bca1df20010321ac578674" id="r_a9bbd5d0805bca1df20010321ac578674"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a></td></tr>
+<tr class="separator:a9bbd5d0805bca1df20010321ac578674"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a610bb2907636c8ed8c841b76e3778208" id="r_a610bb2907636c8ed8c841b76e3778208"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a></td></tr>
+<tr class="separator:a610bb2907636c8ed8c841b76e3778208"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a9baef31aac5d2ebfa99cf4af10e3421f" id="r_a9baef31aac5d2ebfa99cf4af10e3421f"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a></td></tr>
+<tr class="separator:a9baef31aac5d2ebfa99cf4af10e3421f"><td class="memSeparator" colspan="2">&#160;</td></tr>
+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std_msgs/String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a46df60e201ca7d0bc6ff3938811a87d7" name="a46df60e201ca7d0bc6ff3938811a87d7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a46df60e201ca7d0bc6ff3938811a87d7">&#9670;&#160;</a></span>from_yaml()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::models::resource_model_t::from_yaml </td>
+          <td>(</td>
+          <td class="paramtype">const YAML::Node &amp;&#160;</td>
+          <td class="paramname"><em>node</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="afe7ee416240acbd2582ebc50f31359ef" name="afe7ee416240acbd2582ebc50f31359ef"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#afe7ee416240acbd2582ebc50f31359ef">&#9670;&#160;</a></span>to_yaml()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">YAML::Node capabilities2_server::models::resource_model_t::to_yaml </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9baef31aac5d2ebfa99cf4af10e3421f" name="a9baef31aac5d2ebfa99cf4af10e3421f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9baef31aac5d2ebfa99cf4af10e3421f">&#9670;&#160;</a></span>description</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::models::resource_model_t::description</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a9bbd5d0805bca1df20010321ac578674" name="a9bbd5d0805bca1df20010321ac578674"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9bbd5d0805bca1df20010321ac578674">&#9670;&#160;</a></span>name</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::models::resource_model_t::name</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a610bb2907636c8ed8c841b76e3778208" name="a610bb2907636c8ed8c841b76e3778208"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a610bb2907636c8ed8c841b76e3778208">&#9670;&#160;</a></span>type</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::string capabilities2_server::models::resource_model_t::type</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
+<li>capabilities2_server/include/capabilities2_server/models/<a class="el" href="resource_8hpp_source.html">resource.hpp</a></li>
+</ul>
+</div><!-- contents -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
+</small></address>
+</body>
+</html>
diff --git a/docs/html/structcapabilities2__server_1_1models_1_1run__config__model__t-members.html b/docs/html/structcapabilities2__server_1_1models_1_1run__config__model__t-members.html
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+</div>
+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="namespacecapabilities2__server_1_1models.html">models</a></li><li class="navelem"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">run_config_model_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::models::run_config_model_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a>, including all inherited members.</p>
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+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a></td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">is_valid</a>() const</td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a></td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a></td><td class="entry"></td></tr>
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+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ad04c7331d5e39eecfff7cd104c0ad923">to_runner_opts</a>() const</td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1run__config__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::run_config_model_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>run configuration type  
+ <a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="run__config_8hpp_source.html">run_config.hpp</a>&quot;</code></p>
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
+Public Member Functions</h2></td></tr>
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+<tr class="memitem:a7ce34838226d280eba1e9498acf20475" id="r_a7ce34838226d280eba1e9498acf20475"><td class="memItemLeft" align="right" valign="top">const bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">is_valid</a> () const</td></tr>
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+<tr class="memitem:ae1bfa5befe1ab21658aeb3e733471f63 inherit pub_methods_structcapabilities2__server_1_1models_1_1defineable__base__t" id="r_ae1bfa5befe1ab21658aeb3e733471f63"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">from_yaml</a> (const YAML::Node &amp;node)</td></tr>
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+Public Attributes</h2></td></tr>
+<tr class="memitem:a8edab59f62bc89e5a7dc4a7c1508f79c" id="r_a8edab59f62bc89e5a7dc4a7c1508f79c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a></td></tr>
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+<tr class="separator:a49ff00fef777b60efedd894d773d9153"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a2b11f1cbc79ce42856b706df73bb87e3"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="inherit_header pub_attribs_structcapabilities2__server_1_1models_1_1defineable__base__t"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structcapabilities2__server_1_1models_1_1defineable__base__t')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">capabilities2_server::models::defineable_base_t</a></td></tr>
+<tr class="memitem:a42cc3313c4a42b7024a455a6b1a4af8a inherit pub_attribs_structcapabilities2__server_1_1models_1_1defineable__base__t" id="r_a42cc3313c4a42b7024a455a6b1a4af8a"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a> = &quot;&quot;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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+<p>This type represents the configuration required to actually run a capability this includes the name of the capability, the provider, and fully qualified resource names </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a7ce34838226d280eba1e9498acf20475" name="a7ce34838226d280eba1e9498acf20475"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a7ce34838226d280eba1e9498acf20475">&#9670;&#160;</a></span>is_valid()</h2>
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+<div class="memitem">
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+  <tr>
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+          <td class="memname">const bool capabilities2_server::models::run_config_model_t::is_valid </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
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+<h2 class="memtitle"><span class="permalink"><a href="#ad04c7331d5e39eecfff7cd104c0ad923">&#9670;&#160;</a></span>to_runner_opts()</h2>
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+</div>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.map b/docs/html/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.map
new file mode 100644
index 0000000..1f25e6d
--- /dev/null
+++ b/docs/html/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.map
@@ -0,0 +1,5 @@
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1running__model__t.html b/docs/html/structcapabilities2__server_1_1models_1_1running__model__t.html
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1running__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::running_model_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>running capability model  
+ <a href="structcapabilities2__server_1_1models_1_1running__model__t.html#details">More...</a></p>
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+Collaboration diagram for capabilities2_server::models::running_model_t:</div>
+<div class="dyncontent">
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+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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+<tr class="memitem:af93e104248e91870612dcf3a82e29029" id="r_af93e104248e91870612dcf3a82e29029"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html">capability_model_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a></td></tr>
+<tr class="separator:af93e104248e91870612dcf3a82e29029"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a0037a0006d89c68a56be1ed1337f7c37"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a1c0cff01cc7973eb2f1ffa49ae2ad5b9" id="r_a1c0cff01cc7973eb2f1ffa49ae2ad5b9"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1running__model__t.html#a1c0cff01cc7973eb2f1ffa49ae2ad5b9">pid</a></td></tr>
+<tr class="separator:a1c0cff01cc7973eb2f1ffa49ae2ad5b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="inherit_header pub_attribs_structcapabilities2__server_1_1models_1_1capability__model__t"><td colspan="2" onclick="javascript:toggleInherit('pub_attribs_structcapabilities2__server_1_1models_1_1capability__model__t')"><img src="closed.png" alt="-"/>&#160;Public Attributes inherited from <a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html">capabilities2_server::models::capability_model_t</a></td></tr>
+<tr class="memitem:a73be59339462fe3f6699bd127e99a918 inherit pub_attribs_structcapabilities2__server_1_1models_1_1capability__model__t" id="r_a73be59339462fe3f6699bd127e99a918"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">interface</a></td></tr>
+<tr class="separator:a73be59339462fe3f6699bd127e99a918 inherit pub_attribs_structcapabilities2__server_1_1models_1_1capability__model__t"><td class="memSeparator" colspan="2">&#160;</td></tr>
+<tr class="memitem:a23939963edc32d7a2da5f1552973fecb inherit pub_attribs_structcapabilities2__server_1_1models_1_1capability__model__t" id="r_a23939963edc32d7a2da5f1552973fecb"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">provider</a></td></tr>
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+</table>
+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>running capability model </p>
+<p>the running model describes the run-time requirements of a capability. this is a recursive model that can have dependencies on other run specs. it is derived from interfaces, semantic interfaces, and providers. </p>
+</div><h2 class="groupheader">Member Data Documentation</h2>
+<a id="af93e104248e91870612dcf3a82e29029" name="af93e104248e91870612dcf3a82e29029"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#af93e104248e91870612dcf3a82e29029">&#9670;&#160;</a></span>dependencies</h2>
+
+<div class="memitem">
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+      <table class="memname">
+        <tr>
+          <td class="memname">std::vector&lt;<a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html">capability_model_t</a>&gt; capabilities2_server::models::running_model_t::dependencies</td>
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">capabilities2_server::models::semantic_interface_model_t Member List</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>This is the complete list of members for <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">capabilities2_server::models::semantic_interface_model_t</a>, including all inherited members.</p>
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+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">redefines</a></td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">capabilities2_server::models::semantic_interface_model_t</a></td><td class="entry"></td></tr>
+  <tr class="even"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a></td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">capabilities2_server::models::predicateable_base_t</a></td><td class="entry"></td></tr>
+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">remappings</a></td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">capabilities2_server::models::semantic_interface_model_t</a></td><td class="entry"></td></tr>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html b/docs/html/structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html
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+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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+</table>
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+<div class="SRStatus" id="NoMatches">No Matches</div>
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+
+<div id="nav-path" class="navpath">
+  <ul>
+<li class="navelem"><a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="namespacecapabilities2__server_1_1models.html">models</a></li><li class="navelem"><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">semantic_interface_model_t</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::semantic_interface_model_t Struct Reference</div></div>
+</div><!--header-->
+<div class="contents">
+
+<p>semantic interface model  
+ <a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="semantic__interface_8hpp_source.html">semantic_interface.hpp</a>&quot;</code></p>
+<div class="dynheader">
+Inheritance diagram for capabilities2_server::models::semantic_interface_model_t:</div>
+<div class="dyncontent">
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+<div class="dyncontent">
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+<table class="memberdecls">
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+</table><table class="memberdecls">
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+Static Public Member Functions</h2></td></tr>
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+</table><table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
+Public Attributes</h2></td></tr>
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+<tr class="separator:a8af68a40a89859515ca22b006099a8c7"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a78bbcbe2e8e34c29600a02d20a064366"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="memitem:a4a19d77530cc86fc3cd798eaaea9a8dd inherit pub_attribs_structcapabilities2__server_1_1models_1_1remappable__base__t" id="r_a4a19d77530cc86fc3cd798eaaea9a8dd"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">remappings_model_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a></td></tr>
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+<tr class="memitem:a997eab789e250da877a23377975dafe7 inherit pub_attribs_structcapabilities2__server_1_1models_1_1predicateable__base__t" id="r_a997eab789e250da877a23377975dafe7"><td class="memItemLeft" align="right" valign="top">std::vector&lt; <a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">predicate_model_t</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a></td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>semantic interface model </p>
+<p>a semantic interface redefines an interface in a semantic way this helps avoid resource collisions in the computation graph when using abstract capabilities such as when capabilities are shared between different robot implementations </p>
+</div><h2 class="groupheader">Member Function Documentation</h2>
+<a id="a1c82841795835d4359d6bc1fd40b9f26" name="a1c82841795835d4359d6bc1fd40b9f26"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a1c82841795835d4359d6bc1fd40b9f26">&#9670;&#160;</a></span>from_yaml()</h2>
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+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">void capabilities2_server::models::semantic_interface_model_t::from_yaml </td>
+          <td>(</td>
+          <td class="paramtype">const YAML::Node &amp;&#160;</td>
+          <td class="paramname"><em>node</em></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
+  </tr>
+</table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a189e051f8785603c611c13a71f202fdd" name="a189e051f8785603c611c13a71f202fdd"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a189e051f8785603c611c13a71f202fdd">&#9670;&#160;</a></span>to_sql_table()</h2>
+
+<div class="memitem">
+<div class="memproto">
+<table class="mlabels">
+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
+        <tr>
+          <td class="memname">static const std::string capabilities2_server::models::semantic_interface_model_t::to_sql_table </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td></td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">static</span></span>  </td>
+  </tr>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#ac26f0357597dbe2946d9278e5433c8ee">&#9670;&#160;</a></span>to_sql_values()</h2>
+
+<div class="memitem">
+<div class="memproto">
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+  <tr>
+  <td class="mlabels-left">
+      <table class="memname">
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+          <td class="memname">std::string capabilities2_server::models::semantic_interface_model_t::to_sql_values </td>
+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
+        </tr>
+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+</div>
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+<h2 class="memtitle"><span class="permalink"><a href="#a27bcd752bad7f0e68baaa7754a6221c5">&#9670;&#160;</a></span>to_yaml()</h2>
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+<div class="memitem">
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+  <tr>
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+          <td>(</td>
+          <td class="paramname"></td><td>)</td>
+          <td> const</td>
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+      </table>
+  </td>
+  <td class="mlabels-right">
+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+</div><div class="memdoc">
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+</div>
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+<h2 class="groupheader">Member Data Documentation</h2>
+<a id="a9a47cbad7f378a30f467cb0520213e3b" name="a9a47cbad7f378a30f467cb0520213e3b"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a9a47cbad7f378a30f467cb0520213e3b">&#9670;&#160;</a></span>global_namespace</h2>
+
+<div class="memitem">
+<div class="memproto">
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+          <td class="memname">std::string capabilities2_server::models::semantic_interface_model_t::global_namespace</td>
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+          <td class="memname"><a class="el" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a> capabilities2_server::models::semantic_interface_model_t::header</td>
+        </tr>
+      </table>
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+</div>
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+<a id="a8af68a40a89859515ca22b006099a8c7" name="a8af68a40a89859515ca22b006099a8c7"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a8af68a40a89859515ca22b006099a8c7">&#9670;&#160;</a></span>redefines</h2>
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+<div class="memitem">
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+          <td class="memname">std::string capabilities2_server::models::semantic_interface_model_t::redefines</td>
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+<a id="a78bbcbe2e8e34c29600a02d20a064366" name="a78bbcbe2e8e34c29600a02d20a064366"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a78bbcbe2e8e34c29600a02d20a064366">&#9670;&#160;</a></span>remappings</h2>
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+<div class="memitem">
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+          <td class="memname"><a class="el" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">remappings_model_t</a> capabilities2_server::models::semantic_interface_model_t::remappings</td>
+        </tr>
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+</div><div class="memdoc">
+
+</div>
+</div>
+<hr/>The documentation for this struct was generated from the following file:<ul>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html b/docs/html/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html
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+  <div class="summary">
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t-members.html">List of all members</a>  </div>
+  <div class="headertitle"><div class="title">capabilities2_server::models::soft_deleteable_base_t Struct Reference</div></div>
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+<p>base model for all models that can be soft deleted  
+ <a href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html#details">More...</a></p>
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+<p><code>#include &quot;<a class="el" href="header_8hpp_source.html">header.hpp</a>&quot;</code></p>
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+  <tr class="odd"><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">services</a></td><td class="entry"><a class="el" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">capabilities2_server::models::specification_model_t</a></td><td class="entry"></td></tr>
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diff --git a/docs/html/structcapabilities2__server_1_1models_1_1specification__model__t.html b/docs/html/structcapabilities2__server_1_1models_1_1specification__model__t.html
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+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="summary">
+<a href="#pub-methods">Public Member Functions</a> &#124;
+<a href="#pub-attribs">Public Attributes</a> &#124;
+<a href="structcapabilities2__server_1_1models_1_1specification__model__t-members.html">List of all members</a>  </div>
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+<div class="contents">
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+<p>interface specification type the specification model is the computation graph blueprint of a capability  
+ <a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#details">More...</a></p>
+
+<p><code>#include &quot;<a class="el" href="interface_8hpp_source.html">interface.hpp</a>&quot;</code></p>
+<table class="memberdecls">
+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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+<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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+<tr class="separator:a4902547120299a085eacca24a896c11f"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<tr class="separator:a4a842359980def295d1e9995e808d2ed"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
+<div class="textblock"><p>interface specification type the specification model is the computation graph blueprint of a capability </p>
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+<a id="a62197b4cea21b4597d900f8a13f5f908" name="a62197b4cea21b4597d900f8a13f5f908"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a62197b4cea21b4597d900f8a13f5f908">&#9670;&#160;</a></span>from_yaml()</h2>
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+          <td class="paramtype">const YAML::Node &amp;&#160;</td>
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+          <td>(</td>
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+          <td> const</td>
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+      </table>
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+<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a4a842359980def295d1e9995e808d2ed">&#9670;&#160;</a></span>actions</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, <a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a>&gt; capabilities2_server::models::specification_model_t::actions</td>
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+
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+<h2 class="memtitle"><span class="permalink"><a href="#a7fbc888249194c37bbbcd6145cdcc272">&#9670;&#160;</a></span>parameters</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, <a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a>&gt; capabilities2_server::models::specification_model_t::parameters</td>
+        </tr>
+      </table>
+</div><div class="memdoc">
+
+</div>
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+<a id="a4902547120299a085eacca24a896c11f" name="a4902547120299a085eacca24a896c11f"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a4902547120299a085eacca24a896c11f">&#9670;&#160;</a></span>services</h2>
+
+<div class="memitem">
+<div class="memproto">
+      <table class="memname">
+        <tr>
+          <td class="memname">std::map&lt;std::string, <a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a>&gt; capabilities2_server::models::specification_model_t::services</td>
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+      </table>
+</div><div class="memdoc">
+
+</div>
+</div>
+<a id="a77bb428b9a7290aae1c9d1180c3c93ac" name="a77bb428b9a7290aae1c9d1180c3c93ac"></a>
+<h2 class="memtitle"><span class="permalink"><a href="#a77bb428b9a7290aae1c9d1180c3c93ac">&#9670;&#160;</a></span>topics</h2>
+
+<div class="memitem">
+<div class="memproto">
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+<hr/>The documentation for this struct was generated from the following file:<ul>
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+</ul>
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+<li class="navelem"><a class="el" href="dir_ae9b8f7772f36f75ddf7a4660dc4c659.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="dir_900be469113f2cf67da4bc73dceee489.html">src</a></li><li class="navelem"><a class="el" href="dir_e205d21b7452bc93d523a35149c4724f.html">system</a></li>  </ul>
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+<div class="header">
+  <div class="summary">
+<a href="#func-members">Functions</a>  </div>
+  <div class="headertitle"><div class="title">system_runners.cpp File Reference</div></div>
+</div><!--header-->
+<div class="contents">
+<div class="textblock"><code>#include &lt;pluginlib/class_list_macros.hpp&gt;</code><br />
+<code>#include &lt;<a class="el" href="runner__base_8hpp_source.html">capabilities2_runner/runner_base.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="get__capability__specs__runner_8hpp_source.html">capabilities2_runner/system/get_capability_specs_runner.hpp</a>&gt;</code><br />
+<code>#include &lt;<a class="el" href="input__multiplex__runner_8hpp_source.html">capabilities2_runner/system/input_multiplex_runner.hpp</a>&gt;</code><br />
+</div><div class="textblock"><div class="dynheader">
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+          <td class="paramname">, </td>
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+          <td class="paramtype"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a>&#160;</td>
+          <td class="paramname">&#160;</td>
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+          <td class="memname">PLUGINLIB_EXPORT_CLASS </td>
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+          <td class="paramname">, </td>
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+        <tr>
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+          <td class="paramtype"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a>&#160;</td>
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+<h2 class="memtitle"><span class="permalink"><a href="#a3c04138a5bfe5d72780bb7e82a18e627">&#9670;&#160;</a></span>main()</h2>
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+          <td></td>
+          <td class="paramtype">char **&#160;</td>
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+          <td>)</td>
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+<code>#include &lt;atomic&gt;</code><br />
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+<li class="navelem"><a class="el" href="dir_ae9b8f7772f36f75ddf7a4660dc4c659.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="dir_d596d1b13e10115fa0e063d9d8185b97.html">include</a></li><li class="navelem"><a class="el" href="dir_c88f82dd231ae0856530de318d7cb819.html">capabilities2_runner</a></li>  </ul>
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+  <div class="headertitle"><div class="title">threadtrigger_runner.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="threadtrigger__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;chrono&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;map&gt;</span></div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;atomic&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;mutex&gt;</span></div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;thread&gt;</span></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="uuid__generator_8hpp.html">capabilities2_events/uuid_generator.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_event_code.hpp&gt;</span></div>
+<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
+<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
+<div class="foldopen" id="foldopen00020" data-start="{" data-end="};">
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">   20</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a></div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>{</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00030" data-start="{" data-end="}">
+<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">   30</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(<span class="keyword">const</span> std::string&amp; thread_id)</div>
+<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  {</div>
+<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    <span class="comment">// extract bond_id from thread_id (format: &quot;bond_id/trigger_id&quot;)</span></div>
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordtype">size_t</span> slash_pos = thread_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    std::string bond_id = (slash_pos != std::string::npos) ? thread_id.substr(0, slash_pos) : thread_id;</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <span class="keywordflow">return</span> bond_id;</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  }</div>
+</div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
+<div class="foldopen" id="foldopen00044" data-start="{" data-end="}">
+<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">   44</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(<span class="keyword">const</span> std::string&amp; thread_id)</div>
+<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>  {</div>
+<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="comment">// extract instance_id from thread_id (format: &quot;bond_id/instance_id&quot;)</span></div>
+<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keywordtype">size_t</span> slash_pos = thread_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    std::string instance_id = (slash_pos != std::string::npos) ? thread_id.substr(slash_pos + 1) : <span class="stringliteral">&quot;&quot;</span>;</div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="keywordflow">return</span> instance_id;</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  }</div>
+</div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00053" data-start="{" data-end="}">
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">   53</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a>(), <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>(), <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a>(), <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a>(false)</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  {</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>  }</div>
+</div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
+<div class="foldopen" id="foldopen00057" data-start="{" data-end="}">
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">   57</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>  {</div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="comment">// stop any running threads on destruction</span></div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds(500));</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>  }</div>
+</div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
+<div class="foldopen" id="foldopen00073" data-start="{" data-end="}">
+<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">   73</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters, <span class="keyword">const</span> std::string&amp; bond_id,</div>
+<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                       <span class="keyword">const</span> std::string&amp; instance_id)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="comment">// namespace the thread id with bond id for later</span></div>
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="comment">// could list all threads related to a bond if needed</span></div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    std::string thread_id = bond_id + <span class="stringliteral">&quot;/&quot;</span> + instance_id;</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="comment">// start execution thread</span></div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    {</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>      std::scoped_lock lock(<a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a>);</div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      <span class="comment">// TODO: consider emitting on start event here</span></div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>      <span class="comment">// emit_event(bond_id, capabilities2_msgs::msg::CapabilityEventCode::ON_STARTED, updated_on_started(parameters));</span></div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>[thread_id] = std::thread(&amp;<a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">ThreadTriggerRunner::execution</a>, <span class="keyword">this</span>, parameters, thread_id);</div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    }</div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <span class="comment">// emit trigger event</span></div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::TRIGGERED);</div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="comment">// BUG: thread management?</span></div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="comment">// TODO: consider emitting on stop event here</span></div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="comment">// emit_event(bond_id, capabilities2_msgs::msg::CapabilityEventCode::ON_STOPPED, updated_on_stopped(parameters));</span></div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    RCLCPP_DEBUG(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;started execution thread for thread id: %s&quot;</span>, thread_id.c_str());</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>  }</div>
+</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">  110</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id) = 0;</div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
+<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span><span class="keyword">private</span>:</div>
+<div class="foldopen" id="foldopen00114" data-start="{" data-end="}">
+<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">  114</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout = std::chrono::milliseconds(500))</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>  {</div>
+<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="comment">// signal listening threads to stop</span></div>
+<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
+<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="comment">// try join in a non-blocking way and log if threads are not cleaned up properly</span></div>
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    {</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>      std::scoped_lock lock(<a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a>);</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>      <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; [thread_id, exec_thread] : <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>)</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>      {</div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <span class="keywordflow">if</span> (exec_thread.joinable())</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        {</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>          <span class="comment">// TODO: FIX THIS FUTURE MICHAEL</span></div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>          exec_thread.join();</div>
+<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>        }</div>
+<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>      }</div>
+<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>      <span class="comment">// clear the thread pool</span></div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>.clear();</div>
+<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    }</div>
+<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>  }</div>
+</div>
+<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span><span class="keyword">protected</span>:</div>
+<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">  140</a></span>  std::map&lt;std::string, std::thread&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>;</div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">  145</a></span>  std::mutex <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a>;</div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
+<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">  150</a></span>  std::atomic&lt;bool&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a>;</div>
+<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>};</div>
+</div>
+<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
+<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_ad1b79fbe33fd75339bcaa77417240e57"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">capabilities2_events::EventNode::emit_event</a></div><div class="ttdeci">void emit_event(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit an event from this event node to all matching connections</div><div class="ttdef"><b>Definition</b> event_node.hpp:64</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></div><div class="ttdoc">add threaded trigger execution to the runner</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:21</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a10133774ae4ef6f39f9d94ebbed1b58c"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">capabilities2_runner::ThreadTriggerRunner::bond_from_thread_id</a></div><div class="ttdeci">static const std::string bond_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract bond_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:30</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a7f2f5b100251310d3b9ccb6cf093c6e7"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">capabilities2_runner::ThreadTriggerRunner::stop_execution</a></div><div class="ttdeci">void stop_execution(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:114</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a88e489fd1a04dd9f308e2fd7f792035c"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">capabilities2_runner::ThreadTriggerRunner::ThreadTriggerRunner</a></div><div class="ttdeci">ThreadTriggerRunner()</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:53</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a990e91bdda8c272274eb4120bd62293f"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">capabilities2_runner::ThreadTriggerRunner::~ThreadTriggerRunner</a></div><div class="ttdeci">~ThreadTriggerRunner()</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:57</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a9e8c878821f673722b4d2da51df274e9"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">capabilities2_runner::ThreadTriggerRunner::execution</a></div><div class="ttdeci">virtual void execution(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id)=0</div><div class="ttdoc">Trigger process to be executed.</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_aae61a479d081029f9203e842dfa9884d"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">capabilities2_runner::ThreadTriggerRunner::trigger</a></div><div class="ttdeci">virtual void trigger(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</div><div class="ttdoc">Trigger the runner.</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:73</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_abb0aca7529033b5c7f5e36a72253e552"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">capabilities2_runner::ThreadTriggerRunner::execution_should_stop_</a></div><div class="ttdeci">std::atomic&lt; bool &gt; execution_should_stop_</div><div class="ttdoc">flag to signal execution threads to stop.</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:150</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_ac20f6188631fe57af28627273fe86e64"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">capabilities2_runner::ThreadTriggerRunner::execution_thread_pool_</a></div><div class="ttdeci">std::map&lt; std::string, std::thread &gt; execution_thread_pool_</div><div class="ttdoc">dictionary of threads that executes the execute function</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:140</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_ae5b5363dde31c25ddc3c324ef6d3f08e"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">capabilities2_runner::ThreadTriggerRunner::mutex_</a></div><div class="ttdeci">std::mutex mutex_</div><div class="ttdoc">mutex for threadpool synchronisation.</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:145</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_af750ef563c71182944a9a0ec380f78de"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">capabilities2_runner::ThreadTriggerRunner::instance_from_thread_id</a></div><div class="ttdeci">static const std::string instance_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract instance_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:44</div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="arunner__base_8hpp_html"><div class="ttname"><a href="runner__base_8hpp.html">runner_base.hpp</a></div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="auuid__generator_8hpp_html"><div class="ttname"><a href="uuid__generator_8hpp.html">uuid_generator.hpp</a></div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+  <div class="headertitle"><div class="title">topic_runner.hpp File Reference</div></div>
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+<div class="textblock"><code>#include &lt;memory&gt;</code><br />
+<code>#include &lt;<a class="el" href="threadtrigger__runner_8hpp_source.html">capabilities2_runner/threadtrigger_runner.hpp</a>&gt;</code><br />
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+  <div class="headertitle"><div class="title">topic_runner.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="topic__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="threadtrigger__runner_8hpp.html">capabilities2_runner/threadtrigger_runner.hpp</a>&gt;</span></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> TopicT&gt;</div>
+<div class="foldopen" id="foldopen00016" data-start="{" data-end="};">
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html">   16</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1TopicRunner.html">TopicRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">public</span>:</div>
+<div class="foldopen" id="foldopen00022" data-start="{" data-end="}">
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#ac99cd688150e5cfe539e69866e01ae20">   22</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#ac99cd688150e5cfe539e69866e01ae20">TopicRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a>()</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  {</div>
+<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  }</div>
+</div>
+<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
+<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
+<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a485da884c40ea98cef38f74ba5b27684">   33</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#a485da884c40ea98cef38f74ba5b27684">init_subscriber</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config,</div>
+<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>                               <span class="keyword">const</span> std::string&amp; topic_name)</div>
+<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  {</div>
+<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="comment">// initialize the runner base by storing node pointer and run config</span></div>
+<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(node, run_config);</div>
+<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
+<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="comment">// create an service client</span></div>
+<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">subscription_</a> = <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;create_subscription&lt;TopicT&gt;(</div>
+<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>        topic_name, 10, [<span class="keyword">this</span>](<span class="keyword">const</span> <span class="keyword">typename</span> TopicT::SharedPtr msg) { this-&gt;<a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#a53228a48218f60e37c93cefe61a314e3">callback</a>(msg); });</div>
+<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>  }</div>
+</div>
+<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
+<div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
+<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">   48</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="comment">// if the node pointer is empty then throw an error</span></div>
+<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="comment">// this means that the runner was not started and is being used out of order</span></div>
+<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
+<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>)</div>
+<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner that was not started&quot;</span>);</div>
+<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
+<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="comment">// throw an error if the subscription is null</span></div>
+<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// this can happen if the runner is not able to find the topic resource</span></div>
+<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
+<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">subscription_</a>)</div>
+<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner subscriber that was not started&quot;</span>);</div>
+<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
+<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// emit stop event</span></div>
+<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>());</div>
+<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
+<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;runner cleaned. stopping..&quot;</span>);</div>
+<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  }</div>
+</div>
+<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
+<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span><span class="keyword">protected</span>:</div>
+<div class="foldopen" id="foldopen00077" data-start="{" data-end="}">
+<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a5ee42f409bc9001b397d767a264bf4f6">   77</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#a5ee42f409bc9001b397d767a264bf4f6">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id)<span class="keyword"> override</span></div>
+<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="keyword">  </span>{</div>
+<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="comment">// split thread_id to get bond_id and instance_id (format: &quot;bond_id/instance_id&quot;)</span></div>
+<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">ThreadTriggerRunner::bond_from_thread_id</a>(thread_id);</div>
+<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    std::string instance_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">ThreadTriggerRunner::instance_from_thread_id</a>(thread_id);</div>
+<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
+<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="comment">// emit started event</span></div>
+<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>());</div>
+<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
+<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    <span class="comment">// block until a message is received in the callback and stored in latest_message_</span></div>
+<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    std::unique_lock&lt;std::mutex&gt; lock(<a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">block_mutex_</a>);</div>
+<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a> = <span class="keyword">false</span>;</div>
+<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
+<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Waiting for Message.&quot;</span>);</div>
+<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
+<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="comment">// Conditional wait</span></div>
+<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">cv_</a>.wait(lock, [<span class="keyword">this</span>] { <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a>; });</div>
+<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Message Received.&quot;</span>);</div>
+<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
+<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">latest_message_</a>)</div>
+<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    {</div>
+<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>      <span class="comment">// emit success event</span></div>
+<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>      <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>());</div>
+<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    }</div>
+<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordflow">else</span></div>
+<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    {</div>
+<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Message receiving failed.&quot;</span>);</div>
+<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>      <span class="comment">// emit failed event</span></div>
+<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>      <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>());</div>
+<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    }</div>
+<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
+<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Thread closing.&quot;</span>);</div>
+<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>  }</div>
+</div>
+<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
+<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span><span class="keyword">protected</span>:</div>
+<div class="foldopen" id="foldopen00120" data-start="{" data-end="}">
+<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a53228a48218f60e37c93cefe61a314e3">  120</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#a53228a48218f60e37c93cefe61a314e3">callback</a>(<span class="keyword">const</span> <span class="keyword">typename</span> TopicT::SharedPtr&amp; msg)</div>
+<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  {</div>
+<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">latest_message_</a> = msg;</div>
+<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
+<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a> = <span class="keyword">true</span>;</div>
+<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">cv_</a>.notify_all();</div>
+<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>  }</div>
+</div>
+<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
+<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">  131</a></span>  <span class="keyword">typename</span> rclcpp::Subscription&lt;TopicT&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">subscription_</a>;</div>
+<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span> </div>
+<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">  136</a></span>  <span class="keyword">mutable</span> <span class="keyword">typename</span> TopicT::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">latest_message_</a>;</div>
+<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
+<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">  141</a></span>  std::condition_variable <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">cv_</a>;</div>
+<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">  142</a></span>  std::mutex <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">block_mutex_</a>;</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">  143</a></span>  <span class="keywordtype">bool</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a>;</div>
+<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>};</div>
+</div>
+<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
+<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a561039712ffa38c2617baf266fc22896"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">capabilities2_runner::RunnerBase::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success()</div><div class="ttdoc">Update on_success event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:271</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5865a398c1ad27e89d4d6947ef9404c2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">capabilities2_runner::RunnerBase::emit_succeeded</a></div><div class="ttdeci">void emit_succeeded(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit SUCCEEDED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:444</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5dcd2ac4205bb7f3cf069e0273ec46b7"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">capabilities2_runner::RunnerBase::emit_failed</a></div><div class="ttdeci">void emit_failed(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit FAILED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:457</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a68a4f300a106474d09ccda51efc57a5a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">capabilities2_runner::RunnerBase::param_on_started</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_started()</div><div class="ttdoc">Update on_started event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:226</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9a5419cab317ef239d2f197714136660"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">capabilities2_runner::RunnerBase::param_on_failure</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_failure()</div><div class="ttdoc">Update on_failure event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:256</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ac92696dfbfe4b50331ca156c4449954c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase::emit_started</a></div><div class="ttdeci">void emit_started(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STARTED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:418</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></div><div class="ttdoc">add threaded trigger execution to the runner</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:21</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a10133774ae4ef6f39f9d94ebbed1b58c"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">capabilities2_runner::ThreadTriggerRunner::bond_from_thread_id</a></div><div class="ttdeci">static const std::string bond_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract bond_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:30</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_af750ef563c71182944a9a0ec380f78de"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">capabilities2_runner::ThreadTriggerRunner::instance_from_thread_id</a></div><div class="ttdeci">static const std::string instance_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract instance_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:44</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a></div><div class="ttdoc">Topic runner base class.</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:17</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_a0285a6ba6a5f467af952df7590aeef20"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">capabilities2_runner::TopicRunner::latest_message_</a></div><div class="ttdeci">TopicT::SharedPtr latest_message_</div><div class="ttdoc">parameter to store the latest message received in the callback for use in the trigger execution</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:136</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_a1d9dc95f217c829002f3b84660590659"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">capabilities2_runner::TopicRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:48</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_a1f44e38371bd8e9e1feaee371a370d55"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">capabilities2_runner::TopicRunner::completed_</a></div><div class="ttdeci">bool completed_</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:143</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_a28f3527e78cec46978b03415d429fc71"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">capabilities2_runner::TopicRunner::subscription_</a></div><div class="ttdeci">rclcpp::Subscription&lt; TopicT &gt;::SharedPtr subscription_</div><div class="ttdoc">parameter to be used in the on_started event emission</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:131</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_a485da884c40ea98cef38f74ba5b27684"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#a485da884c40ea98cef38f74ba5b27684">capabilities2_runner::TopicRunner::init_subscriber</a></div><div class="ttdeci">virtual void init_subscriber(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;topic_name)</div><div class="ttdoc">Initializer function for initializing the topic runner in place of constructor due to plugin semantic...</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:33</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_a53228a48218f60e37c93cefe61a314e3"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#a53228a48218f60e37c93cefe61a314e3">capabilities2_runner::TopicRunner::callback</a></div><div class="ttdeci">void callback(const typename TopicT::SharedPtr &amp;msg)</div><div class="ttdoc">Callback to be executed when receiving a message.</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:120</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_a5ee42f409bc9001b397d767a264bf4f6"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#a5ee42f409bc9001b397d767a264bf4f6">capabilities2_runner::TopicRunner::execution</a></div><div class="ttdeci">virtual void execution(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</div><div class="ttdoc">Trigger process to be executed.</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:77</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_a970cca16e147cccc27c0a7d19ff64a22"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">capabilities2_runner::TopicRunner::cv_</a></div><div class="ttdeci">std::condition_variable cv_</div><div class="ttdoc">condition variable and mutex for synchronizing the callback and trigger execution</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:141</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_ac99cd688150e5cfe539e69866e01ae20"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#ac99cd688150e5cfe539e69866e01ae20">capabilities2_runner::TopicRunner::TopicRunner</a></div><div class="ttdeci">TopicRunner()</div><div class="ttdoc">Constructor which needs to be empty due to plugin semantics.</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:22</div></div>
+<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_acf54f261d74e3fa6a41a2189c1a914a0"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">capabilities2_runner::TopicRunner::block_mutex_</a></div><div class="ttdeci">std::mutex block_mutex_</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:142</div></div>
+<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
+<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a></div><div class="ttdoc">runner exception</div><div class="ttdef"><b>Definition</b> runner_base.hpp:24</div></div>
+<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
+<div class="ttc" id="athreadtrigger__runner_8hpp_html"><div class="ttname"><a href="threadtrigger__runner_8hpp.html">threadtrigger_runner.hpp</a></div></div>
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+<a href="#namespaces">Namespaces</a>  </div>
+  <div class="headertitle"><div class="title">uuid_generator.cpp File Reference</div></div>
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diff --git a/docs/html/uuid__generator_8hpp_source.html b/docs/html/uuid__generator_8hpp_source.html
new file mode 100644
index 0000000..aa69aa9
--- /dev/null
+++ b/docs/html/uuid__generator_8hpp_source.html
@@ -0,0 +1,116 @@
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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+<meta name="generator" content="Doxygen 1.9.8"/>
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+<title>Capabilities2: capabilities2_events/include/capabilities2_events/uuid_generator.hpp Source File</title>
+<link href="tabs.css" rel="stylesheet" type="text/css"/>
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+ <tbody>
+ <tr id="projectrow">
+  <td id="projectalign">
+   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
+   </div>
+  </td>
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+ </tbody>
+</table>
+</div>
+<!-- end header part -->
+<!-- Generated by Doxygen 1.9.8 -->
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+/* @license-end */
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+<li class="navelem"><a class="el" href="dir_893eca9b61704b59497c2543c6de837c.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="dir_5d95c21bcb0e08e60d3c845ed072574e.html">include</a></li><li class="navelem"><a class="el" href="dir_930544a6b4d7294c7d05c1cc4fea3dca.html">capabilities2_events</a></li>  </ul>
+</div>
+</div><!-- top -->
+<div class="header">
+  <div class="headertitle"><div class="title">uuid_generator.hpp</div></div>
+</div><!--header-->
+<div class="contents">
+<a href="uuid__generator_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
+<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
+<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
+<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
+<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__events.html">capabilities2_events</a></div>
+<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
+<div class="foldopen" id="foldopen00007" data-start="{" data-end="};">
+<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1UUIDGenerator.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a></div>
+<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
+<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">public</span>:</div>
+<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">gen_uuid_str</a>();</div>
+<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
+<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">private</span>:</div>
+<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  <span class="comment">// delete constructor and assignment operator to prevent instantiation</span></div>
+<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1UUIDGenerator.html#ac16e657db07c4d6368089cb8b846e434">   19</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#ac16e657db07c4d6368089cb8b846e434">UUIDGenerator</a>() = <span class="keyword">delete</span>;</div>
+<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1UUIDGenerator.html#a7b54cb7556182732e476d7b6734acbe7">   20</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#a7b54cb7556182732e476d7b6734acbe7">UUIDGenerator</a>(<span class="keyword">const</span> <a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1UUIDGenerator.html#a9a621130c12a95d1e1311a456a4c8a35">   21</a></span>  <a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a>&amp; <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#a9a621130c12a95d1e1311a456a4c8a35">operator=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a>&amp;) = <span class="keyword">delete</span>;</div>
+<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>};</div>
+</div>
+<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>}  <span class="comment">// namespace capabilities2_events</span></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html">capabilities2_events::UUIDGenerator</a></div><div class="ttdef"><b>Definition</b> uuid_generator.hpp:8</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_a7b54cb7556182732e476d7b6734acbe7"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#a7b54cb7556182732e476d7b6734acbe7">capabilities2_events::UUIDGenerator::UUIDGenerator</a></div><div class="ttdeci">UUIDGenerator(const UUIDGenerator &amp;)=delete</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_a9a621130c12a95d1e1311a456a4c8a35"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#a9a621130c12a95d1e1311a456a4c8a35">capabilities2_events::UUIDGenerator::operator=</a></div><div class="ttdeci">UUIDGenerator &amp; operator=(const UUIDGenerator &amp;)=delete</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_ac16e657db07c4d6368089cb8b846e434"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#ac16e657db07c4d6368089cb8b846e434">capabilities2_events::UUIDGenerator::UUIDGenerator</a></div><div class="ttdeci">UUIDGenerator()=delete</div></div>
+<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_ad7966c639f088e11a3d19a7410956421"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator::gen_uuid_str</a></div><div class="ttdeci">static const std::string gen_uuid_str()</div><div class="ttdoc">generate a uuid string</div><div class="ttdef"><b>Definition</b> uuid_generator.cpp:11</div></div>
+<div class="ttc" id="anamespacecapabilities2__events_html"><div class="ttname"><a href="namespacecapabilities2__events.html">capabilities2_events</a></div><div class="ttdef"><b>Definition</b> event_base.hpp:14</div></div>
+</div><!-- fragment --></div><!-- contents -->
+<!-- start footer part -->
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+Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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+</html>
diff --git a/docs/latex/Makefile b/docs/latex/Makefile
new file mode 100644
index 0000000..7f82972
--- /dev/null
+++ b/docs/latex/Makefile
@@ -0,0 +1,27 @@
+LATEX_CMD?=pdflatex
+MKIDX_CMD?=makeindex
+BIBTEX_CMD?=bibtex
+LATEX_COUNT?=8
+MANUAL_FILE?=refman
+
+all: $(MANUAL_FILE).pdf
+
+pdf: $(MANUAL_FILE).pdf
+
+$(MANUAL_FILE).pdf: clean $(MANUAL_FILE).tex
+	$(LATEX_CMD) $(MANUAL_FILE)
+	$(MKIDX_CMD) $(MANUAL_FILE).idx
+	$(LATEX_CMD) $(MANUAL_FILE)
+	latex_count=$(LATEX_COUNT) ; \
+	while grep -E -s 'Rerun (LaTeX|to get cross-references right|to get bibliographical references right)' $(MANUAL_FILE).log && [ $$latex_count -gt 0 ] ;\
+	    do \
+	      echo "Rerunning latex...." ;\
+	      $(LATEX_CMD) $(MANUAL_FILE) ;\
+	      latex_count=`expr $$latex_count - 1` ;\
+	    done
+	$(MKIDX_CMD) $(MANUAL_FILE).idx
+	$(LATEX_CMD) $(MANUAL_FILE)
+
+
+clean:
+	rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl $(MANUAL_FILE).pdf
diff --git a/docs/latex/README_8md.tex b/docs/latex/README_8md.tex
new file mode 100644
index 0000000..bebaf67
--- /dev/null
+++ b/docs/latex/README_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{README.\+md File Reference}
+\hypertarget{README_8md}{}\label{README_8md}\index{README.md@{README.md}}
diff --git a/docs/latex/TODO_8md.tex b/docs/latex/TODO_8md.tex
new file mode 100644
index 0000000..34ccab4
--- /dev/null
+++ b/docs/latex/TODO_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{TODO.\+md File Reference}
+\hypertarget{TODO_8md}{}\label{TODO_8md}\index{TODO.md@{TODO.md}}
diff --git a/docs/latex/action__runner_8hpp.tex b/docs/latex/action__runner_8hpp.tex
new file mode 100644
index 0000000..8224426
--- /dev/null
+++ b/docs/latex/action__runner_8hpp.tex
@@ -0,0 +1,31 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/action\+\_\+runner.hpp File Reference}
+\hypertarget{action__runner_8hpp}{}\label{action__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/action\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/action\_runner.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$iostream$>$}\newline
+{\ttfamily \#include $<$sstream$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$memory$>$}\newline
+{\ttfamily \#include $<$mutex$>$}\newline
+{\ttfamily \#include $<$condition\+\_\+variable$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$rclcpp\+\_\+action/rclcpp\+\_\+action.\+hpp$>$}\newline
+{\ttfamily \#include $<$action\+\_\+msgs/srv/cancel\+\_\+goal.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/threadtrigger\+\_\+runner.\+hpp$>$}\newline
+Include dependency graph for action\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{action__runner_8hpp__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}}
+\begin{DoxyCompactList}\small\item\em action runner base class \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/action__runner_8hpp__incl.md5 b/docs/latex/action__runner_8hpp__incl.md5
new file mode 100644
index 0000000..0dca3d3
--- /dev/null
+++ b/docs/latex/action__runner_8hpp__incl.md5
@@ -0,0 +1 @@
+899aa1601f0bd88d6837d67e8cbd42d5
\ No newline at end of file
diff --git a/docs/latex/action__runner_8hpp__incl.pdf b/docs/latex/action__runner_8hpp__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..d6d474b9ce651ff6734483b23a48cd0850adad11
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diff --git a/docs/latex/action__runner_8hpp_source.tex b/docs/latex/action__runner_8hpp_source.tex
new file mode 100644
index 0000000..bd82dbc
--- /dev/null
+++ b/docs/latex/action__runner_8hpp_source.tex
@@ -0,0 +1,202 @@
+\doxysection{action\+\_\+runner.\+hpp}
+\hypertarget{action__runner_8hpp_source}{}\label{action__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/action\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/action\_runner.hpp}}
+\mbox{\hyperlink{action__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <iostream>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <sstream>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <memory>}}
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <mutex>}}
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <condition\_variable>}}
+\DoxyCodeLine{00011\ }
+\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
+\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <rclcpp\_action/rclcpp\_action.hpp>}}
+\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <action\_msgs/srv/cancel\_goal.hpp>}}
+\DoxyCodeLine{00015\ }
+\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{threadtrigger__runner_8hpp}{capabilities2\_runner/threadtrigger\_runner.hpp}}>}}
+\DoxyCodeLine{00017\ }
+\DoxyCodeLine{00018\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00019\ \{}
+\DoxyCodeLine{00020\ }
+\DoxyCodeLine{00026\ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ ActionT>}
+\DoxyCodeLine{00027\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{ActionRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}}
+\DoxyCodeLine{00028\ \{}
+\DoxyCodeLine{00029\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00033\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a591d542f6f91cfec3aec63eb311b4ac6}{ActionRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}()}
+\DoxyCodeLine{00034\ \ \ \{}
+\DoxyCodeLine{00035\ \ \ \}}
+\DoxyCodeLine{00036\ }
+\DoxyCodeLine{00044\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_adec17ec301ee0485a10bb5a1caa82ab9}{init\_action}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ action\_name)}
+\DoxyCodeLine{00045\ \ \ \{}
+\DoxyCodeLine{00046\ \ \ \ \ \textcolor{comment}{//\ initialize\ the\ runner\ base\ by\ storing\ node\ pointer\ and\ run\ config}}
+\DoxyCodeLine{00047\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
+\DoxyCodeLine{00048\ }
+\DoxyCodeLine{00049\ \ \ \ \ \textcolor{comment}{//\ create\ an\ action\ client}}
+\DoxyCodeLine{00050\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}}\ =\ rclcpp\_action::create\_client<ActionT>(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}},\ action\_name);}
+\DoxyCodeLine{00051\ }
+\DoxyCodeLine{00052\ \ \ \ \ \textcolor{comment}{//\ wait\ for\ action\ server}}
+\DoxyCodeLine{00053\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}waiting\ for\ action:\ \%s"{}},\ action\_name.c\_str());}
+\DoxyCodeLine{00054\ }
+\DoxyCodeLine{00055\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}}-\/>wait\_for\_action\_server(std::chrono::seconds(1000)))}
+\DoxyCodeLine{00056\ \ \ \ \ \{}
+\DoxyCodeLine{00057\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}failed\ to\ connect\ to\ action:\ \%s"{}},\ action\_name.c\_str());}
+\DoxyCodeLine{00058\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}failed\ to\ connect\ to\ action\ server"{}});}
+\DoxyCodeLine{00059\ \ \ \ \ \}}
+\DoxyCodeLine{00060\ }
+\DoxyCodeLine{00061\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}connected\ with\ action:\ \%s"{}},\ action\_name.c\_str());}
+\DoxyCodeLine{00062\ \ \ \}}
+\DoxyCodeLine{00063\ }
+\DoxyCodeLine{00068\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00069\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00070\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
+\DoxyCodeLine{00071\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
+\DoxyCodeLine{00072\ }
+\DoxyCodeLine{00073\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
+\DoxyCodeLine{00074\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
+\DoxyCodeLine{00075\ }
+\DoxyCodeLine{00076\ \ \ \ \ \textcolor{comment}{//\ throw\ an\ error\ if\ the\ action\ client\ is\ null}}
+\DoxyCodeLine{00077\ \ \ \ \ \textcolor{comment}{//\ this\ can\ happen\ if\ the\ runner\ is\ not\ able\ to\ find\ the\ action\ resource}}
+\DoxyCodeLine{00078\ }
+\DoxyCodeLine{00079\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}})}
+\DoxyCodeLine{00080\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ action\ that\ was\ not\ started"{}});}
+\DoxyCodeLine{00081\ }
+\DoxyCodeLine{00082\ \ \ \ \ \textcolor{comment}{//\ stop\ runner\ using\ action\ client}}
+\DoxyCodeLine{00083\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\_handle\_}})}
+\DoxyCodeLine{00084\ \ \ \ \ \{}
+\DoxyCodeLine{00085\ \ \ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00086\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00087\ \ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ cancel\_future\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}}-\/>async\_cancel\_goal(}
+\DoxyCodeLine{00088\ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\_handle\_}},\ [\textcolor{keyword}{this},\ \&bond\_id,\ \&instance\_id](action\_msgs::srv::CancelGoal\_Response::SharedPtr\ response)\ \{}
+\DoxyCodeLine{00089\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (response-\/>return\_code\ !=\ action\_msgs::srv::CancelGoal\_Response::ERROR\_NONE)}
+\DoxyCodeLine{00090\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00091\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ throw\ runner\_exception("{}failed\ to\ cancel\ runner"{});}}
+\DoxyCodeLine{00092\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(node\_-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Runner\ cancellation\ failed."{}});}
+\DoxyCodeLine{00093\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00094\ }
+\DoxyCodeLine{00095\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
+\DoxyCodeLine{00096\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
+\DoxyCodeLine{00097\ \ \ \ \ \ \ \ \ \ \ \ \ \});}
+\DoxyCodeLine{00098\ }
+\DoxyCodeLine{00099\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ wait\ for\ action\ to\ be\ stopped.\ hold\ the\ thread\ for\ 2\ seconds\ to\ help\ keep\ callbacks\ in\ scope}}
+\DoxyCodeLine{00100\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ BUG:\ the\ line\ below\ does\ not\ work\ in\ jazzy\ build,\ so\ a\ workaround\ is\ used}}
+\DoxyCodeLine{00101\ \ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ timeout\ =\ std::chrono::steady\_clock::now()\ +\ std::chrono::seconds(2);}
+\DoxyCodeLine{00102\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{while}\ (std::chrono::steady\_clock::now()\ <\ timeout)}
+\DoxyCodeLine{00103\ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00104\ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Check\ if\ the\ cancel\ operation\ is\ complete}}
+\DoxyCodeLine{00105\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (cancel\_future.wait\_for(std::chrono::milliseconds(100))\ ==\ std::future\_status::ready)}
+\DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{break};}
+\DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00108\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00109\ \ \ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ rclcpp\_action::exceptions::UnknownGoalHandleError\&\ e)}
+\DoxyCodeLine{00110\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}failed\ to\ cancel\ goal:\ \%s"{}},\ e.what());}
+\DoxyCodeLine{00112\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(e.what());}
+\DoxyCodeLine{00113\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00114\ \ \ \ \ \}}
+\DoxyCodeLine{00115\ }
+\DoxyCodeLine{00116\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}runner\ cleaned.\ stopping.."{}});}
+\DoxyCodeLine{00117\ \ \ \}}
+\DoxyCodeLine{00118\ }
+\DoxyCodeLine{00119\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00127\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00128\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00129\ \ \ \ \ \textcolor{comment}{//\ split\ thread\_id\ to\ get\ bond\_id\ and\ instance\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
+\DoxyCodeLine{00130\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{ThreadTriggerRunner::bond\_from\_thread\_id}}(thread\_id);}
+\DoxyCodeLine{00131\ \ \ \ \ std::string\ instance\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{ThreadTriggerRunner::instance\_from\_thread\_id}}(thread\_id);}
+\DoxyCodeLine{00132\ }
+\DoxyCodeLine{00133\ \ \ \ \ \textcolor{comment}{//\ generate\ a\ goal\ from\ parameters\ provided}}
+\DoxyCodeLine{00134\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}{goal\_msg\_}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe}{generate\_goal}}(parameters);}
+\DoxyCodeLine{00135\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}goal\ generated\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00136\ }
+\DoxyCodeLine{00137\ \ \ \ \ std::mutex\ block\_mutex;}
+\DoxyCodeLine{00138\ \ \ \ \ std::condition\_variable\ cv;}
+\DoxyCodeLine{00139\ \ \ \ \ \textcolor{keywordtype}{bool}\ completed\ =\ \textcolor{keyword}{false};}
+\DoxyCodeLine{00140\ \ \ \ \ std::unique\_lock<std::mutex>\ lock(block\_mutex);}
+\DoxyCodeLine{00141\ }
+\DoxyCodeLine{00142\ \ \ \ \ \textcolor{comment}{//\ trigger\ the\ action\ client\ with\ goal}}
+\DoxyCodeLine{00143\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}}.goal\_response\_callback\ =}
+\DoxyCodeLine{00144\ \ \ \ \ \ \ \ \ [\textcolor{keyword}{this},\ \&instance\_id](\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::SharedPtr\&\ goal\_handle)\ \{}
+\DoxyCodeLine{00145\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (goal\_handle)}
+\DoxyCodeLine{00146\ \ \ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00147\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}goal\ accepted.\ Waiting\ for\ result\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00148\ \ \ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00149\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00150\ \ \ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00151\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}goal\ rejected\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00152\ \ \ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00153\ }
+\DoxyCodeLine{00154\ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ store\ goal\ handle\ to\ be\ used\ with\ stop\ funtion}}
+\DoxyCodeLine{00155\ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\_handle\_}}\ =\ goal\_handle;}
+\DoxyCodeLine{00156\ \ \ \ \ \ \ \ \ \};}
+\DoxyCodeLine{00157\ }
+\DoxyCodeLine{00158\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}}.feedback\_callback\ =\ [\textcolor{keyword}{this},\ \&instance\_id](}
+\DoxyCodeLine{00159\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::SharedPtr\ goal\_handle,}
+\DoxyCodeLine{00160\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ ActionT::Feedback::ConstSharedPtr\ feedback\_msg)\ \{}
+\DoxyCodeLine{00161\ \ \ \ \ \ \ std::string\ feedback\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4}{generate\_feedback}}(feedback\_msg);}
+\DoxyCodeLine{00162\ }
+\DoxyCodeLine{00163\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (feedback\ !=\ \textcolor{stringliteral}{"{}"{}})}
+\DoxyCodeLine{00164\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00165\ \ \ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}received\ feedback:\ \ \%s\ for\ instance\ \%s"{}},\ feedback.c\_str(),\ instance\_id.c\_str());}
+\DoxyCodeLine{00166\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00167\ \ \ \ \ \};}
+\DoxyCodeLine{00168\ }
+\DoxyCodeLine{00169\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}}.result\_callback\ =}
+\DoxyCodeLine{00170\ \ \ \ \ \ \ \ \ [\textcolor{keyword}{this},\ \&instance\_id,\ \&completed,\ \&cv,}
+\DoxyCodeLine{00171\ \ \ \ \ \ \ \ \ \ \&bond\_id,\ \&instance\_id](\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::WrappedResult\&\ wrapped\_result)\ \{}
+\DoxyCodeLine{00172\ \ \ \ \ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}received\ result\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00173\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (wrapped\_result.code\ ==\ rclcpp\_action::ResultCode::SUCCEEDED)}
+\DoxyCodeLine{00174\ \ \ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00175\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}action\ succeeded\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00176\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ success\ event}}
+\DoxyCodeLine{00177\ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\_succeeded}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\_on\_success}}());}
+\DoxyCodeLine{00178\ \ \ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00179\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00180\ \ \ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00181\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}action\ failed\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00182\ }
+\DoxyCodeLine{00183\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ failed\ event}}
+\DoxyCodeLine{00184\ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\_failed}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\_on\_failure}}());}
+\DoxyCodeLine{00185\ \ \ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00186\ }
+\DoxyCodeLine{00187\ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e}{result\_}}\ =\ wrapped\_result.result;}
+\DoxyCodeLine{00188\ \ \ \ \ \ \ \ \ \ \ completed\ =\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00189\ \ \ \ \ \ \ \ \ \ \ cv.notify\_all();}
+\DoxyCodeLine{00190\ \ \ \ \ \ \ \ \ \};}
+\DoxyCodeLine{00191\ }
+\DoxyCodeLine{00192\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0}{goal\_handle\_future\_}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}}-\/>async\_send\_goal(\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}{goal\_msg\_}},\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}});}
+\DoxyCodeLine{00193\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}goal\ sent.\ Waiting\ for\ acceptance\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00194\ }
+\DoxyCodeLine{00195\ \ \ \ \ \textcolor{comment}{//\ Conditional\ wait}}
+\DoxyCodeLine{00196\ \ \ \ \ cv.wait(lock,\ [\&completed]\ \{\ \textcolor{keywordflow}{return}\ completed;\ \});}
+\DoxyCodeLine{00197\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}action\ complete.\ Thread\ closing\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
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+\DoxyCodeLine{00199\ }
+\DoxyCodeLine{00211\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keyword}{typename}\ ActionT::Goal\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe}{generate\_goal}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters)\ =\ 0;}
+\DoxyCodeLine{00212\ }
+\DoxyCodeLine{00224\ \ \ \textcolor{keyword}{virtual}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4}{generate\_feedback}}(\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ ActionT::Feedback::ConstSharedPtr\ msg)\ =\ 0;}
+\DoxyCodeLine{00225\ }
+\DoxyCodeLine{00226\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00228\ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::Client<ActionT>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}};}
+\DoxyCodeLine{00229\ }
+\DoxyCodeLine{00232\ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::Client<ActionT>::SendGoalOptions\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}};}
+\DoxyCodeLine{00233\ }
+\DoxyCodeLine{00235\ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\_handle\_}};}
+\DoxyCodeLine{00236\ }
+\DoxyCodeLine{00238\ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::WrappedResult\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a55a723c2c93f6f6842bfd1951d767597}{wrapped\_result\_}};}
+\DoxyCodeLine{00239\ }
+\DoxyCodeLine{00241\ \ \ \textcolor{keyword}{typename}\ ActionT::Result::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e}{result\_}};}
+\DoxyCodeLine{00242\ }
+\DoxyCodeLine{00244\ \ \ \textcolor{keyword}{typename}\ ActionT::Goal\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}{goal\_msg\_}};}
+\DoxyCodeLine{00245\ }
+\DoxyCodeLine{00247\ \ \ std::shared\_future<typename\ rclcpp\_action::ClientGoalHandle<ActionT>::SharedPtr>\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0}{goal\_handle\_future\_}};}
+\DoxyCodeLine{00248\ }
+\DoxyCodeLine{00250\ \ \ std::shared\_future<typename\ rclcpp\_action::ClientGoalHandle<ActionT>::WrappedResult>\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a6054145b7cf13f6e9a0e62d85169ab7c}{result\_future\_}};}
+\DoxyCodeLine{00251\ \};}
+\DoxyCodeLine{00252\ }
+\DoxyCodeLine{00253\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/annotated.tex b/docs/latex/annotated.tex
new file mode 100644
index 0000000..50de1f0
--- /dev/null
+++ b/docs/latex/annotated.tex
@@ -0,0 +1,52 @@
+\doxysection{Class List}
+Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}} \\*Action runner base class }{\pageref{classcapabilities2__runner_1_1ActionRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{capabilities2\+\_\+server\+::\+Bond\+Cache}} \\*Bond cache class }{\pageref{classcapabilities2__server_1_1BondCache}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{capabilities2\+\_\+server\+::\+Capabilities\+API}} \\*Capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners }{\pageref{classcapabilities2__server_1_1CapabilitiesAPI}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB}{capabilities2\+\_\+server\+::\+Capabilities\+DB}} }{\pageref{classcapabilities2__server_1_1CapabilitiesDB}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer}{capabilities2\+\_\+server\+::\+Capabilities\+Server}} \\*Capabilities server }{\pageref{classcapabilities2__server_1_1CapabilitiesServer}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t}} }{\pageref{structcapabilities2__server_1_1models_1_1capability__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{capability\+\_\+registrar.\+Capability\+Registrar}} }{\pageref{classcapability__registrar_1_1CapabilityRegistrar}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{capabilities2\+\_\+server\+::\+DBBase}} }{\pageref{classcapabilities2__server_1_1DBBase}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}} \\*Defineable base }{\pageref{structcapabilities2__server_1_1models_1_1defineable__base__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}} \\*Dummy runner }{\pageref{classcapabilities2__runner_1_1DummyRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner$<$ Action\+T $>$}} \\*Encapsulated capability runner }{\pageref{classcapabilities2__runner_1_1EnCapRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{capabilities2\+\_\+events\+::event\+\_\+exception}} \\*Event exception }{\pageref{structcapabilities2__events_1_1event__exception}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} \\*Event base class }{\pageref{classcapabilities2__events_1_1EventBase}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}} \\*Event node is a source of an event }{\pageref{classcapabilities2__events_1_1EventNode}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \\*Capability options for a capability runner given by interface and provider }{\pageref{structcapabilities2__events_1_1EventParameters}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe}} \\*Event pipe structure }{\pageref{structcapabilities2__events_1_1EventNode_1_1EventPipe}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}} \\*Executor runner class }{\pageref{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t}} \\*Header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability }{\pageref{structcapabilities2__server_1_1models_1_1header__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t}} \\*Unique key for a row }{\pageref{structcapabilities2__server_1_1models_1_1identifiable__base__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}} }{\pageref{classcapabilities2__runner_1_1InputMultiplexRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t}} \\*Interface model }{\pageref{structcapabilities2__server_1_1models_1_1interface__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner}{capabilities2\+\_\+runner\+::\+Launch\+Runner}} \\*Launch runner base class }{\pageref{classcapabilities2__runner_1_1LaunchRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t}} \\*Base model for all models that can be modified }{\pageref{structcapabilities2__server_1_1models_1_1modifiable__base__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner}{capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner}} }{\pageref{classcapabilities2__runner_1_1MultiplexBaseRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}} \\*No-\/trigger runner }{\pageref{classcapabilities2__runner_1_1NoTriggerRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{capabilities2\+\_\+events\+::options\+\_\+exception}} }{\pageref{structcapabilities2__events_1_1options__exception}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{capabilities2\+\_\+events\+::\+Parameter}} \\*Key value pair for capability options }{\pageref{structcapabilities2__events_1_1Parameter}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t}} \\*Predicate model type }{\pageref{structcapabilities2__server_1_1models_1_1predicate__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}} \\*Predicateable model base type }{\pageref{structcapabilities2__server_1_1models_1_1predicateable__base__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t}} \\*Provider model }{\pageref{structcapabilities2__server_1_1models_1_1provider__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent}{capabilities2\+\_\+events\+::\+Published\+Event}} }{\pageref{classcapabilities2__events_1_1PublishedEvent}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}} \\*Remappable base model definition }{\pageref{structcapabilities2__server_1_1models_1_1remappable__base__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t}} }{\pageref{structcapabilities2__server_1_1models_1_1remapping__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t}} }{\pageref{structcapabilities2__server_1_1models_1_1remappings__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__runner_1_1resource}{capabilities2\+\_\+runner\+::resource}} \\*Resource definition }{\pageref{structcapabilities2__runner_1_1resource}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t}} \\*Computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph }{\pageref{structcapabilities2__server_1_1models_1_1resource__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t}} \\*Run configuration type }{\pageref{structcapabilities2__server_1_1models_1_1run__config__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\+\_\+runner\+::runner\+\_\+exception}} \\*Runner exception }{\pageref{structcapabilities2__runner_1_1runner__exception}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\+\_\+runner\+::runner\+\_\+opts}} \\*Runner options }{\pageref{structcapabilities2__runner_1_1runner__opts}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} \\*Base class for all runners }{\pageref{classcapabilities2__runner_1_1RunnerBase}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{capabilities2\+\_\+server\+::\+Runner\+Cache}} \\*Runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use }{\pageref{classcapabilities2__server_1_1RunnerCache}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t}} \\*Running capability model }{\pageref{structcapabilities2__server_1_1models_1_1running__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \\*Semantic interface model }{\pageref{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}} \\*Service runner base class }{\pageref{classcapabilities2__runner_1_1ServiceRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t}} \\*Base model for all models that can be soft deleted }{\pageref{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t}} \\*Interface specification type the specification model is the computation graph blueprint of a capability }{\pageref{structcapabilities2__server_1_1models_1_1specification__model__t}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}} \\*Add threaded trigger execution to the runner }{\pageref{classcapabilities2__runner_1_1ThreadTriggerRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}} \\*Topic runner base class }{\pageref{classcapabilities2__runner_1_1TopicRunner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{capabilities2\+\_\+events\+::\+UUIDGenerator}} }{\pageref{classcapabilities2__events_1_1UUIDGenerator}}{}
+\end{DoxyCompactList}
diff --git a/docs/latex/basic__tutorial_8md.tex b/docs/latex/basic__tutorial_8md.tex
new file mode 100644
index 0000000..cfb8e4c
--- /dev/null
+++ b/docs/latex/basic__tutorial_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/basic\+\_\+tutorial.md File Reference}
+\hypertarget{basic__tutorial_8md}{}\label{basic__tutorial_8md}\index{docs/basic\_tutorial.md@{docs/basic\_tutorial.md}}
diff --git a/docs/latex/bond__cache_8hpp.tex b/docs/latex/bond__cache_8hpp.tex
new file mode 100644
index 0000000..284c98c
--- /dev/null
+++ b/docs/latex/bond__cache_8hpp.tex
@@ -0,0 +1,32 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/bond\+\_\+cache.hpp File Reference}
+\hypertarget{bond__cache_8hpp}{}\label{bond__cache_8hpp}\index{capabilities2\_server/include/capabilities2\_server/bond\_cache.hpp@{capabilities2\_server/include/capabilities2\_server/bond\_cache.hpp}}
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$functional$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$bondcpp/bond.\+hpp$>$}\newline
+Include dependency graph for bond\+\_\+cache.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{bond__cache_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{bond__cache_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{capabilities2\+\_\+server\+::\+Bond\+Cache}}
+\begin{DoxyCompactList}\small\item\em bond cache class \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/bond__cache_8hpp__dep__incl.md5 b/docs/latex/bond__cache_8hpp__dep__incl.md5
new file mode 100644
index 0000000..f205cbd
--- /dev/null
+++ b/docs/latex/bond__cache_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+b033f5b27cc3724fb64715c084f29813
\ No newline at end of file
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diff --git a/docs/latex/bond__cache_8hpp_source.tex b/docs/latex/bond__cache_8hpp_source.tex
new file mode 100644
index 0000000..e1ee65c
--- /dev/null
+++ b/docs/latex/bond__cache_8hpp_source.tex
@@ -0,0 +1,163 @@
+\doxysection{bond\+\_\+cache.\+hpp}
+\hypertarget{bond__cache_8hpp_source}{}\label{bond__cache_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/bond\_cache.hpp@{capabilities2\_server/include/capabilities2\_server/bond\_cache.hpp}}
+\mbox{\hyperlink{bond__cache_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <functional>}}
+\DoxyCodeLine{00007\ }
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <bondcpp/bond.hpp>}}
+\DoxyCodeLine{00010\ }
+\DoxyCodeLine{00011\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00012\ \{}
+\DoxyCodeLine{00013\ }
+\DoxyCodeLine{00022\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{BondCache}}}
+\DoxyCodeLine{00023\ \{}
+\DoxyCodeLine{00024\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00030\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a48efeffaf9fb7570b52c79487eed3f0f}{BondCache}}(\textcolor{keyword}{const}\ std::string\&\ bonds\_topic\ =\ \textcolor{stringliteral}{"{}/capabilities/bond"{}})\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}{bonds\_topic\_}}(bonds\_topic)}
+\DoxyCodeLine{00031\ \ \ \{}
+\DoxyCodeLine{00032\ \ \ \}}
+\DoxyCodeLine{00033\ }
+\DoxyCodeLine{00040\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}{add\_bond}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
+\DoxyCodeLine{00041\ \ \ \{}
+\DoxyCodeLine{00042\ \ \ \ \ \textcolor{comment}{//\ if\ capability\ is\ not\ in\ cache,\ add\ it}}
+\DoxyCodeLine{00043\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.find(capability)\ ==\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.end())}
+\DoxyCodeLine{00044\ \ \ \ \ \{}
+\DoxyCodeLine{00045\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability]\ =\ \{\ bond\_id\ \};}
+\DoxyCodeLine{00046\ \ \ \ \ \}}
+\DoxyCodeLine{00047\ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00048\ \ \ \ \ \{}
+\DoxyCodeLine{00049\ \ \ \ \ \ \ \textcolor{comment}{//\ if\ capability\ is\ in\ cache,\ append\ only\ new\ bond\ id}}
+\DoxyCodeLine{00050\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (std::find(\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].begin(),\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].end(),\ bond\_id)\ ==}
+\DoxyCodeLine{00051\ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].end())}
+\DoxyCodeLine{00052\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00053\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].push\_back(bond\_id);}
+\DoxyCodeLine{00054\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00055\ \ \ \ \ \}}
+\DoxyCodeLine{00056\ \ \ \}}
+\DoxyCodeLine{00057\ }
+\DoxyCodeLine{00065\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}{remove\_bond}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id)}
+\DoxyCodeLine{00066\ \ \ \{}
+\DoxyCodeLine{00067\ \ \ \ \ \textcolor{comment}{//\ remove\ bond\ id\ from\ all\ capability\ entries}}
+\DoxyCodeLine{00068\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ [capability,\ bonds]\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}})}
+\DoxyCodeLine{00069\ \ \ \ \ \{}
+\DoxyCodeLine{00070\ \ \ \ \ \ \ \textcolor{keyword}{auto}\ it\ =\ std::find(bonds.begin(),\ bonds.end(),\ bond\_id);}
+\DoxyCodeLine{00071\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (it\ !=\ bonds.end())}
+\DoxyCodeLine{00072\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00073\ \ \ \ \ \ \ \ \ bonds.erase(it);}
+\DoxyCodeLine{00074\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00075\ \ \ \ \ \}}
+\DoxyCodeLine{00076\ }
+\DoxyCodeLine{00077\ \ \ \ \ \textcolor{comment}{//\ remove\ empty\ capability\ entries}}
+\DoxyCodeLine{00078\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\ it\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.begin();\ it\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.end();)}
+\DoxyCodeLine{00079\ \ \ \ \ \{}
+\DoxyCodeLine{00080\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (it-\/>second.empty())}
+\DoxyCodeLine{00081\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00082\ \ \ \ \ \ \ \ \ it\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.erase(it);}
+\DoxyCodeLine{00083\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00084\ \ \ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00085\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00086\ \ \ \ \ \ \ \ \ ++it;}
+\DoxyCodeLine{00087\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00088\ \ \ \ \ \}}
+\DoxyCodeLine{00089\ \ \ \}}
+\DoxyCodeLine{00090\ }
+\DoxyCodeLine{00100\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af3825f2898c0ed831a7f89b85d6742c5}{remove\_bond}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
+\DoxyCodeLine{00101\ \ \ \{}
+\DoxyCodeLine{00102\ \ \ \ \ \textcolor{comment}{//\ remove\ bond\ id\ from\ capability\ entry}}
+\DoxyCodeLine{00103\ \ \ \ \ \textcolor{keyword}{auto}\ it\ =\ std::find(\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].begin(),\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].end(),\ bond\_id);}
+\DoxyCodeLine{00104\ }
+\DoxyCodeLine{00105\ \ \ \ \ \textcolor{keywordflow}{if}\ (it\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].end())}
+\DoxyCodeLine{00106\ \ \ \ \ \{}
+\DoxyCodeLine{00107\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].erase(it);}
+\DoxyCodeLine{00108\ \ \ \ \ \}}
+\DoxyCodeLine{00109\ }
+\DoxyCodeLine{00110\ \ \ \ \ \textcolor{comment}{//\ remove\ capability\ entry\ if\ empty}}
+\DoxyCodeLine{00111\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].empty())}
+\DoxyCodeLine{00112\ \ \ \ \ \{}
+\DoxyCodeLine{00113\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.erase(capability);}
+\DoxyCodeLine{00114\ \ \ \ \ \}}
+\DoxyCodeLine{00115\ \ \ \}}
+\DoxyCodeLine{00116\ }
+\DoxyCodeLine{00117\ \ \ \textcolor{comment}{//\ get\ all\ capabilities\ requested\ by\ a\ bond}}
+\DoxyCodeLine{00118\ \ \ \textcolor{keyword}{const}\ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5}{get\_capabilities}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id)}
+\DoxyCodeLine{00119\ \ \ \{}
+\DoxyCodeLine{00120\ \ \ \ \ std::vector<std::string>\ capabilities;}
+\DoxyCodeLine{00121\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ [capability,\ bonds]\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}})}
+\DoxyCodeLine{00122\ \ \ \ \ \{}
+\DoxyCodeLine{00123\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (std::find(bonds.begin(),\ bonds.end(),\ bond\_id)\ !=\ bonds.end())}
+\DoxyCodeLine{00124\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00125\ \ \ \ \ \ \ \ \ capabilities.push\_back(capability);}
+\DoxyCodeLine{00126\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00127\ \ \ \ \ \}}
+\DoxyCodeLine{00128\ }
+\DoxyCodeLine{00129\ \ \ \ \ \textcolor{keywordflow}{return}\ capabilities;}
+\DoxyCodeLine{00130\ \ \ \}}
+\DoxyCodeLine{00131\ }
+\DoxyCodeLine{00132\ \ \ \textcolor{comment}{//\ get\ all\ current\ bonds\ for\ a\ capability}}
+\DoxyCodeLine{00133\ \ \ \textcolor{keyword}{const}\ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728}{get\_bonds}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00134\ \ \ \{}
+\DoxyCodeLine{00135\ \ \ \ \ \textcolor{comment}{//\ if\ doesn't\ exist\ then\ throw}}
+\DoxyCodeLine{00136\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(capability))}
+\DoxyCodeLine{00137\ \ \ \ \ \{}
+\DoxyCodeLine{00138\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}capability\ not\ found"{}});}
+\DoxyCodeLine{00139\ \ \ \ \ \}}
+\DoxyCodeLine{00140\ }
+\DoxyCodeLine{00141\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability];}
+\DoxyCodeLine{00142\ \ \ \}}
+\DoxyCodeLine{00143\ }
+\DoxyCodeLine{00144\ \ \ \textcolor{comment}{//\ capability\ exists\ in\ cache}}
+\DoxyCodeLine{00145\ \ \ \textcolor{comment}{//\ a\ capability\ has\ at\ least\ one\ bond}}
+\DoxyCodeLine{00146\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00147\ \ \ \{}
+\DoxyCodeLine{00148\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.find(capability)\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.end();}
+\DoxyCodeLine{00149\ \ \ \}}
+\DoxyCodeLine{00150\ }
+\DoxyCodeLine{00151\ \ \ \textcolor{comment}{//\ bond\ id\ exists\ for\ a\ capability}}
+\DoxyCodeLine{00152\ \ \ \textcolor{comment}{//\ this\ bond\ id\ is\ associated\ with\ this\ capability}}
+\DoxyCodeLine{00153\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7db63a73651b43fa55eb444f49d62b26}{exists}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
+\DoxyCodeLine{00154\ \ \ \{}
+\DoxyCodeLine{00155\ \ \ \ \ \textcolor{comment}{//\ capability\ exists\ guard}}
+\DoxyCodeLine{00156\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(capability))}
+\DoxyCodeLine{00157\ \ \ \ \ \{}
+\DoxyCodeLine{00158\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{keyword}{false};}
+\DoxyCodeLine{00159\ \ \ \ \ \}}
+\DoxyCodeLine{00160\ }
+\DoxyCodeLine{00161\ \ \ \ \ \textcolor{comment}{//\ check\ if\ bond\ id\ exists\ for\ capability}}
+\DoxyCodeLine{00162\ \ \ \ \ \textcolor{keyword}{auto}\&\ bonds\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability];}
+\DoxyCodeLine{00163\ \ \ \ \ \textcolor{keywordflow}{return}\ std::find(bonds.begin(),\ bonds.end(),\ bond\_id)\ !=\ bonds.end();}
+\DoxyCodeLine{00164\ \ \ \}}
+\DoxyCodeLine{00165\ }
+\DoxyCodeLine{00166\ \ \ \textcolor{comment}{//\ start\ a\ live\ bond}}
+\DoxyCodeLine{00167\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266}{start}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ rclcpp::Node::SharedPtr\ node,\ std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})>\ on\_broken,}
+\DoxyCodeLine{00168\ \ \ \ \ \ \ \ \ \ \ \ \ \ std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})>\ on\_formed)}
+\DoxyCodeLine{00169\ \ \ \{}
+\DoxyCodeLine{00170\ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ bond\ with\ event\ callbacks}}
+\DoxyCodeLine{00171\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}}[bond\_id]\ =\ std::make\_unique<bond::Bond>(\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}{bonds\_topic\_}},\ bond\_id,\ node,\ on\_broken,\ on\_formed);}
+\DoxyCodeLine{00172\ }
+\DoxyCodeLine{00173\ \ \ \ \ \textcolor{comment}{//\ start\ the\ bond}}
+\DoxyCodeLine{00174\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}}[bond\_id]-\/>setHeartbeatPeriod(0.10);}
+\DoxyCodeLine{00175\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}}[bond\_id]-\/>setHeartbeatTimeout(10.0);}
+\DoxyCodeLine{00176\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}}[bond\_id]-\/>start();}
+\DoxyCodeLine{00177\ \ \ \}}
+\DoxyCodeLine{00178\ }
+\DoxyCodeLine{00179\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00180\ \ \ \textcolor{comment}{//\ bonds\ topic}}
+\DoxyCodeLine{00181\ \ \ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}{bonds\_topic\_}};}
+\DoxyCodeLine{00182\ }
+\DoxyCodeLine{00183\ \ \ \textcolor{comment}{//\ bond\ cache}}
+\DoxyCodeLine{00184\ \ \ \textcolor{comment}{//\ capability\ -\/>\ bond\ ids}}
+\DoxyCodeLine{00185\ \ \ std::map<std::string,\ std::vector<std::string>>\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}};}
+\DoxyCodeLine{00186\ }
+\DoxyCodeLine{00187\ \ \ \textcolor{comment}{//\ live\ bonds}}
+\DoxyCodeLine{00188\ \ \ \textcolor{comment}{//\ bond\ id\ -\/>\ bond\ object}}
+\DoxyCodeLine{00189\ \ \ std::map<std::string,\ std::unique\_ptr<bond::Bond>>\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}};}
+\DoxyCodeLine{00190\ \};}
+\DoxyCodeLine{00191\ }
+\DoxyCodeLine{00192\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/call__establish__bond_8py.tex b/docs/latex/call__establish__bond_8py.tex
new file mode 100644
index 0000000..0deb3a1
--- /dev/null
+++ b/docs/latex/call__establish__bond_8py.tex
@@ -0,0 +1,17 @@
+\doxysection{capabilities2\+\_\+server/test/call\+\_\+establish\+\_\+bond.py File Reference}
+\hypertarget{call__establish__bond_8py}{}\label{call__establish__bond_8py}\index{capabilities2\_server/test/call\_establish\_bond.py@{capabilities2\_server/test/call\_establish\_bond.py}}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecall__establish__bond}{call\+\_\+establish\+\_\+bond}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__establish__bond_a2300575febd9f503d779af5f6cef21b0}{call\+\_\+establish\+\_\+bond.\+test\+\_\+establish\+\_\+bond}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__establish__bond_a76d78ca9217d39db4716f0c9b663e8fa}{call\+\_\+establish\+\_\+bond.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
diff --git a/docs/latex/call__get__interfaces_8py.tex b/docs/latex/call__get__interfaces_8py.tex
new file mode 100644
index 0000000..2b52db7
--- /dev/null
+++ b/docs/latex/call__get__interfaces_8py.tex
@@ -0,0 +1,17 @@
+\doxysection{capabilities2\+\_\+server/test/call\+\_\+get\+\_\+interfaces.py File Reference}
+\hypertarget{call__get__interfaces_8py}{}\label{call__get__interfaces_8py}\index{capabilities2\_server/test/call\_get\_interfaces.py@{capabilities2\_server/test/call\_get\_interfaces.py}}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecall__get__interfaces}{call\+\_\+get\+\_\+interfaces}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__interfaces_a244fa53f9a4d366baebc0c54424bb9be}{call\+\_\+get\+\_\+interfaces.\+test\+\_\+get\+\_\+interfaces\+\_\+srv}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__interfaces_a4811a33a2e010c2c4463526e89191d93}{call\+\_\+get\+\_\+interfaces.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
diff --git a/docs/latex/call__get__providers_8py.tex b/docs/latex/call__get__providers_8py.tex
new file mode 100644
index 0000000..47f7791
--- /dev/null
+++ b/docs/latex/call__get__providers_8py.tex
@@ -0,0 +1,17 @@
+\doxysection{capabilities2\+\_\+server/test/call\+\_\+get\+\_\+providers.py File Reference}
+\hypertarget{call__get__providers_8py}{}\label{call__get__providers_8py}\index{capabilities2\_server/test/call\_get\_providers.py@{capabilities2\_server/test/call\_get\_providers.py}}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecall__get__providers}{call\+\_\+get\+\_\+providers}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__providers_a9b6b81ded0d5cf7cdc5272d5c1bb79b6}{call\+\_\+get\+\_\+providers.\+test\+\_\+get\+\_\+providers\+\_\+srv}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__providers_a19989397f7a847fffc5c2aa893a9f351}{call\+\_\+get\+\_\+providers.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
diff --git a/docs/latex/call__get__semantic__interfaces_8py.tex b/docs/latex/call__get__semantic__interfaces_8py.tex
new file mode 100644
index 0000000..1617cf9
--- /dev/null
+++ b/docs/latex/call__get__semantic__interfaces_8py.tex
@@ -0,0 +1,17 @@
+\doxysection{capabilities2\+\_\+server/test/call\+\_\+get\+\_\+semantic\+\_\+interfaces.py File Reference}
+\hypertarget{call__get__semantic__interfaces_8py}{}\label{call__get__semantic__interfaces_8py}\index{capabilities2\_server/test/call\_get\_semantic\_interfaces.py@{capabilities2\_server/test/call\_get\_semantic\_interfaces.py}}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecall__get__semantic__interfaces}{call\+\_\+get\+\_\+semantic\+\_\+interfaces}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__semantic__interfaces_a263ddd6a05396d951292f4ec57f3530f}{call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+test\+\_\+get\+\_\+semantic\+\_\+interfaces\+\_\+srv}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__semantic__interfaces_a3b2242441665fc109bf9d960b5c732b6}{call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
diff --git a/docs/latex/call__get__specs_8py.tex b/docs/latex/call__get__specs_8py.tex
new file mode 100644
index 0000000..549d3b6
--- /dev/null
+++ b/docs/latex/call__get__specs_8py.tex
@@ -0,0 +1,17 @@
+\doxysection{capabilities2\+\_\+server/test/call\+\_\+get\+\_\+specs.py File Reference}
+\hypertarget{call__get__specs_8py}{}\label{call__get__specs_8py}\index{capabilities2\_server/test/call\_get\_specs.py@{capabilities2\_server/test/call\_get\_specs.py}}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecall__get__specs}{call\+\_\+get\+\_\+specs}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__specs_aed98e930040f17e4a3421609861973c2}{call\+\_\+get\+\_\+specs.\+test\+\_\+get\+\_\+capability\+\_\+specs\+\_\+srv}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__specs_a54561396e84d4b97d338bfcfb7adf638}{call\+\_\+get\+\_\+specs.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
diff --git a/docs/latex/call__register__cap_8py.tex b/docs/latex/call__register__cap_8py.tex
new file mode 100644
index 0000000..c322c08
--- /dev/null
+++ b/docs/latex/call__register__cap_8py.tex
@@ -0,0 +1,17 @@
+\doxysection{capabilities2\+\_\+server/test/call\+\_\+register\+\_\+cap.py File Reference}
+\hypertarget{call__register__cap_8py}{}\label{call__register__cap_8py}\index{capabilities2\_server/test/call\_register\_cap.py@{capabilities2\_server/test/call\_register\_cap.py}}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecall__register__cap}{call\+\_\+register\+\_\+cap}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__register__cap_af74fb13a93506ad89f393dfd4db52c52}{call\+\_\+register\+\_\+cap.\+test\+\_\+register\+\_\+cap}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__register__cap_a542c6864d992b2711c9518ffc9c474e2}{call\+\_\+register\+\_\+cap.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities2__events_2readme_8md.tex b/docs/latex/capabilities2__events_2readme_8md.tex
new file mode 100644
index 0000000..073aa8f
--- /dev/null
+++ b/docs/latex/capabilities2__events_2readme_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+events/readme.md File Reference}
+\hypertarget{capabilities2__events_2readme_8md}{}\label{capabilities2__events_2readme_8md}\index{capabilities2\_events/readme.md@{capabilities2\_events/readme.md}}
diff --git a/docs/latex/capabilities2__msgs_2readme_8md.tex b/docs/latex/capabilities2__msgs_2readme_8md.tex
new file mode 100644
index 0000000..4178030
--- /dev/null
+++ b/docs/latex/capabilities2__msgs_2readme_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+msgs/readme.md File Reference}
+\hypertarget{capabilities2__msgs_2readme_8md}{}\label{capabilities2__msgs_2readme_8md}\index{capabilities2\_msgs/readme.md@{capabilities2\_msgs/readme.md}}
diff --git a/docs/latex/capabilities2__runner_2readme_8md.tex b/docs/latex/capabilities2__runner_2readme_8md.tex
new file mode 100644
index 0000000..c1ca9f0
--- /dev/null
+++ b/docs/latex/capabilities2__runner_2readme_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+runner/readme.md File Reference}
+\hypertarget{capabilities2__runner_2readme_8md}{}\label{capabilities2__runner_2readme_8md}\index{capabilities2\_runner/readme.md@{capabilities2\_runner/readme.md}}
diff --git a/docs/latex/capabilities2__server_2include_2capabilities2__server_2models_2readme_8md.tex b/docs/latex/capabilities2__server_2include_2capabilities2__server_2models_2readme_8md.tex
new file mode 100644
index 0000000..8e158cd
--- /dev/null
+++ b/docs/latex/capabilities2__server_2include_2capabilities2__server_2models_2readme_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/readme.md File Reference}
+\hypertarget{capabilities2__server_2include_2capabilities2__server_2models_2readme_8md}{}\label{capabilities2__server_2include_2capabilities2__server_2models_2readme_8md}\index{capabilities2\_server/include/capabilities2\_server/models/readme.md@{capabilities2\_server/include/capabilities2\_server/models/readme.md}}
diff --git a/docs/latex/capabilities2__server_2readme_8md.tex b/docs/latex/capabilities2__server_2readme_8md.tex
new file mode 100644
index 0000000..cc94664
--- /dev/null
+++ b/docs/latex/capabilities2__server_2readme_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+server/readme.md File Reference}
+\hypertarget{capabilities2__server_2readme_8md}{}\label{capabilities2__server_2readme_8md}\index{capabilities2\_server/readme.md@{capabilities2\_server/readme.md}}
diff --git a/docs/latex/capabilities2__server_8composed_8launch_8py.tex b/docs/latex/capabilities2__server_8composed_8launch_8py.tex
new file mode 100644
index 0000000..f349df3
--- /dev/null
+++ b/docs/latex/capabilities2__server_8composed_8launch_8py.tex
@@ -0,0 +1,12 @@
+\doxysection{capabilities2\+\_\+server/launch/capabilities2\+\_\+server.composed.\+launch.\+py File Reference}
+\hypertarget{capabilities2__server_8composed_8launch_8py}{}\label{capabilities2__server_8composed_8launch_8py}\index{capabilities2\_server/launch/capabilities2\_server.composed.launch.py@{capabilities2\_server/launch/capabilities2\_server.composed.launch.py}}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517}{capabilities2\+\_\+server.\+generate\+\_\+launch\+\_\+description}} ()
+\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities2__server_8launch_8py.tex b/docs/latex/capabilities2__server_8launch_8py.tex
new file mode 100644
index 0000000..d99b7d4
--- /dev/null
+++ b/docs/latex/capabilities2__server_8launch_8py.tex
@@ -0,0 +1,12 @@
+\doxysection{capabilities2\+\_\+server/launch/capabilities2\+\_\+server.launch.\+py File Reference}
+\hypertarget{capabilities2__server_8launch_8py}{}\label{capabilities2__server_8launch_8py}\index{capabilities2\_server/launch/capabilities2\_server.launch.py@{capabilities2\_server/launch/capabilities2\_server.launch.py}}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517}{capabilities2\+\_\+server.\+generate\+\_\+launch\+\_\+description}} ()
+\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities__api_8hpp.tex b/docs/latex/capabilities__api_8hpp.tex
new file mode 100644
index 0000000..b4bcf44
--- /dev/null
+++ b/docs/latex/capabilities__api_8hpp.tex
@@ -0,0 +1,45 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/capabilities\+\_\+api.hpp File Reference}
+\hypertarget{capabilities__api_8hpp}{}\label{capabilities__api_8hpp}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_api.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_api.hpp}}
+{\ttfamily \#include $<$memory$>$}\newline
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$functional$>$}\newline
+{\ttfamily \#include $<$tinyxml2.\+h$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/db\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+db.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/bond\+\_\+cache.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/runner\+\_\+cache.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/uuid\+\_\+generator.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/remapping.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+spec.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+remappings.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/running\+\_\+capability.\+hpp$>$}\newline
+Include dependency graph for capabilities\+\_\+api.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{capabilities__api_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{capabilities__api_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{capabilities2\+\_\+server\+::\+Capabilities\+API}}
+\begin{DoxyCompactList}\small\item\em capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities__api_8hpp__dep__incl.md5 b/docs/latex/capabilities__api_8hpp__dep__incl.md5
new file mode 100644
index 0000000..69b18e3
--- /dev/null
+++ b/docs/latex/capabilities__api_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+1a1157ad03d2f7b665ccf37f80ba6516
\ No newline at end of file
diff --git a/docs/latex/capabilities__api_8hpp__dep__incl.pdf b/docs/latex/capabilities__api_8hpp__dep__incl.pdf
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diff --git a/docs/latex/capabilities__api_8hpp_source.tex b/docs/latex/capabilities__api_8hpp_source.tex
new file mode 100644
index 0000000..8b61738
--- /dev/null
+++ b/docs/latex/capabilities__api_8hpp_source.tex
@@ -0,0 +1,663 @@
+\doxysection{capabilities\+\_\+api.\+hpp}
+\hypertarget{capabilities__api_8hpp_source}{}\label{capabilities__api_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_api.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_api.hpp}}
+\mbox{\hyperlink{capabilities__api_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <memory>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <functional>}}
+\DoxyCodeLine{00008\ }
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <tinyxml2.h>}}
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00011\ }
+\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
+\DoxyCodeLine{00013\ }
+\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{db__base_8hpp}{capabilities2\_server/db\_base.hpp}}>}}
+\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{capabilities__db_8hpp}{capabilities2\_server/capabilities\_db.hpp}}>}}
+\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{bond__cache_8hpp}{capabilities2\_server/bond\_cache.hpp}}>}}
+\DoxyCodeLine{00017\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__cache_8hpp}{capabilities2\_server/runner\_cache.hpp}}>}}
+\DoxyCodeLine{00018\ }
+\DoxyCodeLine{00019\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{uuid__generator_8hpp}{capabilities2\_events/uuid\_generator.hpp}}>}}
+\DoxyCodeLine{00020\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__base_8hpp}{capabilities2\_events/event\_base.hpp}}>}}
+\DoxyCodeLine{00021\ }
+\DoxyCodeLine{00022\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/remapping.hpp>}}
+\DoxyCodeLine{00023\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability.hpp>}}
+\DoxyCodeLine{00024\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_spec.hpp>}}
+\DoxyCodeLine{00025\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_remappings.hpp>}}
+\DoxyCodeLine{00026\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/running\_capability.hpp>}}
+\DoxyCodeLine{00027\ }
+\DoxyCodeLine{00028\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00029\ \{}
+\DoxyCodeLine{00030\ }
+\DoxyCodeLine{00038\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{CapabilitiesAPI}}}
+\DoxyCodeLine{00039\ \{}
+\DoxyCodeLine{00040\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00041\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce}{CapabilitiesAPI}}()\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\_}}(nullptr),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}(nullptr),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}(),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}(),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}(nullptr)}
+\DoxyCodeLine{00042\ \ \ \{}
+\DoxyCodeLine{00043\ \ \ \}}
+\DoxyCodeLine{00044\ }
+\DoxyCodeLine{00051\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}{connect}}(\textcolor{keyword}{const}\ std::string\&\ db\_file,\ rclcpp::node\_interfaces::NodeLoggingInterface::SharedPtr\ logging)}
+\DoxyCodeLine{00052\ \ \ \{}
+\DoxyCodeLine{00053\ \ \ \ \ \textcolor{comment}{//\ set\ logger}}
+\DoxyCodeLine{00054\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}\ =\ logging;}
+\DoxyCodeLine{00055\ }
+\DoxyCodeLine{00056\ \ \ \ \ \textcolor{comment}{//\ connect\ db}}
+\DoxyCodeLine{00057\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}\ =\ std::make\_unique<CapabilitiesDB>(db\_file);}
+\DoxyCodeLine{00058\ }
+\DoxyCodeLine{00059\ \ \ \ \ \textcolor{comment}{//\ log}}
+\DoxyCodeLine{00060\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Capabilities\ API\ connected\ to\ db:\ \%s"{}},\ db\_file.c\_str());}
+\DoxyCodeLine{00061\ \ \ \}}
+\DoxyCodeLine{00062\ }
+\DoxyCodeLine{00073\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\_capability}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ provider)}
+\DoxyCodeLine{00074\ \ \ \{}
+\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ return\ value}}
+\DoxyCodeLine{00076\ \ \ \ \ \textcolor{keywordtype}{bool}\ value\ =\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00077\ }
+\DoxyCodeLine{00078\ \ \ \ \ \textcolor{comment}{//\ get\ the\ running\ model\ from\ the\ db}}
+\DoxyCodeLine{00079\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ running\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_running(provider);}
+\DoxyCodeLine{00080\ }
+\DoxyCodeLine{00081\ \ \ \ \ \textcolor{comment}{//\ start\ all\ dependencies}}
+\DoxyCodeLine{00082\ \ \ \ \ \textcolor{comment}{//\ go\ through\ the\ running\ model\ and\ start\ the\ necessary\ dependencies}}
+\DoxyCodeLine{00083\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ run\ :\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}})}
+\DoxyCodeLine{00084\ \ \ \ \ \{}
+\DoxyCodeLine{00085\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}found\ dependency:\ \%s"{}},\ run.interface.c\_str());}
+\DoxyCodeLine{00086\ }
+\DoxyCodeLine{00087\ \ \ \ \ \ \ \textcolor{comment}{//\ make\ an\ internal\ 'use'\ bond\ for\ the\ capability\ dependency}}
+\DoxyCodeLine{00088\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002}{bind\_dependency}}(run.interface);}
+\DoxyCodeLine{00089\ }
+\DoxyCodeLine{00090\ \ \ \ \ \ \ \textcolor{comment}{//\ add\ the\ runner\ to\ the\ cache}}
+\DoxyCodeLine{00091\ \ \ \ \ \ \ value\ =\ value\ and\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\_capability}}(node,\ run.interface,\ run.provider);}
+\DoxyCodeLine{00092\ \ \ \ \ \}}
+\DoxyCodeLine{00093\ }
+\DoxyCodeLine{00094\ \ \ \ \ \textcolor{comment}{//\ get\ the\ provider\ specification\ for\ the\ capability}}
+\DoxyCodeLine{00095\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}\ run\_config\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_run\_config(provider);}
+\DoxyCodeLine{00096\ }
+\DoxyCodeLine{00097\ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ runner,\ this\ call\ implicitly\ starts\ the\ runner}}
+\DoxyCodeLine{00098\ \ \ \ \ \textcolor{comment}{//\ create\ a\ runner\ id\ which\ is\ the\ cap\ name\ to\ uniquely\ identify\ the\ runner}}
+\DoxyCodeLine{00099\ \ \ \ \ \textcolor{comment}{//\ this\ means\ only\ one\ runner\ per\ capability\ name}}
+\DoxyCodeLine{00100\ \ \ \ \ \textcolor{comment}{//}}
+\DoxyCodeLine{00101\ \ \ \ \ \textcolor{comment}{//\ TODO:\ consider\ the\ logic\ for\ multiple\ runners\ per\ capability}}
+\DoxyCodeLine{00102\ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00103\ \ \ \ \ \{}
+\DoxyCodeLine{00104\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25}{add\_runner}}(node,\ capability,\ run\_config);}
+\DoxyCodeLine{00105\ }
+\DoxyCodeLine{00106\ \ \ \ \ \ \ \textcolor{comment}{//\ log}}
+\DoxyCodeLine{00107\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}started\ capability:\ \%s\ with\ provider:\ \%s"{}},\ capability.c\_str(),}
+\DoxyCodeLine{00108\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ provider.c\_str());}
+\DoxyCodeLine{00109\ }
+\DoxyCodeLine{00110\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ value\ and\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00111\ \ \ \ \ \}}
+\DoxyCodeLine{00112\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
+\DoxyCodeLine{00113\ \ \ \ \ \{}
+\DoxyCodeLine{00114\ \ \ \ \ \ \ RCLCPP\_WARN(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ start\ runner:\ \%s"{}},\ e.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}());}
+\DoxyCodeLine{00115\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{keyword}{false};}
+\DoxyCodeLine{00116\ \ \ \ \ \}}
+\DoxyCodeLine{00117\ \ \ \}}
+\DoxyCodeLine{00118\ }
+\DoxyCodeLine{00125\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\_capability}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00126\ \ \ \{}
+\DoxyCodeLine{00127\ \ \ \ \ \textcolor{comment}{//\ make\ sure\ provider\ exists}}
+\DoxyCodeLine{00128\ \ \ \ \ \textcolor{comment}{//\ this\ can\ happen\ if\ dependencies\ fail\ to\ resolve\ in\ the\ first\ place}}
+\DoxyCodeLine{00129\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
+\DoxyCodeLine{00130\ \ \ \ \ \{}
+\DoxyCodeLine{00131\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ get\ provider\ for:\ \%s"{}},\ capability.c\_str());}
+\DoxyCodeLine{00132\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00133\ \ \ \ \ \}}
+\DoxyCodeLine{00134\ }
+\DoxyCodeLine{00135\ \ \ \ \ \textcolor{comment}{//\ get\ the\ provider\ from\ runner}}
+\DoxyCodeLine{00136\ \ \ \ \ std::string\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}{provider}}(capability);}
+\DoxyCodeLine{00137\ }
+\DoxyCodeLine{00138\ \ \ \ \ \textcolor{comment}{//\ get\ the\ running\ model\ from\ the\ db}}
+\DoxyCodeLine{00139\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ running\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_running(provider);}
+\DoxyCodeLine{00140\ }
+\DoxyCodeLine{00141\ \ \ \ \ \textcolor{comment}{//\ unbind\ and\ stop\ dependencies}}
+\DoxyCodeLine{00142\ \ \ \ \ \textcolor{comment}{//\ FIXME:\ this\ unrolls\ the\ dependency\ tree\ from\ the\ bottom\ up\ but\ should\ probably\ be\ top\ down}}
+\DoxyCodeLine{00143\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ run\ :\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}})}
+\DoxyCodeLine{00144\ \ \ \ \ \{}
+\DoxyCodeLine{00145\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}freeing\ dependency:\ \%s\ of\ :\ \%s"{}},\ run.interface.c\_str(),\ capability.c\_str());}
+\DoxyCodeLine{00146\ }
+\DoxyCodeLine{00147\ \ \ \ \ \ \ \textcolor{comment}{//\ remove\ the\ internal\ 'use'\ bond\ for\ the\ capability\ dependency}}
+\DoxyCodeLine{00148\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282}{unbind\_dependency}}(run.interface);}
+\DoxyCodeLine{00149\ }
+\DoxyCodeLine{00150\ \ \ \ \ \ \ \textcolor{comment}{//\ stop\ the\ dependency\ if\ no\ more\ bonds}}
+\DoxyCodeLine{00151\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(run.interface))}
+\DoxyCodeLine{00152\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00153\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\_capability}}(run.interface);}
+\DoxyCodeLine{00154\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00155\ \ \ \ \ \}}
+\DoxyCodeLine{00156\ }
+\DoxyCodeLine{00157\ \ \ \ \ \textcolor{comment}{//\ remove\ the\ runner}}
+\DoxyCodeLine{00158\ \ \ \ \ \textcolor{comment}{//\ this\ will\ implicitly\ stop\ the\ runner}}
+\DoxyCodeLine{00159\ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00160\ \ \ \ \ \{}
+\DoxyCodeLine{00161\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c}{remove\_runner}}(capability);}
+\DoxyCodeLine{00162\ \ \ \ \ \}}
+\DoxyCodeLine{00163\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
+\DoxyCodeLine{00164\ \ \ \ \ \{}
+\DoxyCodeLine{00165\ \ \ \ \ \ \ RCLCPP\_WARN(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ stop\ runner:\ \%s"{}},\ e.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}());}
+\DoxyCodeLine{00166\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00167\ \ \ \ \ \}}
+\DoxyCodeLine{00168\ }
+\DoxyCodeLine{00169\ \ \ \ \ \textcolor{comment}{//\ log}}
+\DoxyCodeLine{00170\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}stopped\ capability:\ \%s"{}},\ capability.c\_str());}
+\DoxyCodeLine{00171\ \ \ \}}
+\DoxyCodeLine{00172\ }
+\DoxyCodeLine{00180\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\_capability}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
+\DoxyCodeLine{00181\ \ \ \{}
+\DoxyCodeLine{00182\ \ \ \ \ \textcolor{comment}{//\ remove\ bond\ from\ cache\ for\ capability}}
+\DoxyCodeLine{00183\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}{remove\_bond}}(capability,\ bond\_id);}
+\DoxyCodeLine{00184\ }
+\DoxyCodeLine{00185\ \ \ \ \ \textcolor{comment}{//\ stop\ the\ capability\ if\ no\ more\ bonds}}
+\DoxyCodeLine{00186\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(capability))}
+\DoxyCodeLine{00187\ \ \ \ \ \{}
+\DoxyCodeLine{00188\ \ \ \ \ \ \ \textcolor{comment}{//\ stop\ the\ capability}}
+\DoxyCodeLine{00189\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}stopping\ freed\ capability:\ \%s"{}},\ capability.c\_str());}
+\DoxyCodeLine{00190\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\_capability}}(capability);}
+\DoxyCodeLine{00191\ \ \ \ \ \}}
+\DoxyCodeLine{00192\ \ \ \}}
+\DoxyCodeLine{00193\ }
+\DoxyCodeLine{00205\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}{trigger\_capability}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
+\DoxyCodeLine{00206\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters)}
+\DoxyCodeLine{00207\ \ \ \{}
+\DoxyCodeLine{00208\ \ \ \ \ \textcolor{comment}{//\ validate\ bond}}
+\DoxyCodeLine{00209\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(capability,\ bond\_id))}
+\DoxyCodeLine{00210\ \ \ \ \ \{}
+\DoxyCodeLine{00211\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}this\ bond:\ \%s\ is\ not\ using\ capability:\ \%s"{}},\ bond\_id.c\_str(),}
+\DoxyCodeLine{00212\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ capability.c\_str());}
+\DoxyCodeLine{00213\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00214\ \ \ \ \ \}}
+\DoxyCodeLine{00215\ }
+\DoxyCodeLine{00216\ \ \ \ \ \textcolor{comment}{//\ trigger\ the\ runner}}
+\DoxyCodeLine{00217\ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00218\ \ \ \ \ \{}
+\DoxyCodeLine{00219\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a}{trigger\_runner}}(bond\_id,\ capability,\ instance\_id,\ parameters);}
+\DoxyCodeLine{00220\ \ \ \ \ \}}
+\DoxyCodeLine{00221\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
+\DoxyCodeLine{00222\ \ \ \ \ \{}
+\DoxyCodeLine{00223\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ trigger\ runner:\ \%s"{}},\ e.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}());}
+\DoxyCodeLine{00224\ \ \ \ \ \}}
+\DoxyCodeLine{00225\ \ \ \}}
+\DoxyCodeLine{00226\ }
+\DoxyCodeLine{00238\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}{use\_capability}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ provider,}
+\DoxyCodeLine{00239\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
+\DoxyCodeLine{00240\ \ \ \{}
+\DoxyCodeLine{00241\ \ \ \ \ \textcolor{comment}{//\ add\ bond\ to\ cache\ for\ capability}}
+\DoxyCodeLine{00242\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}{add\_bond}}(capability,\ bond\_id);}
+\DoxyCodeLine{00243\ }
+\DoxyCodeLine{00244\ \ \ \ \ \textcolor{comment}{//\ start\ the\ capability\ with\ the\ provider}}
+\DoxyCodeLine{00245\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\_capability}}(node,\ capability,\ provider);}
+\DoxyCodeLine{00246\ \ \ \}}
+\DoxyCodeLine{00247\ }
+\DoxyCodeLine{00256\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}{connect\_capability}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilityConnection\&\ connection)}
+\DoxyCodeLine{00257\ \ \ \{}
+\DoxyCodeLine{00258\ \ \ \ \ \textcolor{comment}{//\ TODO:\ implement\ connection\ storage\ for\ non-\/running\ capabilities}}
+\DoxyCodeLine{00259\ \ \ \ \ \textcolor{comment}{//\ could\ also\ implicitly\ increment\ use\ counts\ for\ capabilities\ with\ this\ bond}}
+\DoxyCodeLine{00260\ \ \ \ \ \textcolor{comment}{//\ so\ that\ the\ capabilities\ are\ started\ and\ then\ connected}}
+\DoxyCodeLine{00261\ \ \ \ \ \textcolor{comment}{//\ could\ also\ increment\ use\ either\ way\ (running\ or\ not),\ which\ would\ allow\ tracking\ connections\ as\ 'uses'}}
+\DoxyCodeLine{00262\ \ \ \ \ \textcolor{comment}{//\ all\ of\ this\ would\ require\ freeing\ capabilities}}
+\DoxyCodeLine{00263\ }
+\DoxyCodeLine{00264\ \ \ \ \ \textcolor{comment}{//\ validate\ bonds}}
+\DoxyCodeLine{00265\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(connection.source.capability,\ bond\_id)\ ||}
+\DoxyCodeLine{00266\ \ \ \ \ \ \ \ \ !\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(connection.target.capability,\ bond\_id))}
+\DoxyCodeLine{00267\ \ \ \ \ \{}
+\DoxyCodeLine{00268\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}no\ bond\ with\ id:\ \%s\ exists\ for\ these\ capabilities"{}},\ bond\_id.c\_str());}
+\DoxyCodeLine{00269\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00270\ \ \ \ \ \}}
+\DoxyCodeLine{00271\ }
+\DoxyCodeLine{00272\ \ \ \ \ \textcolor{comment}{//\ check\ if\ source\ and\ target\ capabilities\ are\ running}}
+\DoxyCodeLine{00273\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(connection.source.capability)\ ||\ !\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(connection.target.capability))}
+\DoxyCodeLine{00274\ \ \ \ \ \{}
+\DoxyCodeLine{00275\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}both\ source\ and\ target\ capabilities\ must\ be\ running\ to\ connect"{}});}
+\DoxyCodeLine{00276\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00277\ \ \ \ \ \}}
+\DoxyCodeLine{00278\ }
+\DoxyCodeLine{00279\ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00280\ \ \ \ \ \{}
+\DoxyCodeLine{00281\ \ \ \ \ \ \ \textcolor{comment}{//\ create\ a\ unique\ connection\ id\ for\ the\ connection\ using\ the\ bond\_id\ and\ instance\ ids\ }}
+\DoxyCodeLine{00282\ \ \ \ \ \ \ \textcolor{comment}{//(format:\ "{}bond\_id/instance\_id/target\_instance\_id"{})}}
+\DoxyCodeLine{00283\ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\ connection\_id\ =\ bond\_id\ +\ \textcolor{charliteral}{'/'}\ +\ connection.source.instance\_id\ +\ \textcolor{charliteral}{'/'}\ +\ connection.target.instance\_id;}
+\DoxyCodeLine{00284\ }
+\DoxyCodeLine{00285\ \ \ \ \ \ \ \textcolor{comment}{//\ need\ to\ pass\ event\ emitter\ to\ the\ runner\ cache\ so\ that\ it\ can\ be\ set\ in\ the\ runner}}
+\DoxyCodeLine{00286\ \ \ \ \ \ \ \textcolor{comment}{//\ this\ allows\ the\ runner\ to\ emit\ events\ on\ state\ changes}}
+\DoxyCodeLine{00287\ \ \ \ \ \ \ \textcolor{comment}{//\ default\ runner\ behaviour\ does\ not\ use\ event\ subsystem}}
+\DoxyCodeLine{00288\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf}{add\_connection}}(connection.source.capability,\ connection\_id,\ connection,\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\_}});}
+\DoxyCodeLine{00289\ }
+\DoxyCodeLine{00290\ \ \ \ \ \ \ \textcolor{comment}{//\ log}}
+\DoxyCodeLine{00291\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}set\ 'type\ \%d'\ connection\ for\ runner:\ \%s\ with\ id:\ \%s"{}},\ connection.type.code,}
+\DoxyCodeLine{00292\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ connection.source.capability.c\_str(),\ connection\_id.c\_str());}
+\DoxyCodeLine{00293\ \ \ \ \ \}}
+\DoxyCodeLine{00294\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
+\DoxyCodeLine{00295\ \ \ \ \ \{}
+\DoxyCodeLine{00296\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ connect\ runners:\ \%s"{}},\ e.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}());}
+\DoxyCodeLine{00297\ \ \ \ \ \}}
+\DoxyCodeLine{00298\ \ \ \}}
+\DoxyCodeLine{00299\ }
+\DoxyCodeLine{00300\ \ \ \textcolor{comment}{//\ capability\ api}}
+\DoxyCodeLine{00302\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}{add\_capability}}(\textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilitySpec\&\ spec)}
+\DoxyCodeLine{00303\ \ \ \{}
+\DoxyCodeLine{00304\ \ \ \ \ \textcolor{comment}{//\ peak\ at\ the\ spec\ header}}
+\DoxyCodeLine{00305\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{models::header\_model\_t}}\ header;}
+\DoxyCodeLine{00306\ \ \ \ \ header.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\_yaml}}(YAML::Load(spec.content));}
+\DoxyCodeLine{00307\ \ \ \ \ header.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ =\ spec.package\ +\ \textcolor{stringliteral}{"{}/"{}}\ +\ header.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
+\DoxyCodeLine{00308\ }
+\DoxyCodeLine{00309\ \ \ \ \ \textcolor{comment}{//\ check\ type\ and\ exists,\ create\ model\ and\ add\ to\ db}}
+\DoxyCodeLine{00310\ \ \ \ \ \textcolor{keywordflow}{if}\ (spec.type\ ==\ capabilities2\_msgs::msg::CapabilitySpec::CAPABILITY\_INTERFACE)}
+\DoxyCodeLine{00311\ \ \ \ \ \{}
+\DoxyCodeLine{00312\ \ \ \ \ \ \ \textcolor{comment}{//\ exists\ guard}}
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+\DoxyCodeLine{00368\ \ \ \ \ \textcolor{keywordflow}{if}\ (spec.type\ ==\ capabilities2\_msgs::msg::CapabilitySpec::CAPABILITY\_PROVIDER)}
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+\DoxyCodeLine{00378\ \ \ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00379\ \ \ \ \ \ \ \{}
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+\DoxyCodeLine{00383\ \ \ \ \ \ \ \{}
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+\DoxyCodeLine{00460\ \ \ \ \ \{}
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+\DoxyCodeLine{00486\ \ \ \ \ \textcolor{keywordflow}{if}\ (!provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
+\DoxyCodeLine{00487\ \ \ \ \ \{}
+\DoxyCodeLine{00488\ \ \ \ \ \ \ msg.package\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.substr(0,\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.find\_first\_of(\textcolor{charliteral}{'/'}));}
+\DoxyCodeLine{00489\ \ \ \ \ \ \ msg.type\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}};}
+\DoxyCodeLine{00490\ \ \ \ \ \ \ YAML::Node\ spec\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1a91763b3ebf0fe9fc9d38a0b9315fb9}{to\_yaml}}();}
+\DoxyCodeLine{00491\ \ \ \ \ \ \ spec[\textcolor{stringliteral}{"{}name"{}}]\ =\ spec[\textcolor{stringliteral}{"{}name"{}}].as<std::string>().substr(provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.find\_first\_of(\textcolor{charliteral}{'/'})\ +\ 1);}
+\DoxyCodeLine{00492\ \ \ \ \ \ \ msg.content\ =\ YAML::Dump(spec);}
+\DoxyCodeLine{00493\ \ \ \ \ \}}
+\DoxyCodeLine{00494\ }
+\DoxyCodeLine{00495\ \ \ \ \ \textcolor{keywordflow}{return}\ msg;}
+\DoxyCodeLine{00496\ \ \ \}}
+\DoxyCodeLine{00497\ }
+\DoxyCodeLine{00498\ \ \ std::vector<capabilities2\_msgs::msg::CapabilitySpec>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8}{get\_capability\_specs}}()}
+\DoxyCodeLine{00499\ \ \ \{}
+\DoxyCodeLine{00500\ \ \ \ \ \textcolor{comment}{//\ get\ all\ capability\ specs\ from\ db}}
+\DoxyCodeLine{00501\ \ \ \ \ std::vector<capabilities2\_msgs::msg::CapabilitySpec>\ specs;}
+\DoxyCodeLine{00502\ }
+\DoxyCodeLine{00503\ \ \ \ \ \textcolor{comment}{//\ interfaces}}
+\DoxyCodeLine{00504\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ interface\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_interfaces())}
+\DoxyCodeLine{00505\ \ \ \ \ \{}
+\DoxyCodeLine{00506\ \ \ \ \ \ \ capabilities2\_msgs::msg::CapabilitySpec\ msg;}
+\DoxyCodeLine{00507\ \ \ \ \ \ \ msg.package\ =\ interface.header.name.substr(0,\ interface.header.name.find\_first\_of(\textcolor{charliteral}{'/'}));}
+\DoxyCodeLine{00508\ \ \ \ \ \ \ msg.type\ =\ interface.header.type;}
+\DoxyCodeLine{00509\ \ \ \ \ \ \ YAML::Node\ spec\ =\ interface.to\_yaml();}
+\DoxyCodeLine{00510\ \ \ \ \ \ \ spec[\textcolor{stringliteral}{"{}name"{}}]\ =\ spec[\textcolor{stringliteral}{"{}name"{}}].as<std::string>().substr(interface.header.name.find\_first\_of(\textcolor{charliteral}{'/'})\ +\ 1);}
+\DoxyCodeLine{00511\ \ \ \ \ \ \ msg.content\ =\ YAML::Dump(spec);}
+\DoxyCodeLine{00512\ \ \ \ \ \ \ specs.push\_back(msg);}
+\DoxyCodeLine{00513\ \ \ \ \ \}}
+\DoxyCodeLine{00514\ }
+\DoxyCodeLine{00515\ \ \ \ \ \textcolor{comment}{//\ semantic\ interfaces}}
+\DoxyCodeLine{00516\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ semantic\_interface\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_semantic\_interfaces())}
+\DoxyCodeLine{00517\ \ \ \ \ \{}
+\DoxyCodeLine{00518\ \ \ \ \ \ \ capabilities2\_msgs::msg::CapabilitySpec\ msg;}
+\DoxyCodeLine{00519\ \ \ \ \ \ \ msg.package\ =\ semantic\_interface.header.name.substr(0,\ semantic\_interface.header.name.find\_first\_of(\textcolor{charliteral}{'/'}));}
+\DoxyCodeLine{00520\ \ \ \ \ \ \ msg.type\ =\ semantic\_interface.header.type;}
+\DoxyCodeLine{00521\ \ \ \ \ \ \ YAML::Node\ spec\ =\ semantic\_interface.to\_yaml();}
+\DoxyCodeLine{00522\ \ \ \ \ \ \ spec[\textcolor{stringliteral}{"{}name"{}}]\ =\ spec[\textcolor{stringliteral}{"{}name"{}}].as<std::string>().substr(semantic\_interface.header.name.find\_first\_of(\textcolor{charliteral}{'/'})\ +\ 1);}
+\DoxyCodeLine{00523\ \ \ \ \ \ \ msg.content\ =\ YAML::Dump(spec);}
+\DoxyCodeLine{00524\ \ \ \ \ \ \ specs.push\_back(msg);}
+\DoxyCodeLine{00525\ \ \ \ \ \}}
+\DoxyCodeLine{00526\ }
+\DoxyCodeLine{00527\ \ \ \ \ \textcolor{comment}{//\ providers}}
+\DoxyCodeLine{00528\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ provider\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_providers())}
+\DoxyCodeLine{00529\ \ \ \ \ \{}
+\DoxyCodeLine{00530\ \ \ \ \ \ \ capabilities2\_msgs::msg::CapabilitySpec\ msg;}
+\DoxyCodeLine{00531\ \ \ \ \ \ \ msg.package\ =\ provider.header.name.substr(0,\ provider.header.name.find\_first\_of(\textcolor{charliteral}{'/'}));}
+\DoxyCodeLine{00532\ \ \ \ \ \ \ msg.type\ =\ provider.header.type;}
+\DoxyCodeLine{00533\ \ \ \ \ \ \ YAML::Node\ spec\ =\ provider.to\_yaml();}
+\DoxyCodeLine{00534\ \ \ \ \ \ \ spec[\textcolor{stringliteral}{"{}name"{}}]\ =\ spec[\textcolor{stringliteral}{"{}name"{}}].as<std::string>().substr(provider.header.name.find\_first\_of(\textcolor{charliteral}{'/'})\ +\ 1);}
+\DoxyCodeLine{00535\ \ \ \ \ \ \ msg.content\ =\ YAML::Dump(spec);}
+\DoxyCodeLine{00536\ \ \ \ \ \ \ specs.push\_back(msg);}
+\DoxyCodeLine{00537\ \ \ \ \ \}}
+\DoxyCodeLine{00538\ }
+\DoxyCodeLine{00539\ \ \ \ \ \textcolor{keywordflow}{return}\ specs;}
+\DoxyCodeLine{00540\ \ \ \}}
+\DoxyCodeLine{00541\ }
+\DoxyCodeLine{00542\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f}{get\_remappings}}(\textcolor{keyword}{const}\ std::string\&\ capability\_spec,}
+\DoxyCodeLine{00543\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::GetRemappings::Response>\ res)}
+\DoxyCodeLine{00544\ \ \ \{}
+\DoxyCodeLine{00545\ \ \ \ \ \textcolor{comment}{//\ get\ remappings\ for\ a\ capability\ spec}}
+\DoxyCodeLine{00546\ }
+\DoxyCodeLine{00547\ \ \ \ \ \textcolor{comment}{//\ get\ re-\/map-\/able\ specs\ from\ db,\ these\ are\ semantic\ interfaces\ and\ providers}}
+\DoxyCodeLine{00548\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models::remappable\_base\_t}}\ remappable\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_remappable(capability\_spec);}
+\DoxyCodeLine{00549\ }
+\DoxyCodeLine{00550\ \ \ \ \ \textcolor{comment}{//\ get\ remappings}}
+\DoxyCodeLine{00551\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ topic\ :\ remappable.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a9b83cf9b0b6306e5580f9babb42b8a11}{topics}})}
+\DoxyCodeLine{00552\ \ \ \ \ \{}
+\DoxyCodeLine{00553\ \ \ \ \ \ \ capabilities2\_msgs::msg::Remapping\ msg;}
+\DoxyCodeLine{00554\ \ \ \ \ \ \ msg.key\ =\ topic.from;}
+\DoxyCodeLine{00555\ \ \ \ \ \ \ msg.value\ =\ topic.to;}
+\DoxyCodeLine{00556\ \ \ \ \ \ \ res-\/>topics.push\_back(msg);}
+\DoxyCodeLine{00557\ \ \ \ \ \}}
+\DoxyCodeLine{00558\ }
+\DoxyCodeLine{00559\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ service\ :\ remappable.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_aba5002e746519b1ca48238e6d26c2054}{services}})}
+\DoxyCodeLine{00560\ \ \ \ \ \{}
+\DoxyCodeLine{00561\ \ \ \ \ \ \ capabilities2\_msgs::msg::Remapping\ msg;}
+\DoxyCodeLine{00562\ \ \ \ \ \ \ msg.key\ =\ service.from;}
+\DoxyCodeLine{00563\ \ \ \ \ \ \ msg.value\ =\ service.to;}
+\DoxyCodeLine{00564\ \ \ \ \ \ \ res-\/>services.push\_back(msg);}
+\DoxyCodeLine{00565\ \ \ \ \ \}}
+\DoxyCodeLine{00566\ }
+\DoxyCodeLine{00567\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ action\ :\ remappable.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a62e2be32cc2b051f7bdfba15ab17a95d}{actions}})}
+\DoxyCodeLine{00568\ \ \ \ \ \{}
+\DoxyCodeLine{00569\ \ \ \ \ \ \ capabilities2\_msgs::msg::Remapping\ msg;}
+\DoxyCodeLine{00570\ \ \ \ \ \ \ msg.key\ =\ action.from;}
+\DoxyCodeLine{00571\ \ \ \ \ \ \ msg.value\ =\ action.to;}
+\DoxyCodeLine{00572\ \ \ \ \ \ \ res-\/>actions.push\_back(msg);}
+\DoxyCodeLine{00573\ \ \ \ \ \}}
+\DoxyCodeLine{00574\ }
+\DoxyCodeLine{00575\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ parameter\ :\ remappable.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a1570369d1b89a3ba0a9cbff9419422cc}{parameters}})}
+\DoxyCodeLine{00576\ \ \ \ \ \{}
+\DoxyCodeLine{00577\ \ \ \ \ \ \ capabilities2\_msgs::msg::Remapping\ msg;}
+\DoxyCodeLine{00578\ \ \ \ \ \ \ msg.key\ =\ parameter.from;}
+\DoxyCodeLine{00579\ \ \ \ \ \ \ msg.value\ =\ parameter.to;}
+\DoxyCodeLine{00580\ \ \ \ \ \ \ res-\/>parameters.push\_back(msg);}
+\DoxyCodeLine{00581\ \ \ \ \ \}}
+\DoxyCodeLine{00582\ \ \ \}}
+\DoxyCodeLine{00583\ }
+\DoxyCodeLine{00584\ \ \ \textcolor{comment}{//\ runner\ api}}
+\DoxyCodeLine{00585\ \ \ std::vector<capabilities2\_msgs::msg::RunningCapability>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514}{get\_running\_capabilities}}()}
+\DoxyCodeLine{00586\ \ \ \{}
+\DoxyCodeLine{00587\ \ \ \ \ \textcolor{comment}{//\ create\ message\ container}}
+\DoxyCodeLine{00588\ \ \ \ \ std::vector<capabilities2\_msgs::msg::RunningCapability>\ running\_capabilities;}
+\DoxyCodeLine{00589\ }
+\DoxyCodeLine{00590\ \ \ \ \ \textcolor{comment}{//\ get\ a\ list\ of\ running\ caps}}
+\DoxyCodeLine{00591\ \ \ \ \ std::vector<std::string>\ caps\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb}{get\_running\_capabilities}}();}
+\DoxyCodeLine{00592\ }
+\DoxyCodeLine{00593\ \ \ \ \ \textcolor{comment}{//\ for\ each\ cap\ get\ the\ running\ model\ from\ db}}
+\DoxyCodeLine{00594\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ std::string\&\ cap\ :\ caps)}
+\DoxyCodeLine{00595\ \ \ \ \ \{}
+\DoxyCodeLine{00596\ \ \ \ \ \ \ \textcolor{comment}{//\ create\ a\ running\ cap\ msg}}
+\DoxyCodeLine{00597\ \ \ \ \ \ \ capabilities2\_msgs::msg::RunningCapability\ rc;}
+\DoxyCodeLine{00598\ }
+\DoxyCodeLine{00599\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ cap\ provider\ from\ runner}}
+\DoxyCodeLine{00600\ \ \ \ \ \ \ std::string\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}{provider}}(cap);}
+\DoxyCodeLine{00601\ }
+\DoxyCodeLine{00602\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ running\ model\ for\ provider}}
+\DoxyCodeLine{00603\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ running\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_running(provider);}
+\DoxyCodeLine{00604\ }
+\DoxyCodeLine{00605\ \ \ \ \ \ \ \textcolor{comment}{//\ fill\ running\ cap\ msg}}
+\DoxyCodeLine{00606\ \ \ \ \ \ \ rc.capability.capability\ =\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}};}
+\DoxyCodeLine{00607\ \ \ \ \ \ \ rc.capability.provider\ =\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}};}
+\DoxyCodeLine{00608\ \ \ \ \ \ \ rc.started\_by\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f}{started\_by}}(cap);}
+\DoxyCodeLine{00609\ \ \ \ \ \ \ rc.pid\ =\ atoi(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}{pid}}(cap).c\_str());}
+\DoxyCodeLine{00610\ }
+\DoxyCodeLine{00611\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ dependencies}}
+\DoxyCodeLine{00612\ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ dep\ :\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}})}
+\DoxyCodeLine{00613\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00614\ \ \ \ \ \ \ \ \ capabilities2\_msgs::msg::Capability\ cap\_msg;}
+\DoxyCodeLine{00615\ \ \ \ \ \ \ \ \ cap\_msg.capability\ =\ dep.interface;}
+\DoxyCodeLine{00616\ \ \ \ \ \ \ \ \ cap\_msg.provider\ =\ dep.provider;}
+\DoxyCodeLine{00617\ \ \ \ \ \ \ \ \ rc.dependent\_capabilities.push\_back(cap\_msg);}
+\DoxyCodeLine{00618\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00619\ }
+\DoxyCodeLine{00620\ \ \ \ \ \ \ \textcolor{comment}{//\ add\ running\ cap\ msg}}
+\DoxyCodeLine{00621\ \ \ \ \ \ \ running\_capabilities.push\_back(rc);}
+\DoxyCodeLine{00622\ \ \ \ \ \}}
+\DoxyCodeLine{00623\ }
+\DoxyCodeLine{00624\ \ \ \ \ \textcolor{keywordflow}{return}\ running\_capabilities;}
+\DoxyCodeLine{00625\ \ \ \}}
+\DoxyCodeLine{00626\ }
+\DoxyCodeLine{00635\ \ \ \textcolor{keywordtype}{int}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c}{get\_pid}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00636\ \ \ \{}
+\DoxyCodeLine{00637\ \ \ \ \ \textcolor{keywordflow}{return}\ atoi(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}{pid}}(capability).c\_str());}
+\DoxyCodeLine{00638\ \ \ \}}
+\DoxyCodeLine{00639\ }
+\DoxyCodeLine{00640\ \ \ \textcolor{comment}{//\ bond\ api}}
+\DoxyCodeLine{00641\ \ \ \textcolor{comment}{//\ establish\ bond}}
+\DoxyCodeLine{00642\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}{establish\_bond}}(rclcpp::Node::SharedPtr\ node)}
+\DoxyCodeLine{00643\ \ \ \{}
+\DoxyCodeLine{00644\ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ unique\ bond\ id}}
+\DoxyCodeLine{00645\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}{capabilities2\_events::UUIDGenerator::gen\_uuid\_str}}();}
+\DoxyCodeLine{00646\ }
+\DoxyCodeLine{00647\ \ \ \ \ \textcolor{comment}{//\ establish\ a\ bond\ and\ start\ liveness\ functions\ (on\_broken,\ on\_formed)}}
+\DoxyCodeLine{00648\ \ \ \ \ \textcolor{comment}{//\ bind\ the\ bond\ id\ to\ the\ callback\ functions}}
+\DoxyCodeLine{00649\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266}{start}}(bond\_id,\ node,\ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}{CapabilitiesAPI::on\_bond\_broken}},\ \textcolor{keyword}{this},\ bond\_id),}
+\DoxyCodeLine{00650\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}{CapabilitiesAPI::on\_bond\_established}},\ \textcolor{keyword}{this},\ bond\_id));}
+\DoxyCodeLine{00651\ }
+\DoxyCodeLine{00652\ \ \ \ \ \textcolor{comment}{//\ return\ bond\ id}}
+\DoxyCodeLine{00653\ \ \ \ \ \textcolor{keywordflow}{return}\ bond\_id;}
+\DoxyCodeLine{00654\ \ \ \}}
+\DoxyCodeLine{00655\ }
+\DoxyCodeLine{00656\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}{on\_bond\_established}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id)}
+\DoxyCodeLine{00657\ \ \ \{}
+\DoxyCodeLine{00658\ \ \ \ \ \textcolor{comment}{//\ log\ bond\ established\ event}}
+\DoxyCodeLine{00659\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}bond\ established\ with\ id:\ \%s"{}},\ bond\_id.c\_str());}
+\DoxyCodeLine{00660\ \ \ \}}
+\DoxyCodeLine{00661\ }
+\DoxyCodeLine{00662\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}{on\_bond\_broken}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id)}
+\DoxyCodeLine{00663\ \ \ \{}
+\DoxyCodeLine{00664\ \ \ \ \ \textcolor{comment}{//\ log\ warning}}
+\DoxyCodeLine{00665\ \ \ \ \ RCLCPP\_WARN(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}bond\ broken\ for\ id:\ \%s"{}},\ bond\_id.c\_str());}
+\DoxyCodeLine{00666\ }
+\DoxyCodeLine{00667\ \ \ \ \ \textcolor{comment}{//\ get\ capabilities\ requested\ by\ the\ bond}}
+\DoxyCodeLine{00668\ \ \ \ \ std::vector<std::string>\ capabilities\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5}{get\_capabilities}}(bond\_id);}
+\DoxyCodeLine{00669\ }
+\DoxyCodeLine{00670\ \ \ \ \ \textcolor{comment}{//\ free\ capabilities}}
+\DoxyCodeLine{00671\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ capability\ :\ capabilities)}
+\DoxyCodeLine{00672\ \ \ \ \ \{}
+\DoxyCodeLine{00673\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\_capability}}(capability,\ bond\_id);}
+\DoxyCodeLine{00674\ \ \ \ \ \}}
+\DoxyCodeLine{00675\ \ \ \}}
+\DoxyCodeLine{00676\ }
+\DoxyCodeLine{00677\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00678\ \ \ \textcolor{comment}{//\ bind\ a\ dependency\ to\ an\ internal\ bond}}
+\DoxyCodeLine{00679\ \ \ \textcolor{comment}{//\ this\ is\ a\ bond\ without\ a\ live\ external\ connection}}
+\DoxyCodeLine{00680\ \ \ \textcolor{comment}{//\ this\ will\ help\ keep\ the\ capability\ runners\ scoped\ to\ a\ reference}}
+\DoxyCodeLine{00681\ \ \ \textcolor{comment}{//\ only\ when\ all\ the\ bonds\ (including\ internal)\ are\ broken\ the\ capability\ is\ freed}}
+\DoxyCodeLine{00682\ \ \ \textcolor{comment}{//\ this\ is\ specifically\ needed\ for\ running\ dependencies\ of\ a\ capability}}
+\DoxyCodeLine{00683\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002}{bind\_dependency}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00684\ \ \ \{}
+\DoxyCodeLine{00685\ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ unique\ bond\ id}}
+\DoxyCodeLine{00686\ \ \ \ \ \textcolor{comment}{//\ std::string\ bond\_id\ =\ CapabilitiesAPI::gen\_bond\_id();\ //\ DEPRECATED}}
+\DoxyCodeLine{00687\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}{capabilities2\_events::UUIDGenerator::gen\_uuid\_str}}();}
+\DoxyCodeLine{00688\ }
+\DoxyCodeLine{00689\ \ \ \ \ \textcolor{comment}{//\ add\ the\ bond\ id\ to\ the\ bond\ cache}}
+\DoxyCodeLine{00690\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}{add\_bond}}(capability,\ bond\_id);}
+\DoxyCodeLine{00691\ }
+\DoxyCodeLine{00692\ \ \ \ \ \textcolor{comment}{//\ keep\ the\ bond\ id\ in\ the\ internal\ bond\ ids}}
+\DoxyCodeLine{00693\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.push\_back(bond\_id);}
+\DoxyCodeLine{00694\ \ \ \}}
+\DoxyCodeLine{00695\ }
+\DoxyCodeLine{00696\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282}{unbind\_dependency}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00697\ \ \ \{}
+\DoxyCodeLine{00698\ \ \ \ \ \textcolor{comment}{//\ do\ we\ have\ a\ bond\ id\ for\ this\ capability}}
+\DoxyCodeLine{00699\ }
+\DoxyCodeLine{00700\ \ \ \ \ \textcolor{comment}{//\ get\ cap\ bonds}}
+\DoxyCodeLine{00701\ \ \ \ \ std::vector<std::string>\ cap\_bonds\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728}{get\_bonds}}(capability);}
+\DoxyCodeLine{00702\ }
+\DoxyCodeLine{00703\ \ \ \ \ \textcolor{comment}{//\ if\ any\ internal\ bonds\ in\ cap\_bonds}}
+\DoxyCodeLine{00704\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ bond\ :\ cap\_bonds)}
+\DoxyCodeLine{00705\ \ \ \ \ \{}
+\DoxyCodeLine{00706\ \ \ \ \ \ \ \textcolor{keyword}{auto}\ it\ =\ std::find(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.begin(),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.end(),\ bond);}
+\DoxyCodeLine{00707\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (it\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.end())}
+\DoxyCodeLine{00708\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00709\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ remove\ just\ the\ first\ bond\ id\ found\ in\ cap\_bonds\ and\ internal\_bond\_ids\_}}
+\DoxyCodeLine{00710\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}{remove\_bond}}(capability,\ bond);}
+\DoxyCodeLine{00711\ }
+\DoxyCodeLine{00712\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ delete\ internal\ bond}}
+\DoxyCodeLine{00713\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.erase(it);}
+\DoxyCodeLine{00714\ }
+\DoxyCodeLine{00715\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00716\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00717\ \ \ \ \ \}}
+\DoxyCodeLine{00718\ \ \ \}}
+\DoxyCodeLine{00719\ }
+\DoxyCodeLine{00720\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00721\ \ \ \textcolor{comment}{//\ event\ api}}
+\DoxyCodeLine{00722\ \ \ std::shared\_ptr<capabilities2\_events::EventBase>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\_}};}
+\DoxyCodeLine{00723\ }
+\DoxyCodeLine{00724\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00725\ \ \ \textcolor{comment}{//\ db}}
+\DoxyCodeLine{00726\ \ \ std::unique\_ptr<DBBase>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}};}
+\DoxyCodeLine{00727\ }
+\DoxyCodeLine{00728\ \ \ \textcolor{comment}{//\ for\ internal\ logging}}
+\DoxyCodeLine{00729\ \ \ rclcpp::node\_interfaces::NodeLoggingInterface::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}};}
+\DoxyCodeLine{00730\ }
+\DoxyCodeLine{00731\ \ \ \textcolor{comment}{//\ caches}}
+\DoxyCodeLine{00732\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{BondCache}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}};}
+\DoxyCodeLine{00733\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{RunnerCache}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}};}
+\DoxyCodeLine{00734\ }
+\DoxyCodeLine{00735\ \ \ \textcolor{comment}{//\ internal\ bindings}}
+\DoxyCodeLine{00736\ \ \ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}};}
+\DoxyCodeLine{00737\ \};}
+\DoxyCodeLine{00738\ }
+\DoxyCodeLine{00739\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/capabilities__db_8hpp.tex b/docs/latex/capabilities__db_8hpp.tex
new file mode 100644
index 0000000..d48f92f
--- /dev/null
+++ b/docs/latex/capabilities__db_8hpp.tex
@@ -0,0 +1,38 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/capabilities\+\_\+db.hpp File Reference}
+\hypertarget{capabilities__db_8hpp}{}\label{capabilities__db_8hpp}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_db.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_db.hpp}}
+{\ttfamily \#include $<$memory$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$sqlite3.\+h$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/db\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/interface.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/semantic\+\_\+interface.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/provider.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/running.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/run\+\_\+config.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
+Include dependency graph for capabilities\+\_\+db.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{capabilities__db_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{capabilities__db_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities__db_8hpp__dep__incl.md5 b/docs/latex/capabilities__db_8hpp__dep__incl.md5
new file mode 100644
index 0000000..e172cd2
--- /dev/null
+++ b/docs/latex/capabilities__db_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+a3f41c0d221790a585260bf2d82b37d6
\ No newline at end of file
diff --git a/docs/latex/capabilities__db_8hpp__dep__incl.pdf b/docs/latex/capabilities__db_8hpp__dep__incl.pdf
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diff --git a/docs/latex/capabilities__db_8hpp_source.tex b/docs/latex/capabilities__db_8hpp_source.tex
new file mode 100644
index 0000000..42c8e10
--- /dev/null
+++ b/docs/latex/capabilities__db_8hpp_source.tex
@@ -0,0 +1,522 @@
+\doxysection{capabilities\+\_\+db.\+hpp}
+\hypertarget{capabilities__db_8hpp_source}{}\label{capabilities__db_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_db.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_db.hpp}}
+\mbox{\hyperlink{capabilities__db_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <memory>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00006\ }
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <sqlite3.h>}}
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00009\ }
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{db__base_8hpp}{capabilities2\_server/db\_base.hpp}}>}}
+\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{interface_8hpp}{capabilities2\_server/models/interface.hpp}}>}}
+\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{semantic__interface_8hpp}{capabilities2\_server/models/semantic\_interface.hpp}}>}}
+\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{provider_8hpp}{capabilities2\_server/models/provider.hpp}}>}}
+\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{running_8hpp}{capabilities2\_server/models/running.hpp}}>}}
+\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{run__config_8hpp}{capabilities2\_server/models/run\_config.hpp}}>}}
+\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{sql__safe_8hpp}{capabilities2\_server/utils/sql\_safe.hpp}}>}}
+\DoxyCodeLine{00017\ }
+\DoxyCodeLine{00018\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00019\ \{}
+\DoxyCodeLine{00020\ }
+\DoxyCodeLine{00021\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB}{CapabilitiesDB}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}}}
+\DoxyCodeLine{00022\ \{}
+\DoxyCodeLine{00023\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00024\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6a06e320c5c1ac224f7879bbe05e6a8e}{CapabilitiesDB}}(\textcolor{keyword}{const}\ std::string\ db\_file\ =\ \textcolor{stringliteral}{"{}cache/capabilities.sqlite3"{}})\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}{db\_file\_}}(db\_file),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}}(nullptr)}
+\DoxyCodeLine{00025\ \ \ \{}
+\DoxyCodeLine{00026\ \ \ \ \ \textcolor{comment}{//\ open\ db}}
+\DoxyCodeLine{00027\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df}{open}}();}
+\DoxyCodeLine{00028\ }
+\DoxyCodeLine{00029\ \ \ \ \ \textcolor{comment}{//\ create\ tables\ if\ they\ do\ not\ exists}}
+\DoxyCodeLine{00030\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0}{create\_tables}}();}
+\DoxyCodeLine{00031\ \ \ \}}
+\DoxyCodeLine{00032\ }
+\DoxyCodeLine{00033\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a40951e3346502f6e147865e1ab025e39}{\string~CapabilitiesDB}}()}
+\DoxyCodeLine{00034\ \ \ \{}
+\DoxyCodeLine{00035\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67}{close}}();}
+\DoxyCodeLine{00036\ \ \ \}}
+\DoxyCodeLine{00037\ }
+\DoxyCodeLine{00038\ \ \ \textcolor{comment}{/*\ inserters\ */}}
+\DoxyCodeLine{00039\ }
+\DoxyCodeLine{00040\ \ \ \textcolor{comment}{//\ insert\ interface}}
+\DoxyCodeLine{00041\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73}{insert\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\&\ interface)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00042\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00043\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}INSERT\ INTO\ interfaces\ VALUES\ ("{}}\ +\ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
+\DoxyCodeLine{00044\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(query);}
+\DoxyCodeLine{00045\ \ \ \}}
+\DoxyCodeLine{00046\ }
+\DoxyCodeLine{00047\ \ \ \textcolor{comment}{//\ insert\ semantic\ interface}}
+\DoxyCodeLine{00048\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1}{insert\_semantic\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\&\ semantic\_interface)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00049\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00050\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}INSERT\ INTO\ semantic\_interfaces\ VALUES\ ("{}}\ +\ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
+\DoxyCodeLine{00051\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(query);}
+\DoxyCodeLine{00052\ \ \ \}}
+\DoxyCodeLine{00053\ }
+\DoxyCodeLine{00054\ \ \ \textcolor{comment}{//\ insert\ provider}}
+\DoxyCodeLine{00055\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448}{insert\_provider}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\&\ provider)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00056\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00057\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}INSERT\ INTO\ providers\ VALUES\ ("{}}\ +\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
+\DoxyCodeLine{00058\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(query);}
+\DoxyCodeLine{00059\ \ \ \}}
+\DoxyCodeLine{00060\ }
+\DoxyCodeLine{00061\ \ \ \textcolor{comment}{/*\ getters\ */}}
+\DoxyCodeLine{00062\ }
+\DoxyCodeLine{00063\ \ \ \textcolor{comment}{//\ get\ interface}}
+\DoxyCodeLine{00064\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac}{get\_interface}}(\textcolor{keyword}{const}\ std::string\&\ name)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00065\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00066\ \ \ \ \ sqlite3\_stmt*\ stmt;}
+\DoxyCodeLine{00067\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}SELECT\ *\ FROM\ interfaces\ WHERE\ name\ =\ '"{}}\ +\ name\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00068\ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{int}\ exit\ =\ sqlite3\_prepare\_v2(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}},\ query.c\_str(),\ -\/1,\ \&stmt,\ \textcolor{keyword}{nullptr});}
+\DoxyCodeLine{00069\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
+\DoxyCodeLine{00070\ \ \ \ \ \{}
+\DoxyCodeLine{00071\ \ \ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00072\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
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+\DoxyCodeLine{00077\ \ \ \ \ \{}
+\DoxyCodeLine{00078\ \ \ \ \ \ \ \textcolor{keyword}{interface\ }=\ to\_interface(stmt);}
+\DoxyCodeLine{00079\ \ \ \ \ \}}
+\DoxyCodeLine{00080\ }
+\DoxyCodeLine{00081\ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00082\ \ \ \ \ \textcolor{keywordflow}{return}\ interface;}
+\DoxyCodeLine{00083\ \ \ \}}
+\DoxyCodeLine{00084\ }
+\DoxyCodeLine{00085\ \ \ \textcolor{comment}{//\ get\ interfaces}}
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+\DoxyCodeLine{00089\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}SELECT\ *\ FROM\ interfaces"{}};}
+\DoxyCodeLine{00090\ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{int}\ exit\ =\ sqlite3\_prepare\_v2(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}},\ query.c\_str(),\ -\/1,\ \&stmt,\ \textcolor{keyword}{nullptr});}
+\DoxyCodeLine{00091\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
+\DoxyCodeLine{00092\ \ \ \ \ \{}
+\DoxyCodeLine{00093\ \ \ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00094\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
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+\DoxyCodeLine{00098\ \ \ \ \ \textcolor{keywordflow}{while}\ (sqlite3\_step(stmt)\ ==\ SQLITE\_ROW)}
+\DoxyCodeLine{00099\ \ \ \ \ \{}
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+\DoxyCodeLine{00102\ \ \ \ \ \}}
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+\DoxyCodeLine{00104\ \ \ \ \ sqlite3\_finalize(stmt);}
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+\DoxyCodeLine{00106\ \ \ \}}
+\DoxyCodeLine{00107\ }
+\DoxyCodeLine{00108\ \ \ \textcolor{comment}{//\ get\ semantic\ interface}}
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+\DoxyCodeLine{00117\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
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+\DoxyCodeLine{00122\ \ \ \ \ \{}
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+\DoxyCodeLine{00145\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ semantic\_interface\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3eb0881736fa825daef5ec83e1d919be}{to\_semantic\_interface}}(stmt);}
+\DoxyCodeLine{00146\ \ \ \ \ \ \ semantic\_interfaces.push\_back(semantic\_interface);}
+\DoxyCodeLine{00147\ \ \ \ \ \}}
+\DoxyCodeLine{00148\ }
+\DoxyCodeLine{00149\ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00150\ \ \ \ \ \textcolor{keywordflow}{return}\ semantic\_interfaces;}
+\DoxyCodeLine{00151\ \ \ \}}
+\DoxyCodeLine{00152\ }
+\DoxyCodeLine{00153\ \ \ \textcolor{comment}{//\ get\ provider}}
+\DoxyCodeLine{00154\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}{get\_provider}}(\textcolor{keyword}{const}\ std::string\&\ name)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00155\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00156\ \ \ \ \ sqlite3\_stmt*\ stmt;}
+\DoxyCodeLine{00157\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}SELECT\ *\ FROM\ providers\ WHERE\ name\ =\ '"{}}\ +\ name\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00158\ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{int}\ exit\ =\ sqlite3\_prepare\_v2(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}},\ query.c\_str(),\ -\/1,\ \&stmt,\ \textcolor{keyword}{nullptr});}
+\DoxyCodeLine{00159\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
+\DoxyCodeLine{00160\ \ \ \ \ \{}
+\DoxyCodeLine{00161\ \ \ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00162\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
+\DoxyCodeLine{00163\ \ \ \ \ \}}
+\DoxyCodeLine{00164\ }
+\DoxyCodeLine{00165\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider;}
+\DoxyCodeLine{00166\ \ \ \ \ \textcolor{keywordflow}{if}\ (sqlite3\_step(stmt)\ ==\ SQLITE\_ROW)}
+\DoxyCodeLine{00167\ \ \ \ \ \{}
+\DoxyCodeLine{00168\ \ \ \ \ \ \ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc}{to\_provider}}(stmt);}
+\DoxyCodeLine{00169\ \ \ \ \ \}}
+\DoxyCodeLine{00170\ }
+\DoxyCodeLine{00171\ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00172\ \ \ \ \ \textcolor{keywordflow}{return}\ provider;}
+\DoxyCodeLine{00173\ \ \ \}}
+\DoxyCodeLine{00174\ }
+\DoxyCodeLine{00175\ \ \ \textcolor{comment}{//\ get\ providers}}
+\DoxyCodeLine{00176\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::provider\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_abcb12877bac9acaa5b55f0517cd83c71}{get\_providers}}()\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00177\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00178\ \ \ \ \ sqlite3\_stmt*\ stmt;}
+\DoxyCodeLine{00179\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}SELECT\ *\ FROM\ providers"{}};}
+\DoxyCodeLine{00180\ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{int}\ exit\ =\ sqlite3\_prepare\_v2(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}},\ query.c\_str(),\ -\/1,\ \&stmt,\ \textcolor{keyword}{nullptr});}
+\DoxyCodeLine{00181\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
+\DoxyCodeLine{00182\ \ \ \ \ \{}
+\DoxyCodeLine{00183\ \ \ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00184\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
+\DoxyCodeLine{00185\ \ \ \ \ \}}
+\DoxyCodeLine{00186\ }
+\DoxyCodeLine{00187\ \ \ \ \ std::vector<models::provider\_model\_t>\ providers;}
+\DoxyCodeLine{00188\ \ \ \ \ \textcolor{keywordflow}{while}\ (sqlite3\_step(stmt)\ ==\ SQLITE\_ROW)}
+\DoxyCodeLine{00189\ \ \ \ \ \{}
+\DoxyCodeLine{00190\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc}{to\_provider}}(stmt);}
+\DoxyCodeLine{00191\ \ \ \ \ \ \ providers.push\_back(provider);}
+\DoxyCodeLine{00192\ \ \ \ \ \}}
+\DoxyCodeLine{00193\ }
+\DoxyCodeLine{00194\ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00195\ \ \ \ \ \textcolor{keywordflow}{return}\ providers;}
+\DoxyCodeLine{00196\ \ \ \}}
+\DoxyCodeLine{00197\ }
+\DoxyCodeLine{00206\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models::remappable\_base\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a7147928b1a095676069664c31f91deae}{get\_remappable}}(\textcolor{keyword}{const}\ std::string\&\ name)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00207\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00208\ \ \ \ \ \textcolor{comment}{//\ check\ if\ it\ is\ a\ semantic\ interface}}
+\DoxyCodeLine{00209\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ semantic\_interface\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3}{get\_semantic\_interface}}(name);}
+\DoxyCodeLine{00210\ \ \ \ \ \textcolor{keywordflow}{if}\ (!semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
+\DoxyCodeLine{00211\ \ \ \ \ \{}
+\DoxyCodeLine{00212\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ semantic\_interface;}
+\DoxyCodeLine{00213\ \ \ \ \ \}}
+\DoxyCodeLine{00214\ }
+\DoxyCodeLine{00215\ \ \ \ \ \textcolor{comment}{//\ check\ if\ it\ is\ a\ provider}}
+\DoxyCodeLine{00216\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}{get\_provider}}(name);}
+\DoxyCodeLine{00217\ \ \ \ \ \textcolor{keywordflow}{if}\ (!provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
+\DoxyCodeLine{00218\ \ \ \ \ \{}
+\DoxyCodeLine{00219\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ provider;}
+\DoxyCodeLine{00220\ \ \ \ \ \}}
+\DoxyCodeLine{00221\ }
+\DoxyCodeLine{00222\ \ \ \ \ \textcolor{comment}{//\ return\ empty\ remappable\ model}}
+\DoxyCodeLine{00223\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models::remappable\_base\_t}}();}
+\DoxyCodeLine{00224\ \ \ \}}
+\DoxyCodeLine{00225\ }
+\DoxyCodeLine{00226\ \ \ \textcolor{comment}{/*\ updaters\ */}}
+\DoxyCodeLine{00227\ }
+\DoxyCodeLine{00228\ \ \ \textcolor{comment}{//\ update\ interface}}
+\DoxyCodeLine{00229\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aa10f6716c7eb019bad310fa8e580880b}{update\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\&\ interface)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00230\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00231\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =}
+\DoxyCodeLine{00232\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}UPDATE\ interfaces\ SET\ "{}}\ +\ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{}\ WHERE\ name\ =\ '"{}}\ +\ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00233\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(query);}
+\DoxyCodeLine{00234\ \ \ \}}
+\DoxyCodeLine{00235\ }
+\DoxyCodeLine{00236\ \ \ \textcolor{comment}{//\ update\ semantic\ interface}}
+\DoxyCodeLine{00237\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a45dde34e7373e6aec64c1f78d673e0cb}{update\_semantic\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\&\ semantic\_interface)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00238\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00239\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}UPDATE\ semantic\_interfaces\ SET\ "{}}\ +\ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee}{to\_sql\_values}}()\ +}
+\DoxyCodeLine{00240\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\ WHERE\ name\ =\ '"{}}\ +\ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00241\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(query);}
+\DoxyCodeLine{00242\ \ \ \}}
+\DoxyCodeLine{00243\ }
+\DoxyCodeLine{00244\ \ \ \textcolor{comment}{//\ update\ provider}}
+\DoxyCodeLine{00245\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a74033ce662666907c361fa22fa9e80c2}{update\_provider}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\&\ provider)}
+\DoxyCodeLine{00246\ \ \ \{}
+\DoxyCodeLine{00247\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =}
+\DoxyCodeLine{00248\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}UPDATE\ providers\ SET\ "{}}\ +\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{}\ WHERE\ name\ =\ '"{}}\ +\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00249\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(query);}
+\DoxyCodeLine{00250\ \ \ \}}
+\DoxyCodeLine{00251\ }
+\DoxyCodeLine{00252\ \ \ \textcolor{comment}{/*\ foreign\ keys\ */}}
+\DoxyCodeLine{00253\ }
+\DoxyCodeLine{00254\ \ \ \textcolor{comment}{//\ get\ providers\ by\ interface}}
+\DoxyCodeLine{00255\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::provider\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d}{get\_providers\_by\_interface}}(\textcolor{keyword}{const}\ std::string\&\ interface\_name)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00256\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00257\ \ \ \ \ \textcolor{comment}{//\ could\ be\ a\ semantic\ interface\ or\ an\ interface}}
+\DoxyCodeLine{00258\ \ \ \ \ sqlite3\_stmt*\ stmt;}
+\DoxyCodeLine{00259\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}SELECT\ *\ FROM\ providers\ WHERE\ implements\ =\ '"{}}\ +\ interface\_name\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00260\ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{int}\ exit\ =\ sqlite3\_prepare\_v2(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}},\ query.c\_str(),\ -\/1,\ \&stmt,\ \textcolor{keyword}{nullptr});}
+\DoxyCodeLine{00261\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
+\DoxyCodeLine{00262\ \ \ \ \ \{}
+\DoxyCodeLine{00263\ \ \ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00264\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
+\DoxyCodeLine{00265\ \ \ \ \ \}}
+\DoxyCodeLine{00266\ }
+\DoxyCodeLine{00267\ \ \ \ \ std::vector<models::provider\_model\_t>\ providers;}
+\DoxyCodeLine{00268\ \ \ \ \ \textcolor{keywordflow}{while}\ (sqlite3\_step(stmt)\ ==\ SQLITE\_ROW)}
+\DoxyCodeLine{00269\ \ \ \ \ \{}
+\DoxyCodeLine{00270\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc}{to\_provider}}(stmt);}
+\DoxyCodeLine{00271\ \ \ \ \ \ \ providers.push\_back(provider);}
+\DoxyCodeLine{00272\ \ \ \ \ \}}
+\DoxyCodeLine{00273\ }
+\DoxyCodeLine{00274\ \ \ \ \ \textcolor{keywordflow}{return}\ providers;}
+\DoxyCodeLine{00275\ \ \ \}}
+\DoxyCodeLine{00276\ }
+\DoxyCodeLine{00277\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces\ by\ interface}}
+\DoxyCodeLine{00278\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::semantic\_interface\_model\_t>}
+\DoxyCodeLine{00279\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a}{get\_semantic\_interfaces\_by\_interface}}(\textcolor{keyword}{const}\ std::string\&\ interface\_name)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00280\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00281\ \ \ \ \ sqlite3\_stmt*\ stmt;}
+\DoxyCodeLine{00282\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}SELECT\ *\ FROM\ semantic\_interfaces\ WHERE\ redefines\ =\ '"{}}\ +\ interface\_name\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00283\ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{int}\ exit\ =\ sqlite3\_prepare\_v2(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}},\ query.c\_str(),\ -\/1,\ \&stmt,\ \textcolor{keyword}{nullptr});}
+\DoxyCodeLine{00284\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
+\DoxyCodeLine{00285\ \ \ \ \ \{}
+\DoxyCodeLine{00286\ \ \ \ \ \ \ sqlite3\_finalize(stmt);}
+\DoxyCodeLine{00287\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
+\DoxyCodeLine{00288\ \ \ \ \ \}}
+\DoxyCodeLine{00289\ }
+\DoxyCodeLine{00290\ \ \ \ \ std::vector<models::semantic\_interface\_model\_t>\ semantic\_interfaces;}
+\DoxyCodeLine{00291\ \ \ \ \ \textcolor{keywordflow}{while}\ (sqlite3\_step(stmt)\ ==\ SQLITE\_ROW)}
+\DoxyCodeLine{00292\ \ \ \ \ \{}
+\DoxyCodeLine{00293\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ semantic\_interface\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3eb0881736fa825daef5ec83e1d919be}{to\_semantic\_interface}}(stmt);}
+\DoxyCodeLine{00294\ \ \ \ \ \ \ semantic\_interfaces.push\_back(semantic\_interface);}
+\DoxyCodeLine{00295\ \ \ \ \ \}}
+\DoxyCodeLine{00296\ }
+\DoxyCodeLine{00297\ \ \ \ \ \textcolor{keywordflow}{return}\ semantic\_interfaces;}
+\DoxyCodeLine{00298\ \ \ \}}
+\DoxyCodeLine{00299\ }
+\DoxyCodeLine{00300\ \ \ \textcolor{comment}{//\ get\ running\ model\ from\ provider}}
+\DoxyCodeLine{00301\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b}{get\_running}}(\textcolor{keyword}{const}\ std::string\&\ provider\_name)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00302\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00303\ \ \ \ \ \textcolor{comment}{//\ start\ with\ provider\ and\ work\ up\ the\ chain}}
+\DoxyCodeLine{00304\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}{get\_provider}}(provider\_name);}
+\DoxyCodeLine{00305\ \ \ \ \ \textcolor{keywordflow}{if}\ (provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
+\DoxyCodeLine{00306\ \ \ \ \ \{}
+\DoxyCodeLine{00307\ \ \ \ \ \ \ \textcolor{comment}{//\ return\ empty\ running\ model}}
+\DoxyCodeLine{00308\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}();}
+\DoxyCodeLine{00309\ \ \ \ \ \}}
+\DoxyCodeLine{00310\ }
+\DoxyCodeLine{00311\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ running;}
+\DoxyCodeLine{00312\ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}}\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}};}
+\DoxyCodeLine{00313\ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}}\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
+\DoxyCodeLine{00314\ \ \ \ \ \textcolor{comment}{//\ TODO:\ implement\ this\ variable\ somehow}}
+\DoxyCodeLine{00315\ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a0037a0006d89c68a56be1ed1337f7c37}{started\_by}}\ =\ provider\_name;}
+\DoxyCodeLine{00316\ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a1c0cff01cc7973eb2f1ffa49ae2ad5b9}{pid}}\ =\ \textcolor{stringliteral}{"{}0"{}};}
+\DoxyCodeLine{00317\ }
+\DoxyCodeLine{00318\ \ \ \ \ \textcolor{comment}{//\ get\ dependencies\ from\ provider\ depends\_on}}
+\DoxyCodeLine{00319\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\ \textcolor{keyword}{const}\&\ [key,\ value]\ :\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\_on}})}
+\DoxyCodeLine{00320\ \ \ \ \ \{}
+\DoxyCodeLine{00321\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{models::capability\_model\_t}}\ dependency;}
+\DoxyCodeLine{00322\ \ \ \ \ \ \ dependency.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}}\ =\ key;}
+\DoxyCodeLine{00323\ \ \ \ \ \ \ dependency.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}}\ =\ value;}
+\DoxyCodeLine{00324\ \ \ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}}.push\_back(dependency);}
+\DoxyCodeLine{00325\ \ \ \ \ \}}
+\DoxyCodeLine{00326\ }
+\DoxyCodeLine{00327\ \ \ \ \ \textcolor{comment}{//\ return\ running\ model}}
+\DoxyCodeLine{00328\ \ \ \ \ \textcolor{keywordflow}{return}\ running;}
+\DoxyCodeLine{00329\ \ \ \}}
+\DoxyCodeLine{00330\ }
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+\DoxyCodeLine{00340\ \ \ \ \ \{}
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+\DoxyCodeLine{00344\ \ \ \ \ \{}
+\DoxyCodeLine{00345\ \ \ \ \ \ \ spec.services[service.from].name\ =\ service.to;}
+\DoxyCodeLine{00346\ \ \ \ \ \}}
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+\DoxyCodeLine{00348\ \ \ \ \ \{}
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+\DoxyCodeLine{00350\ \ \ \ \ \}}
+\DoxyCodeLine{00351\ \ \ \}}
+\DoxyCodeLine{00352\ }
+\DoxyCodeLine{00353\ \ \ \textcolor{comment}{//\ apply\ semantics\ to\ interface}}
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+\DoxyCodeLine{00355\ \textcolor{keyword}{\ \ }\{}
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+\DoxyCodeLine{00360\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}{apply\_remappings}}(interface.interface,\ semantic);}
+\DoxyCodeLine{00361\ }
+\DoxyCodeLine{00362\ \ \ \ \ \textcolor{keywordflow}{return}\ interface;}
+\DoxyCodeLine{00363\ \ \ \}}
+\DoxyCodeLine{00364\ }
+\DoxyCodeLine{00365\ \ \ \textcolor{comment}{//\ apply\ provider\ remappings}}
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+\DoxyCodeLine{00367\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00368\ \ \ \ \ \textcolor{comment}{//\ get\ the\ parent\ interface\ model}}
+\DoxyCodeLine{00369\ \ \ \ \ \textcolor{comment}{//\ is\ it\ semantic}}
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+\DoxyCodeLine{00371\ \ \ \ \ \textcolor{keywordflow}{if}\ (!semantic.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
+\DoxyCodeLine{00372\ \ \ \ \ \{}
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+\DoxyCodeLine{00374\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \textcolor{keyword}{interface\ }=\ apply\_semantic\_remappings(semantic);}
+\DoxyCodeLine{00375\ }
+\DoxyCodeLine{00376\ \ \ \ \ \ \ \textcolor{comment}{//\ apply\ provider\ remappings}}
+\DoxyCodeLine{00377\ \ \ \ \ \ \ apply\_remappings(interface.interface,\ provider);}
+\DoxyCodeLine{00378\ }
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+\DoxyCodeLine{00380\ \ \ \ \ \}}
+\DoxyCodeLine{00381\ }
+\DoxyCodeLine{00382\ \ \ \ \ \textcolor{comment}{//\ if\ not\ semantic,\ then\ it's\ an\ interface}}
+\DoxyCodeLine{00383\ \ \ \ \ \textcolor{comment}{//\ get\ interface}}
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+\DoxyCodeLine{00385\ }
+\DoxyCodeLine{00386\ \ \ \ \ \textcolor{comment}{//\ apply\ provider\ remappings}}
+\DoxyCodeLine{00387\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}{apply\_remappings}}(interface.interface,\ provider);}
+\DoxyCodeLine{00388\ }
+\DoxyCodeLine{00389\ \ \ \ \ return\ interface;}
+\DoxyCodeLine{00390\ \ \ \}}
+\DoxyCodeLine{00391\ }
+\DoxyCodeLine{00392\ \ \ \textcolor{comment}{//\ get\ run\ config\ model}}
+\DoxyCodeLine{00393\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76}{get\_run\_config}}(const\ std::string\&\ provider\_name)\ override}
+\DoxyCodeLine{00394\ \ \ \{}
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+\DoxyCodeLine{00396\ \ \ \ \ \textcolor{keywordflow}{if}\ (provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
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+\DoxyCodeLine{00399\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}();}
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+\DoxyCodeLine{00403\ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}{provider}}\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}};}
+\DoxyCodeLine{00404\ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}};}
+\DoxyCodeLine{00405\ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\_by}}\ =\ provider\_name;}
+\DoxyCodeLine{00406\ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}}\ =\ \textcolor{stringliteral}{"{}0"{}};}
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+\DoxyCodeLine{00418\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
+\DoxyCodeLine{00419\ \ \ \ \ \{}
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+\DoxyCodeLine{00421\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ opening\ database:\ "{}}\ +\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}{db\_file\_}}\ +\ \textcolor{stringliteral}{"{}\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
+\DoxyCodeLine{00422\ \ \ \ \ \}}
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+\DoxyCodeLine{00424\ \ \ \ \ \textcolor{comment}{//\ enable\ foreign\ keys}}
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+\DoxyCodeLine{00429\ \textcolor{keyword}{\ \ }\{}
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+\DoxyCodeLine{00432\ \ \ \ \ \{}
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+\DoxyCodeLine{00442\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
+\DoxyCodeLine{00443\ \ \ \ \ \{}
+\DoxyCodeLine{00444\ \ \ \ \ \ \ sqlite3\_free(error\_message);}
+\DoxyCodeLine{00445\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ executing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
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+\DoxyCodeLine{00450\ \textcolor{keyword}{\ \ }\{}
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+\DoxyCodeLine{00453\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}CREATE\ TABLE\ IF\ NOT\ EXISTS\ interfaces\ ("{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a3e1b6a0fbb148703a6a2bfab6a4f2003}{models::interface\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
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+\DoxyCodeLine{00456\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}CREATE\ TABLE\ IF\ NOT\ EXISTS\ semantic\_interfaces\ ("{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd}{models::semantic\_interface\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
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+\DoxyCodeLine{00459\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}CREATE\ TABLE\ IF\ NOT\ EXISTS\ providers\ ("{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1c7dc74c7eaa402394f4d9e8e917d337}{models::provider\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
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+\DoxyCodeLine{00461\ \ \ \ \ \textcolor{comment}{//\ TODO:\ create\ meta\ table}}
+\DoxyCodeLine{00462\ \ \ \ \ \textcolor{comment}{//\ meta\ table}}
+\DoxyCodeLine{00463\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ create\_meta\_table\ =\ \textcolor{stringliteral}{"{}CREATE\ TABLE\ IF\ NOT\ EXISTS\ meta\ (key\ TEXT\ NOT\ NULL,\ value\ TEXT\ NOT\ NULL)"{}};}
+\DoxyCodeLine{00464\ }
+\DoxyCodeLine{00465\ \ \ \ \ \textcolor{comment}{//\ execute\ create\ queries}}
+\DoxyCodeLine{00466\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(create\_interface\_table);}
+\DoxyCodeLine{00467\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(create\_semantic\_interface\_table);}
+\DoxyCodeLine{00468\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(create\_provider\_table);}
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+\DoxyCodeLine{00470\ }
+\DoxyCodeLine{00471\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00472\ \ \ \textcolor{comment}{//\ model\ conversion\ helpers}}
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+\DoxyCodeLine{00482\ \ \ \ \ spec.from\_yaml(YAML::Load(\mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 4))))));}
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+\DoxyCodeLine{00491\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 0)));}
+\DoxyCodeLine{00492\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}\ =\ sqlite3\_column\_int(stmt,\ 1);}
+\DoxyCodeLine{00493\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 2)));}
+\DoxyCodeLine{00494\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}}\ =\ \mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 3))));}
+\DoxyCodeLine{00495\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 4)));}
+\DoxyCodeLine{00496\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\_namespace}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 5)));}
+\DoxyCodeLine{00497\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}{from\_yaml}}(}
+\DoxyCodeLine{00498\ \ \ \ \ \ \ \ \ YAML::Load(\mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 6))))));}
+\DoxyCodeLine{00499\ }
+\DoxyCodeLine{00500\ \ \ \ \ \textcolor{keywordflow}{return}\ semantic\_interface;}
+\DoxyCodeLine{00501\ \ \ \}}
+\DoxyCodeLine{00502\ }
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+\DoxyCodeLine{00504\ \ \ \{}
+\DoxyCodeLine{00505\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider;}
+\DoxyCodeLine{00506\ \ \ \ \ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 0)));}
+\DoxyCodeLine{00507\ \ \ \ \ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}\ =\ sqlite3\_column\_int(stmt,\ 1);}
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+\DoxyCodeLine{00510\ \ \ \ \ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 4)));}
+\DoxyCodeLine{00511\ \ \ \ \ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\_on}}\ =\ YAML::Load(\mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 5)))))}
+\DoxyCodeLine{00512\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ .as<std::map<std::string,\ std::string>>();}
+\DoxyCodeLine{00513\ \ \ \ \ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}{from\_yaml}}(YAML::Load(\mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 6))))));}
+\DoxyCodeLine{00514\ \ \ \ \ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 7)));}
+\DoxyCodeLine{00515\ }
+\DoxyCodeLine{00516\ \ \ \ \ \textcolor{keywordflow}{return}\ provider;}
+\DoxyCodeLine{00517\ \ \ \}}
+\DoxyCodeLine{00518\ }
+\DoxyCodeLine{00519\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00520\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}{db\_file\_}};}
+\DoxyCodeLine{00521\ \ \ sqlite3*\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}};}
+\DoxyCodeLine{00522\ \};}
+\DoxyCodeLine{00523\ }
+\DoxyCodeLine{00524\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/capabilities__server_8hpp.tex b/docs/latex/capabilities__server_8hpp.tex
new file mode 100644
index 0000000..9f8ab24
--- /dev/null
+++ b/docs/latex/capabilities__server_8hpp.tex
@@ -0,0 +1,61 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/capabilities\+\_\+server.hpp File Reference}
+\hypertarget{capabilities__server_8hpp}{}\label{capabilities__server_8hpp}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_server.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_server.hpp}}
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$memory$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$fstream$>$}\newline
+{\ttfamily \#include $<$filesystem$>$}\newline
+{\ttfamily \#include $<$functional$>$}\newline
+{\ttfamily \#include $<$stdlib.\+h$>$}\newline
+{\ttfamily \#include $<$tinyxml2.\+h$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+api.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/published\+\_\+event.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+parameters.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+spec.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+stamped.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/establish\+\_\+bond.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/start\+\_\+capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/stop\+\_\+capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/free\+\_\+capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/trigger\+\_\+capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/use\+\_\+capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/register\+\_\+capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/connect\+\_\+capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+interfaces.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+semantic\+\_\+interfaces.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+providers.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+capability\+\_\+spec.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+capability\+\_\+specs.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+remappings.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+running\+\_\+capabilities.\+hpp$>$}\newline
+Include dependency graph for capabilities\+\_\+server.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{capabilities__server_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{capabilities__server_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer}{capabilities2\+\_\+server\+::\+Capabilities\+Server}}
+\begin{DoxyCompactList}\small\item\em capabilities server \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425}{capabilities2\+\_\+server\+::expand\+\_\+tilde}} (std\+::string \&path)
+\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities__server_8hpp__dep__incl.md5 b/docs/latex/capabilities__server_8hpp__dep__incl.md5
new file mode 100644
index 0000000..37e96de
--- /dev/null
+++ b/docs/latex/capabilities__server_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+4d9c473cfb516e6c8cb3f2997ac9fb55
\ No newline at end of file
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diff --git a/docs/latex/capabilities__server_8hpp_source.tex b/docs/latex/capabilities__server_8hpp_source.tex
new file mode 100644
index 0000000..4622625
--- /dev/null
+++ b/docs/latex/capabilities__server_8hpp_source.tex
@@ -0,0 +1,750 @@
+\doxysection{capabilities\+\_\+server.\+hpp}
+\hypertarget{capabilities__server_8hpp_source}{}\label{capabilities__server_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_server.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_server.hpp}}
+\mbox{\hyperlink{capabilities__server_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <memory>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <fstream>}}
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <filesystem>}}
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <functional>}}
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <stdlib.h>}}
+\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <tinyxml2.h>}}
+\DoxyCodeLine{00012\ }
+\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
+\DoxyCodeLine{00014\ }
+\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{capabilities__api_8hpp}{capabilities2\_server/capabilities\_api.hpp}}>}}
+\DoxyCodeLine{00016\ }
+\DoxyCodeLine{00017\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{published__event_8hpp}{capabilities2\_events/published\_event.hpp}}>}}
+\DoxyCodeLine{00018\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__parameters_8hpp}{capabilities2\_events/event\_parameters.hpp}}>}}
+\DoxyCodeLine{00019\ }
+\DoxyCodeLine{00020\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_spec.hpp>}}
+\DoxyCodeLine{00021\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_stamped.hpp>}}
+\DoxyCodeLine{00022\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/establish\_bond.hpp>}}
+\DoxyCodeLine{00023\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/start\_capability.hpp>}}
+\DoxyCodeLine{00024\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/stop\_capability.hpp>}}
+\DoxyCodeLine{00025\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/free\_capability.hpp>}}
+\DoxyCodeLine{00026\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/trigger\_capability.hpp>}}
+\DoxyCodeLine{00027\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/use\_capability.hpp>}}
+\DoxyCodeLine{00028\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/register\_capability.hpp>}}
+\DoxyCodeLine{00029\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/connect\_capability.hpp>}}
+\DoxyCodeLine{00030\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_interfaces.hpp>}}
+\DoxyCodeLine{00031\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_semantic\_interfaces.hpp>}}
+\DoxyCodeLine{00032\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_providers.hpp>}}
+\DoxyCodeLine{00033\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_capability\_spec.hpp>}}
+\DoxyCodeLine{00034\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_capability\_specs.hpp>}}
+\DoxyCodeLine{00035\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_remappings.hpp>}}
+\DoxyCodeLine{00036\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_running\_capabilities.hpp>}}
+\DoxyCodeLine{00037\ }
+\DoxyCodeLine{00038\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00039\ \{}
+\DoxyCodeLine{00040\ }
+\DoxyCodeLine{00042\ std::string\ \mbox{\hyperlink{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425}{expand\_tilde}}(std::string\&\ path)}
+\DoxyCodeLine{00043\ \{}
+\DoxyCodeLine{00044\ \ \ \textcolor{keywordflow}{if}\ (path[0]\ ==\ \textcolor{charliteral}{'\string~'})}
+\DoxyCodeLine{00045\ \ \ \{}
+\DoxyCodeLine{00046\ \ \ \ \ path\ =\ std::string(std::getenv(\textcolor{stringliteral}{"{}HOME"{}}))\ +\ path.substr(1);}
+\DoxyCodeLine{00047\ \ \ \}}
+\DoxyCodeLine{00048\ \ \ \textcolor{keywordflow}{return}\ path;}
+\DoxyCodeLine{00049\ \}}
+\DoxyCodeLine{00050\ }
+\DoxyCodeLine{00058\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer}{CapabilitiesServer}}\ :\ \textcolor{keyword}{public}\ rclcpp::Node,\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{CapabilitiesAPI}}}
+\DoxyCodeLine{00059\ \{}
+\DoxyCodeLine{00060\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00061\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aacf69c819dfe2d31895bd6a4b7831aea}{CapabilitiesServer}}(\textcolor{keyword}{const}\ rclcpp::NodeOptions\&\ options\ =\ rclcpp::NodeOptions())}
+\DoxyCodeLine{00062\ \ \ \ \ :\ Node(\textcolor{stringliteral}{"{}capabilities2"{}},\ options),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{CapabilitiesAPI}}()}
+\DoxyCodeLine{00063\ \ \ \{}
+\DoxyCodeLine{00064\ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00065\ \ \ \ \ \{}
+\DoxyCodeLine{00066\ \ \ \ \ \ \ \textcolor{comment}{//\ Only\ call\ setup\ if\ this\ object\ is\ already\ owned\ by\ a\ shared\_ptr}}
+\DoxyCodeLine{00067\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (shared\_from\_this())}
+\DoxyCodeLine{00068\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00069\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e}{initialize}}();}
+\DoxyCodeLine{00070\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00071\ \ \ \ \ \}}
+\DoxyCodeLine{00072\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ std::bad\_weak\_ptr\&)}
+\DoxyCodeLine{00073\ \ \ \ \ \{}
+\DoxyCodeLine{00074\ \ \ \ \ \ \ \textcolor{comment}{//\ Not\ yet\ safe\ —\ probably\ standalone\ without\ make\_shared}}
+\DoxyCodeLine{00075\ \ \ \ \ \}}
+\DoxyCodeLine{00076\ \ \ \}}
+\DoxyCodeLine{00077\ }
+\DoxyCodeLine{00082\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e}{initialize}}()}
+\DoxyCodeLine{00083\ \ \ \{}
+\DoxyCodeLine{00084\ \ \ \ \ \textcolor{comment}{//\ params\ interface}}
+\DoxyCodeLine{00085\ \ \ \ \ \textcolor{comment}{//\ loop\ rate}}
+\DoxyCodeLine{00086\ \ \ \ \ declare\_parameter(\textcolor{stringliteral}{"{}loop\_rate"{}},\ 5.0);}
+\DoxyCodeLine{00087\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a6e8b97337893a97daa58e3f0c11bb565}{loop\_hz\_}}\ =\ get\_parameter(\textcolor{stringliteral}{"{}loop\_rate"{}}).as\_double();}
+\DoxyCodeLine{00088\ }
+\DoxyCodeLine{00089\ \ \ \ \ \textcolor{comment}{//\ db\ file}}
+\DoxyCodeLine{00090\ \ \ \ \ declare\_parameter(\textcolor{stringliteral}{"{}db\_file"{}},\ \textcolor{stringliteral}{"{}\string~/.ros/capabilities/capabilities.sqlite3"{}});}
+\DoxyCodeLine{00091\ \ \ \ \ std::string\ db\_file\ =\ get\_parameter(\textcolor{stringliteral}{"{}db\_file"{}}).as\_string();}
+\DoxyCodeLine{00092\ }
+\DoxyCodeLine{00093\ \ \ \ \ \textcolor{comment}{//\ rebuild\ db}}
+\DoxyCodeLine{00094\ \ \ \ \ declare\_parameter(\textcolor{stringliteral}{"{}rebuild"{}},\ \textcolor{keyword}{false});}
+\DoxyCodeLine{00095\ \ \ \ \ \textcolor{keywordtype}{bool}\ rebuild\ =\ get\_parameter(\textcolor{stringliteral}{"{}rebuild"{}}).as\_bool();}
+\DoxyCodeLine{00096\ }
+\DoxyCodeLine{00097\ \ \ \ \ \textcolor{comment}{//\ package\ path}}
+\DoxyCodeLine{00098\ \ \ \ \ declare\_parameter(\textcolor{stringliteral}{"{}package\_paths"{}},\ std::vector<std::string>());}
+\DoxyCodeLine{00099\ \ \ \ \ std::vector<std::string>\ package\_paths\ =\ get\_parameter(\textcolor{stringliteral}{"{}package\_paths"{}}).as\_string\_array();}
+\DoxyCodeLine{00100\ }
+\DoxyCodeLine{00101\ \ \ \ \ \textcolor{comment}{//\ get\ full\ path\ of\ db\ file}}
+\DoxyCodeLine{00102\ \ \ \ \ std::filesystem::path\ db\_path\ =\ std::filesystem::absolute(\mbox{\hyperlink{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425}{expand\_tilde}}(db\_file));}
+\DoxyCodeLine{00103\ \ \ \ \ db\_file\ =\ db\_path.string();}
+\DoxyCodeLine{00104\ }
+\DoxyCodeLine{00105\ \ \ \ \ \textcolor{keywordflow}{if}\ (rebuild)}
+\DoxyCodeLine{00106\ \ \ \ \ \{}
+\DoxyCodeLine{00107\ \ \ \ \ \ \ \textcolor{comment}{//\ remove\ db\ file\ if\ it\ exists}}
+\DoxyCodeLine{00108\ \ \ \ \ \ \ RCLCPP\_INFO(get\_logger(),\ \textcolor{stringliteral}{"{}Rebuilding\ capabilities\ database"{}});}
+\DoxyCodeLine{00109\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (std::remove(db\_file.c\_str())\ !=\ 0)}
+\DoxyCodeLine{00110\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}Error\ deleting\ file\ \%s"{}},\ db\_file.c\_str());}
+\DoxyCodeLine{00112\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00113\ \ \ \ \ \}}
+\DoxyCodeLine{00114\ }
+\DoxyCodeLine{00115\ \ \ \ \ \textcolor{comment}{//\ if\ db\ file\ does\ not\ exist}}
+\DoxyCodeLine{00116\ \ \ \ \ \textcolor{keywordflow}{if}\ (!std::filesystem::exists(db\_path))}
+\DoxyCodeLine{00117\ \ \ \ \ \{}
+\DoxyCodeLine{00118\ \ \ \ \ \ \ \textcolor{comment}{//\ create\ db\ file\ path}}
+\DoxyCodeLine{00119\ \ \ \ \ \ \ std::filesystem::create\_directories(db\_path.parent\_path());}
+\DoxyCodeLine{00120\ \ \ \ \ \}}
+\DoxyCodeLine{00121\ }
+\DoxyCodeLine{00122\ \ \ \ \ \textcolor{comment}{//\ init\ capabilities\ api}}
+\DoxyCodeLine{00123\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}{connect}}(db\_file,\ get\_node\_logging\_interface());}
+\DoxyCodeLine{00124\ }
+\DoxyCodeLine{00125\ \ \ \ \ \textcolor{comment}{//\ load\ capabilities\ from\ package\ paths}}
+\DoxyCodeLine{00126\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ package\_path\ :\ package\_paths)}
+\DoxyCodeLine{00127\ \ \ \ \ \{}
+\DoxyCodeLine{00128\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a58c477d3ba7423b273778842fe156dcc}{load\_capabilities}}(package\_path);}
+\DoxyCodeLine{00129\ \ \ \ \ \}}
+\DoxyCodeLine{00130\ }
+\DoxyCodeLine{00131\ \ \ \ \ \textcolor{comment}{//\ pubs}}
+\DoxyCodeLine{00132\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa850ac5910b408d86b73b7bc04d82134}{event\_pub\_}}\ =\ create\_publisher<capabilities2\_msgs::msg::CapabilityEventStamped>(\textcolor{stringliteral}{"{}\string~/events"{}},\ 10);}
+\DoxyCodeLine{00133\ }
+\DoxyCodeLine{00134\ \ \ \ \ \textcolor{comment}{//\ event\ publisher\ uses\ event\ subsystem}}
+\DoxyCodeLine{00135\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\_}}\ =\ std::make\_shared<capabilities2\_events::PublishedEvent>(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa850ac5910b408d86b73b7bc04d82134}{event\_pub\_}});}
+\DoxyCodeLine{00136\ }
+\DoxyCodeLine{00137\ \ \ \ \ \textcolor{comment}{//\ subs}}
+\DoxyCodeLine{00138\ }
+\DoxyCodeLine{00139\ \ \ \ \ \textcolor{comment}{//\ services}}
+\DoxyCodeLine{00140\ \ \ \ \ \textcolor{comment}{//\ establish\ bond}}
+\DoxyCodeLine{00141\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a4d626b97ce07ce813f045f334e0672bf}{establish\_bond\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::EstablishBond>(}
+\DoxyCodeLine{00142\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/establish\_bond"{}},}
+\DoxyCodeLine{00143\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7}{CapabilitiesServer::establish\_bond\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00144\ }
+\DoxyCodeLine{00145\ \ \ \ \ \textcolor{comment}{//\ start\ capability}}
+\DoxyCodeLine{00146\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a1a04b3d8e38c3e738d6dad3e9f90ed32}{start\_capability\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::StartCapability>(}
+\DoxyCodeLine{00147\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/start\_capability"{}},}
+\DoxyCodeLine{00148\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e}{CapabilitiesServer::start\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00149\ }
+\DoxyCodeLine{00150\ \ \ \ \ \textcolor{comment}{//\ stop\ capability}}
+\DoxyCodeLine{00151\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aee406dd808d0277a3d1babfbaf5d0dee}{stop\_capability\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::StopCapability>(}
+\DoxyCodeLine{00152\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/stop\_capability"{}},}
+\DoxyCodeLine{00153\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d}{CapabilitiesServer::stop\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00154\ }
+\DoxyCodeLine{00155\ \ \ \ \ \textcolor{comment}{//\ free\ capability}}
+\DoxyCodeLine{00156\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a0e28a32f07cadfecd641727cf7d6df9a}{free\_capability\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::FreeCapability>(}
+\DoxyCodeLine{00157\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/free\_capability"{}},}
+\DoxyCodeLine{00158\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04}{CapabilitiesServer::free\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00159\ }
+\DoxyCodeLine{00160\ \ \ \ \ \textcolor{comment}{//\ trigger\ capability}}
+\DoxyCodeLine{00161\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ab479dbd4ed2028355725f553dca81d4e}{trigger\_capability\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::TriggerCapability>(}
+\DoxyCodeLine{00162\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/trigger\_capability"{}},}
+\DoxyCodeLine{00163\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3}{CapabilitiesServer::trigger\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00164\ }
+\DoxyCodeLine{00165\ \ \ \ \ \textcolor{comment}{//\ use\ capability}}
+\DoxyCodeLine{00166\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a152c07656d903772602e01a23b717c94}{use\_capability\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::UseCapability>(}
+\DoxyCodeLine{00167\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/use\_capability"{}},}
+\DoxyCodeLine{00168\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ab351057325bd9c62bbd25657061505d6}{CapabilitiesServer::use\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00169\ }
+\DoxyCodeLine{00170\ \ \ \ \ \textcolor{comment}{//\ connect\ capabilities\ to\ each\ other}}
+\DoxyCodeLine{00171\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a234c5773e90eebb05bd36fe2025f5503}{connect\_capability\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::ConnectCapability>(}
+\DoxyCodeLine{00172\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/connect\_capability"{}},}
+\DoxyCodeLine{00173\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a03500d304d5fef27e356b30b5d23dece}{CapabilitiesServer::connect\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00174\ }
+\DoxyCodeLine{00175\ \ \ \ \ \textcolor{comment}{//\ register\ capability}}
+\DoxyCodeLine{00176\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a12ab12a8447c6333dd2383534e2268bb}{register\_capability\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::RegisterCapability>(}
+\DoxyCodeLine{00177\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/register\_capability"{}},}
+\DoxyCodeLine{00178\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a71a42e1eaa2a7b030b8e0b1c90609315}{CapabilitiesServer::register\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00179\ }
+\DoxyCodeLine{00180\ \ \ \ \ \textcolor{comment}{//\ query\ capabilities}}
+\DoxyCodeLine{00181\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa7b2bb889301337796e782ea00d788a9}{get\_interfaces\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::GetInterfaces>(}
+\DoxyCodeLine{00182\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/get\_interfaces"{}},}
+\DoxyCodeLine{00183\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a1eee46a1f8874823530823183406e082}{CapabilitiesServer::get\_interfaces\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00184\ }
+\DoxyCodeLine{00185\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae9b834509054095c04cc7f9d1557ec96}{get\_semantic\_interfaces\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::GetSemanticInterfaces>(}
+\DoxyCodeLine{00186\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/get\_semantic\_interfaces"{}},}
+\DoxyCodeLine{00187\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae3299cfc91495fdff2fc8eb1513e7804}{CapabilitiesServer::get\_semantic\_interfaces\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00188\ }
+\DoxyCodeLine{00189\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a755cc7001a6739ae422492a9b6d4f4e3}{get\_providers\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::GetProviders>(}
+\DoxyCodeLine{00190\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/get\_providers"{}},}
+\DoxyCodeLine{00191\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_afd5d1ff380148dbc66a57e04e92109e0}{CapabilitiesServer::get\_providers\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00192\ }
+\DoxyCodeLine{00193\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a8286d3d3b6ad3eefef8bb91abcf349a2}{get\_capability\_spec\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::GetCapabilitySpec>(}
+\DoxyCodeLine{00194\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/get\_capability\_spec"{}},}
+\DoxyCodeLine{00195\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aed01fea6038bf10c20f4e23325e7b411}{CapabilitiesServer::get\_capability\_spec\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00196\ }
+\DoxyCodeLine{00197\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aad26d9c4b7948bff89e9dfc54dae3b33}{get\_capability\_specs\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::GetCapabilitySpecs>(}
+\DoxyCodeLine{00198\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/get\_capability\_specs"{}},}
+\DoxyCodeLine{00199\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a8bc0d2808af84412e1696f768366c114}{CapabilitiesServer::get\_capability\_specs\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00200\ }
+\DoxyCodeLine{00201\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c}{get\_remappings\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::GetRemappings>(}
+\DoxyCodeLine{00202\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/get\_remappings"{}},}
+\DoxyCodeLine{00203\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a71728f43b140a67280d2eec2a18f00e4}{CapabilitiesServer::get\_remappings\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00204\ }
+\DoxyCodeLine{00205\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ac358c10e20544260cb65ad6fd3a31c8d}{get\_running\_capabilities\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::GetRunningCapabilities>(}
+\DoxyCodeLine{00206\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/get\_running\_capabilities"{}},\ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ad25368b49818a71d8bb5aefb64975fb5}{CapabilitiesServer::get\_running\_capabilities\_cb}},\ \textcolor{keyword}{this},}
+\DoxyCodeLine{00207\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::placeholders::\_1,\ std::placeholders::\_2));}
+\DoxyCodeLine{00208\ }
+\DoxyCodeLine{00209\ \ \ \ \ \textcolor{comment}{//\ log\ ready}}
+\DoxyCodeLine{00210\ \ \ \ \ RCLCPP\_INFO(get\_logger(),\ \textcolor{stringliteral}{"{}capabilities\ server\ started"{}});}
+\DoxyCodeLine{00211\ }
+\DoxyCodeLine{00212\ \ \ \ \ \textcolor{comment}{//\ fire/publish\ ready\ event}}
+\DoxyCodeLine{00213\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\_}}-\/>on\_server\_ready(\textcolor{stringliteral}{"{}capabilities\ server\ start\ up\ complete"{}});}
+\DoxyCodeLine{00214\ \ \ \}}
+\DoxyCodeLine{00215\ }
+\DoxyCodeLine{00216\ \ \ \textcolor{comment}{//\ service\ callbacks}}
+\DoxyCodeLine{00217\ \ \ \textcolor{comment}{//\ establish\ bond}}
+\DoxyCodeLine{00218\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7}{establish\_bond\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::EstablishBond::Request>\ req,}
+\DoxyCodeLine{00219\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::EstablishBond::Response>\ res)}
+\DoxyCodeLine{00220\ \ \ \{}
+\DoxyCodeLine{00221\ \ \ \ \ \textcolor{comment}{//\ req\ is\ empty}}
+\DoxyCodeLine{00222\ }
+\DoxyCodeLine{00223\ \ \ \ \ \textcolor{comment}{//\ set\ bond\ id\ to\ response}}
+\DoxyCodeLine{00224\ \ \ \ \ res-\/>bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}{establish\_bond}}(shared\_from\_this());}
+\DoxyCodeLine{00225\ \ \ \}}
+\DoxyCodeLine{00226\ }
+\DoxyCodeLine{00227\ \ \ \textcolor{comment}{//\ start\ capability}}
+\DoxyCodeLine{00228\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e}{start\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::StartCapability::Request>\ req,}
+\DoxyCodeLine{00229\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::StartCapability::Response>\ res)}
+\DoxyCodeLine{00230\ \ \ \{}
+\DoxyCodeLine{00231\ \ \ \ \ \textcolor{comment}{//\ log\ warning\ about\ using\ unsafe\ start\ service}}
+\DoxyCodeLine{00232\ \ \ \ \ RCLCPP\_WARN(get\_logger(),\ \textcolor{stringliteral}{"{}start\_capability\ service\ is\ unsafe\ and\ intended\ for\ internal\ use\ only.\ "{}}}
+\DoxyCodeLine{00233\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}Use\ use\_capability\ service\ with\ established\ bond\ instead."{}});}
+\DoxyCodeLine{00234\ }
+\DoxyCodeLine{00235\ \ \ \ \ \textcolor{comment}{//\ try\ starting\ capability}}
+\DoxyCodeLine{00236\ \ \ \ \ \textcolor{comment}{//\ TODO:\ handle\ errors}}
+\DoxyCodeLine{00237\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\_capability}}(shared\_from\_this(),\ req-\/>capability,\ req-\/>preferred\_provider);}
+\DoxyCodeLine{00238\ }
+\DoxyCodeLine{00239\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
+\DoxyCodeLine{00240\ \ \ \ \ res-\/>result\ =\ capabilities2\_msgs::srv::StartCapability::Response::RESULT\_SUCCESS;}
+\DoxyCodeLine{00241\ \ \ \}}
+\DoxyCodeLine{00242\ }
+\DoxyCodeLine{00243\ \ \ \textcolor{comment}{//\ stop\ capability}}
+\DoxyCodeLine{00244\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d}{stop\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::StopCapability::Request>\ req,}
+\DoxyCodeLine{00245\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::StopCapability::Response>\ res)}
+\DoxyCodeLine{00246\ \ \ \{}
+\DoxyCodeLine{00247\ \ \ \ \ \textcolor{comment}{//\ log\ warning\ about\ using\ unsafe\ stop\ service}}
+\DoxyCodeLine{00248\ \ \ \ \ RCLCPP\_WARN(get\_logger(),\ \textcolor{stringliteral}{"{}stop\_capability\ service\ is\ unsafe\ and\ intended\ for\ internal\ use\ only.\ "{}}}
+\DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}Use\ free\_capability\ service\ with\ established\ bond\ instead."{}});}
+\DoxyCodeLine{00250\ }
+\DoxyCodeLine{00251\ \ \ \ \ \textcolor{comment}{//\ try\ stopping\ capability}}
+\DoxyCodeLine{00252\ \ \ \ \ \textcolor{comment}{//\ TODO:\ handle\ errors}}
+\DoxyCodeLine{00253\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\_capability}}(req-\/>capability);}
+\DoxyCodeLine{00254\ }
+\DoxyCodeLine{00255\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
+\DoxyCodeLine{00256\ \ \ \ \ res-\/>successful\ =\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00257\ \ \ \}}
+\DoxyCodeLine{00258\ }
+\DoxyCodeLine{00259\ \ \ \textcolor{comment}{//\ trigger\ capability}}
+\DoxyCodeLine{00260\ \ \ \textcolor{comment}{//\ requires\ a\ bond\ to\ be\ established}}
+\DoxyCodeLine{00261\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3}{trigger\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::TriggerCapability::Request>\ req,}
+\DoxyCodeLine{00262\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::TriggerCapability::Response>\ res)}
+\DoxyCodeLine{00263\ \ \ \{}
+\DoxyCodeLine{00264\ \ \ \ \ \textcolor{comment}{//\ make\ sure\ capability\ is\ not\ empty}}
+\DoxyCodeLine{00265\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability.capability.empty())}
+\DoxyCodeLine{00266\ \ \ \ \ \{}
+\DoxyCodeLine{00267\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}trigger\_capability:\ capability\ is\ empty"{}});}
+\DoxyCodeLine{00268\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00269\ \ \ \ \ \}}
+\DoxyCodeLine{00270\ }
+\DoxyCodeLine{00271\ \ \ \ \ \textcolor{comment}{//\ make\ sure\ bond\ id\ is\ provided}}
+\DoxyCodeLine{00272\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>bond\_id.empty())}
+\DoxyCodeLine{00273\ \ \ \ \ \{}
+\DoxyCodeLine{00274\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}trigger\_capability:\ bond\_id\ is\ empty"{}});}
+\DoxyCodeLine{00275\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00276\ \ \ \ \ \}}
+\DoxyCodeLine{00277\ }
+\DoxyCodeLine{00278\ \ \ \ \ \textcolor{comment}{//\ make\ sure\ instance\ id\ is\ provided}}
+\DoxyCodeLine{00279\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability.instance\_id.empty())}
+\DoxyCodeLine{00280\ \ \ \ \ \{}
+\DoxyCodeLine{00281\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}trigger\_capability:\ instance\_id\ is\ empty"{}});}
+\DoxyCodeLine{00282\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00283\ \ \ \ \ \}}
+\DoxyCodeLine{00284\ }
+\DoxyCodeLine{00285\ \ \ \ \ \textcolor{comment}{//\ try\ triggering\ capability}}
+\DoxyCodeLine{00286\ \ \ \ \ \textcolor{comment}{//\ TODO:\ handle\ errors}}
+\DoxyCodeLine{00287\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}{trigger\_capability}}(req-\/>bond\_id,\ req-\/>capability.capability,\ req-\/>capability.instance\_id,}
+\DoxyCodeLine{00288\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}(req-\/>capability));}
+\DoxyCodeLine{00289\ }
+\DoxyCodeLine{00290\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
+\DoxyCodeLine{00291\ \ \ \}}
+\DoxyCodeLine{00292\ }
+\DoxyCodeLine{00293\ \ \ \textcolor{comment}{//\ free\ capability}}
+\DoxyCodeLine{00294\ \ \ \textcolor{comment}{//\ requires\ bond\ to\ be\ established}}
+\DoxyCodeLine{00295\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04}{free\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::FreeCapability::Request>\ req,}
+\DoxyCodeLine{00296\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::FreeCapability::Response>\ res)}
+\DoxyCodeLine{00297\ \ \ \{}
+\DoxyCodeLine{00298\ \ \ \ \ \textcolor{comment}{//\ guard\ empty\ values}}
+\DoxyCodeLine{00299\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability.empty())}
+\DoxyCodeLine{00300\ \ \ \ \ \{}
+\DoxyCodeLine{00301\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}free\_capability:\ capability\ is\ empty"{}});}
+\DoxyCodeLine{00302\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00303\ \ \ \ \ \}}
+\DoxyCodeLine{00304\ }
+\DoxyCodeLine{00305\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>bond\_id.empty())}
+\DoxyCodeLine{00306\ \ \ \ \ \{}
+\DoxyCodeLine{00307\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}free\_capability:\ bond\_id\ is\ empty"{}});}
+\DoxyCodeLine{00308\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00309\ \ \ \ \ \}}
+\DoxyCodeLine{00310\ }
+\DoxyCodeLine{00311\ \ \ \ \ \textcolor{comment}{//\ free\ capability\ of\ this\ bond}}
+\DoxyCodeLine{00312\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\_capability}}(req-\/>capability,\ req-\/>bond\_id);}
+\DoxyCodeLine{00313\ }
+\DoxyCodeLine{00314\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
+\DoxyCodeLine{00315\ \ \ \}}
+\DoxyCodeLine{00316\ }
+\DoxyCodeLine{00317\ \ \ \textcolor{comment}{//\ use\ capability}}
+\DoxyCodeLine{00318\ \ \ \textcolor{comment}{//\ requires\ bond\ to\ be\ established}}
+\DoxyCodeLine{00319\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ab351057325bd9c62bbd25657061505d6}{use\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::UseCapability::Request>\ req,}
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+\DoxyCodeLine{00321\ \ \ \{}
+\DoxyCodeLine{00322\ \ \ \ \ \textcolor{comment}{//\ guard\ empty\ values}}
+\DoxyCodeLine{00323\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability.empty())}
+\DoxyCodeLine{00324\ \ \ \ \ \{}
+\DoxyCodeLine{00325\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}use\_capability:\ capability\ is\ empty"{}});}
+\DoxyCodeLine{00326\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00327\ \ \ \ \ \}}
+\DoxyCodeLine{00328\ }
+\DoxyCodeLine{00329\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>preferred\_provider.empty())}
+\DoxyCodeLine{00330\ \ \ \ \ \{}
+\DoxyCodeLine{00331\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}use\_capability:\ preferred\_provider\ is\ empty"{}});}
+\DoxyCodeLine{00332\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00333\ \ \ \ \ \}}
+\DoxyCodeLine{00334\ }
+\DoxyCodeLine{00335\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>bond\_id.empty())}
+\DoxyCodeLine{00336\ \ \ \ \ \{}
+\DoxyCodeLine{00337\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}use\_capability:\ bond\_id\ is\ empty"{}});}
+\DoxyCodeLine{00338\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00339\ \ \ \ \ \}}
+\DoxyCodeLine{00340\ }
+\DoxyCodeLine{00341\ \ \ \ \ \textcolor{comment}{//\ use\ capability\ with\ this\ bond}}
+\DoxyCodeLine{00342\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}{use\_capability}}(shared\_from\_this(),\ req-\/>capability,\ req-\/>preferred\_provider,\ req-\/>bond\_id);}
+\DoxyCodeLine{00343\ }
+\DoxyCodeLine{00344\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
+\DoxyCodeLine{00345\ \ \ \}}
+\DoxyCodeLine{00346\ }
+\DoxyCodeLine{00347\ \ \ \textcolor{comment}{//\ FIXME:\ repair\ this\ to\ use\ new\ event\ subsystem}}
+\DoxyCodeLine{00348\ \ \ \textcolor{comment}{//\ connect\ capability}}
+\DoxyCodeLine{00349\ \ \ \textcolor{comment}{//\ requires\ bond\ to\ be\ established}}
+\DoxyCodeLine{00350\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a03500d304d5fef27e356b30b5d23dece}{connect\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::ConnectCapability::Request>\ req,}
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+\DoxyCodeLine{00352\ \ \ \{}
+\DoxyCodeLine{00353\ \ \ \ \ \textcolor{comment}{//\ need\ to\ have\ a\ bond\ established}}
+\DoxyCodeLine{00354\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>bond\_id.empty())}
+\DoxyCodeLine{00355\ \ \ \ \ \{}
+\DoxyCodeLine{00356\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}connect\_capability:\ bond\_id\ is\ empty"{}});}
+\DoxyCodeLine{00357\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00358\ \ \ \ \ \}}
+\DoxyCodeLine{00359\ }
+\DoxyCodeLine{00360\ \ \ \ \ \textcolor{comment}{//\ need\ to\ have\ a\ instance\ id}}
+\DoxyCodeLine{00361\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>connection.source.instance\_id.empty())}
+\DoxyCodeLine{00362\ \ \ \ \ \{}
+\DoxyCodeLine{00363\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}connect\_capability:\ instance\_id\ is\ empty"{}});}
+\DoxyCodeLine{00364\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00365\ \ \ \ \ \}}
+\DoxyCodeLine{00366\ }
+\DoxyCodeLine{00367\ \ \ \ \ \textcolor{comment}{//\ need\ to\ have\ a\ target\ instance\ id}}
+\DoxyCodeLine{00368\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>connection.target.instance\_id.empty())}
+\DoxyCodeLine{00369\ \ \ \ \ \{}
+\DoxyCodeLine{00370\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}connect\_capability:\ target\_instance\_id\ is\ empty"{}});}
+\DoxyCodeLine{00371\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00372\ \ \ \ \ \}}
+\DoxyCodeLine{00373\ }
+\DoxyCodeLine{00374\ \ \ \ \ \textcolor{comment}{//\ api\ connect\ capability}}
+\DoxyCodeLine{00375\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}{connect\_capability}}(req-\/>bond\_id,\ req-\/>connection);}
+\DoxyCodeLine{00376\ }
+\DoxyCodeLine{00377\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
+\DoxyCodeLine{00378\ \ \ \}}
+\DoxyCodeLine{00379\ }
+\DoxyCodeLine{00380\ \ \ \textcolor{comment}{//\ register\ capability}}
+\DoxyCodeLine{00381\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a71a42e1eaa2a7b030b8e0b1c90609315}{register\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::RegisterCapability::Request>\ req,}
+\DoxyCodeLine{00382\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::RegisterCapability::Response>\ res)}
+\DoxyCodeLine{00383\ \ \ \{}
+\DoxyCodeLine{00384\ \ \ \ \ \textcolor{comment}{//\ guard\ empty\ values}}
+\DoxyCodeLine{00385\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability\_spec.package.empty()\ ||\ req-\/>capability\_spec.content.empty())}
+\DoxyCodeLine{00386\ \ \ \ \ \{}
+\DoxyCodeLine{00387\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}register\_capability:\ package\ or\ content\ is\ empty"{}});}
+\DoxyCodeLine{00388\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00389\ \ \ \ \ \}}
+\DoxyCodeLine{00390\ }
+\DoxyCodeLine{00391\ \ \ \ \ \textcolor{comment}{//\ register\ capability}}
+\DoxyCodeLine{00392\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}{add\_capability}}(req-\/>capability\_spec);}
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+\DoxyCodeLine{00394\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
+\DoxyCodeLine{00395\ \ \ \}}
+\DoxyCodeLine{00396\ }
+\DoxyCodeLine{00397\ \ \ \textcolor{comment}{//\ query\ capabilities}}
+\DoxyCodeLine{00398\ \ \ \textcolor{comment}{//\ get\ interfaces}}
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+\DoxyCodeLine{00400\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::GetInterfaces::Response>\ res)}
+\DoxyCodeLine{00401\ \ \ \{}
+\DoxyCodeLine{00402\ \ \ \ \ \textcolor{comment}{//\ req\ is\ empty}}
+\DoxyCodeLine{00403\ }
+\DoxyCodeLine{00404\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
+\DoxyCodeLine{00405\ \ \ \ \ \textcolor{comment}{//\ get\ all\ interfaces}}
+\DoxyCodeLine{00406\ \ \ \ \ res-\/>interfaces\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03}{get\_interfaces}}();}
+\DoxyCodeLine{00407\ \ \ \}}
+\DoxyCodeLine{00408\ }
+\DoxyCodeLine{00409\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces}}
+\DoxyCodeLine{00410\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae3299cfc91495fdff2fc8eb1513e7804}{get\_semantic\_interfaces\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::GetSemanticInterfaces::Request>\ req,}
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+\DoxyCodeLine{00412\ \ \ \{}
+\DoxyCodeLine{00413\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
+\DoxyCodeLine{00414\ \ \ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces\ for\ given\ interface}}
+\DoxyCodeLine{00415\ \ \ \ \ res-\/>semantic\_interfaces\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52}{get\_semantic\_interfaces}}(req-\/>interface);}
+\DoxyCodeLine{00416\ \ \ \}}
+\DoxyCodeLine{00417\ }
+\DoxyCodeLine{00418\ \ \ \textcolor{comment}{//\ get\ providers}}
+\DoxyCodeLine{00419\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_afd5d1ff380148dbc66a57e04e92109e0}{get\_providers\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::GetProviders::Request>\ req,}
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+\DoxyCodeLine{00421\ \ \ \{}
+\DoxyCodeLine{00422\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
+\DoxyCodeLine{00423\ \ \ \ \ \textcolor{comment}{//\ get\ providers\ for\ given\ interface}}
+\DoxyCodeLine{00424\ \ \ \ \ res-\/>providers\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a}{get\_providers}}(req-\/>interface,\ req-\/>include\_semantic);}
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+\DoxyCodeLine{00426\ }
+\DoxyCodeLine{00427\ \ \ \textcolor{comment}{//\ get\ capability\ spec}}
+\DoxyCodeLine{00428\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aed01fea6038bf10c20f4e23325e7b411}{get\_capability\_spec\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::GetCapabilitySpec::Request>\ req,}
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+\DoxyCodeLine{00430\ \ \ \{}
+\DoxyCodeLine{00431\ \ \ \ \ \textcolor{comment}{//\ get\ capability\ spec\ for\ given\ capability\ resource}}
+\DoxyCodeLine{00432\ \ \ \ \ capabilities2\_msgs::msg::CapabilitySpec\ capability\_spec\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8}{get\_capability\_spec}}(req-\/>capability\_spec);}
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+\DoxyCodeLine{00434\ \ \ \ \ \textcolor{comment}{//\ if\ the\ spec\ is\ not\ empty\ set\ response}}
+\DoxyCodeLine{00435\ \ \ \ \ \textcolor{keywordflow}{if}\ (capability\_spec.content.empty())}
+\DoxyCodeLine{00436\ \ \ \ \ \{}
+\DoxyCodeLine{00437\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}capability\ spec\ not\ found\ for\ resource:\ \%s"{}},\ req-\/>capability\_spec.c\_str());}
+\DoxyCodeLine{00438\ }
+\DoxyCodeLine{00439\ \ \ \ \ \ \ \textcolor{comment}{//\ BUG:\ throw\ error\ causes\ service\ to\ crash,\ this\ is\ a\ ROS2\ bug}}
+\DoxyCodeLine{00440\ \ \ \ \ \ \ \textcolor{comment}{//\ std::runtime\_error("{}capability\ spec\ not\ found\ for\ resource:\ "{}\ +\ req-\/>capability\_spec);}}
+\DoxyCodeLine{00441\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00442\ \ \ \ \ \}}
+\DoxyCodeLine{00443\ }
+\DoxyCodeLine{00444\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
+\DoxyCodeLine{00445\ \ \ \ \ res-\/>capability\_spec\ =\ capability\_spec;}
+\DoxyCodeLine{00446\ \ \ \}}
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+\DoxyCodeLine{00451\ \ \ \{}
+\DoxyCodeLine{00452\ \ \ \ \ \textcolor{comment}{//\ req\ is\ empty}}
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+\DoxyCodeLine{00454\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
+\DoxyCodeLine{00455\ \ \ \ \ \textcolor{comment}{//\ get\ capability\ specs\ for\ given\ capability\ resources}}
+\DoxyCodeLine{00456\ \ \ \ \ res-\/>capability\_specs\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8}{get\_capability\_specs}}();}
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+\DoxyCodeLine{00460\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::GetRemappings::Response>\ res)}
+\DoxyCodeLine{00461\ \ \ \{}
+\DoxyCodeLine{00462\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
+\DoxyCodeLine{00463\ \ \ \ \ \textcolor{comment}{//\ get\ remappings\ for\ given\ capability}}
+\DoxyCodeLine{00464\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f}{get\_remappings}}(req-\/>spec,\ res);}
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+\DoxyCodeLine{00468\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::GetRunningCapabilities::Response>\ res)}
+\DoxyCodeLine{00469\ \ \ \{}
+\DoxyCodeLine{00470\ \ \ \ \ \textcolor{comment}{//\ req\ is\ empty}}
+\DoxyCodeLine{00471\ }
+\DoxyCodeLine{00472\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
+\DoxyCodeLine{00473\ \ \ \ \ \textcolor{comment}{//\ get\ running\ capabilities}}
+\DoxyCodeLine{00474\ \ \ \ \ res-\/>running\_capabilities\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514}{get\_running\_capabilities}}();}
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+\DoxyCodeLine{00480\ \ \ \ \ RCLCPP\_DEBUG(get\_logger(),\ \textcolor{stringliteral}{"{}Loading\ capabilities\ from\ package\ path:\ \%s"{}},\ package\_path.c\_str());}
+\DoxyCodeLine{00481\ }
+\DoxyCodeLine{00482\ \ \ \ \ \textcolor{comment}{//\ check\ if\ path\ exists}}
+\DoxyCodeLine{00483\ \ \ \ \ \textcolor{keywordflow}{if}\ (!std::filesystem::exists(package\_path))}
+\DoxyCodeLine{00484\ \ \ \ \ \{}
+\DoxyCodeLine{00485\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}package\ path\ does\ not\ exist:\ \%s"{}},\ package\_path.c\_str());}
+\DoxyCodeLine{00486\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00487\ \ \ \ \ \}}
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+\DoxyCodeLine{00489\ \ \ \ \ \textcolor{comment}{//\ find\ packages\ in\ path}}
+\DoxyCodeLine{00490\ \ \ \ \ std::vector<std::string>\ packages\_root,\ packages\_install;}
+\DoxyCodeLine{00491\ }
+\DoxyCodeLine{00492\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ entry\ :\ std::filesystem::directory\_iterator(package\_path))}
+\DoxyCodeLine{00493\ \ \ \ \ \{}
+\DoxyCodeLine{00494\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (entry.is\_directory())}
+\DoxyCodeLine{00495\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00496\ \ \ \ \ \ \ \ \ std::string\ name(entry.path().filename());}
+\DoxyCodeLine{00497\ }
+\DoxyCodeLine{00498\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (std::filesystem::exists(package\_path\ +\ \textcolor{stringliteral}{"{}/"{}}\ +\ name\ +\ \textcolor{stringliteral}{"{}/package.xml"{}}))}
+\DoxyCodeLine{00499\ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00500\ \ \ \ \ \ \ \ \ \ \ packages\_root.push\_back(name);}
+\DoxyCodeLine{00501\ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00502\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{else}\ \textcolor{keywordflow}{if}\ (std::filesystem::exists(package\_path\ +\ \textcolor{stringliteral}{"{}/"{}}\ +\ name\ +\ \textcolor{stringliteral}{"{}/share/"{}}\ +\ name\ +\ \textcolor{stringliteral}{"{}/package.xml"{}}))}
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+\DoxyCodeLine{00504\ \ \ \ \ \ \ \ \ \ \ packages\_install.push\_back(name);}
+\DoxyCodeLine{00505\ \ \ \ \ \ \ \ \ \}}
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+\DoxyCodeLine{00507\ \ \ \ \ \}}
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+\DoxyCodeLine{00509\ \ \ \ \ \textcolor{comment}{//\ load\ capabilities\ from\ packages\ in\ /opt/ros/*/share}}
+\DoxyCodeLine{00510\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ package\ :\ packages\_root)}
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+\DoxyCodeLine{00512\ \ \ \ \ \ \ RCLCPP\_DEBUG(get\_logger(),\ \textcolor{stringliteral}{"{}Loading\ capabilities\ from\ package:\ \%s"{}},\ package.c\_str());}
+\DoxyCodeLine{00513\ }
+\DoxyCodeLine{00514\ \ \ \ \ \ \ \textcolor{comment}{//\ package.xml\ exports}}
+\DoxyCodeLine{00515\ \ \ \ \ \ \ std::string\ package\_xml\ =\ package\_path\ +\ \textcolor{stringliteral}{"{}/"{}}\ +\ \textcolor{keyword}{package\ }+\ "{}/package.xml"{};}
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+\DoxyCodeLine{00517\ \ \ \ \ \ \ \textcolor{comment}{//\ check\ if\ package.xml\ exists}}
+\DoxyCodeLine{00518\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (!std::filesystem::exists(package\_xml))}
+\DoxyCodeLine{00519\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00520\ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}package.xml\ does\ not\ exist:\ \%s"{}},\ package\_xml.c\_str());}
+\DoxyCodeLine{00521\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{continue};}
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+\DoxyCodeLine{00524\ \ \ \ \ \ \ \textcolor{comment}{//\ parse\ package.xml}}
+\DoxyCodeLine{00525\ \ \ \ \ \ \ tinyxml2::XMLDocument\ doc;}
+\DoxyCodeLine{00526\ }
+\DoxyCodeLine{00527\ \ \ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00528\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00529\ \ \ \ \ \ \ \ \ parse\_package\_xml(package\_xml,\ doc);}
+\DoxyCodeLine{00530\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00531\ \ \ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ std::runtime\_error\&\ e)}
+\DoxyCodeLine{00532\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00533\ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}failed\ to\ parse\ package.xml\ file:\ \%s"{}},\ e.what());}
+\DoxyCodeLine{00534\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{continue};}
+\DoxyCodeLine{00535\ \ \ \ \ \ \ \}}
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+\DoxyCodeLine{00694\ \ \ \ \ package\_xml\_file.close();}
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+\DoxyCodeLine{00700\ \ \ \ \ \}}
+\DoxyCodeLine{00701\ \ \ \}}
+\DoxyCodeLine{00702\ }
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+\DoxyCodeLine{00718\ \ \ \ \ \}}
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+\DoxyCodeLine{00720\ \ \ \ \ \textcolor{comment}{//\ load\ content\ into\ msg}}
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+\DoxyCodeLine{00723\ }
+\DoxyCodeLine{00724\ \ \ \ \ spec\_file\_file.close();}
+\DoxyCodeLine{00725\ \ \ \}}
+\DoxyCodeLine{00726\ }
+\DoxyCodeLine{00727\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00728\ \ \ \textcolor{comment}{//\ loop\ hz}}
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+\DoxyCodeLine{00731\ \ \ \textcolor{comment}{//\ publishers}}
+\DoxyCodeLine{00732\ \ \ \textcolor{comment}{//\ event\ publisher}}
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+\DoxyCodeLine{00734\ }
+\DoxyCodeLine{00735\ \ \ \textcolor{comment}{//\ services}}
+\DoxyCodeLine{00736\ \ \ \textcolor{comment}{//\ establish\ bond}}
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+\DoxyCodeLine{00738\ \ \ \textcolor{comment}{//\ start\ capability}}
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+\DoxyCodeLine{00740\ \ \ \textcolor{comment}{//\ stop\ capability}}
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+\DoxyCodeLine{00742\ \ \ \textcolor{comment}{//\ free\ capability}}
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+\DoxyCodeLine{00744\ \ \ \textcolor{comment}{//\ connect\ capability}}
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+\DoxyCodeLine{00746\ \ \ \textcolor{comment}{//\ trigger\ capability}}
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+\DoxyCodeLine{00750\ \ \ \textcolor{comment}{//\ register\ capability}}
+\DoxyCodeLine{00751\ \ \ rclcpp::Service<capabilities2\_msgs::srv::RegisterCapability>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a12ab12a8447c6333dd2383534e2268bb}{register\_capability\_srv\_}};}
+\DoxyCodeLine{00752\ \ \ \textcolor{comment}{//\ query\ capabilities}}
+\DoxyCodeLine{00753\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetInterfaces>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa7b2bb889301337796e782ea00d788a9}{get\_interfaces\_srv\_}};}
+\DoxyCodeLine{00754\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces}}
+\DoxyCodeLine{00755\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetSemanticInterfaces>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae9b834509054095c04cc7f9d1557ec96}{get\_semantic\_interfaces\_srv\_}};}
+\DoxyCodeLine{00756\ \ \ \textcolor{comment}{//\ get\ providers}}
+\DoxyCodeLine{00757\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetProviders>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a755cc7001a6739ae422492a9b6d4f4e3}{get\_providers\_srv\_}};}
+\DoxyCodeLine{00758\ \ \ \textcolor{comment}{//\ get\ capability\ spec}}
+\DoxyCodeLine{00759\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetCapabilitySpec>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a8286d3d3b6ad3eefef8bb91abcf349a2}{get\_capability\_spec\_srv\_}};}
+\DoxyCodeLine{00760\ \ \ \textcolor{comment}{//\ get\ capability\ specs}}
+\DoxyCodeLine{00761\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetCapabilitySpecs>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aad26d9c4b7948bff89e9dfc54dae3b33}{get\_capability\_specs\_srv\_}};}
+\DoxyCodeLine{00762\ \ \ \textcolor{comment}{//\ get\ remappings}}
+\DoxyCodeLine{00763\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetRemappings>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c}{get\_remappings\_srv\_}};}
+\DoxyCodeLine{00764\ \ \ \textcolor{comment}{//\ get\ running\ capabilities}}
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+\DoxyCodeLine{00766\ \};}
+\DoxyCodeLine{00767\ }
+\DoxyCodeLine{00768\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/capabilities__server__component_8cpp.tex b/docs/latex/capabilities__server__component_8cpp.tex
new file mode 100644
index 0000000..ef3a294
--- /dev/null
+++ b/docs/latex/capabilities__server__component_8cpp.tex
@@ -0,0 +1,11 @@
+\doxysection{capabilities2\+\_\+server/src/capabilities\+\_\+server\+\_\+component.cpp File Reference}
+\hypertarget{capabilities__server__component_8cpp}{}\label{capabilities__server__component_8cpp}\index{capabilities2\_server/src/capabilities\_server\_component.cpp@{capabilities2\_server/src/capabilities\_server\_component.cpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+server.\+hpp$>$}\newline
+{\ttfamily \#include $<$rclcpp\+\_\+components/register\+\_\+node\+\_\+macro.\+hpp$>$}\newline
+Include dependency graph for capabilities\+\_\+server\+\_\+component.\+cpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{capabilities__server__component_8cpp__incl}
+\end{center}
+\end{figure}
diff --git a/docs/latex/capabilities__server__component_8cpp__incl.md5 b/docs/latex/capabilities__server__component_8cpp__incl.md5
new file mode 100644
index 0000000..8a51d18
--- /dev/null
+++ b/docs/latex/capabilities__server__component_8cpp__incl.md5
@@ -0,0 +1 @@
+d11b751938a83316c61d2ff1d004668b
\ No newline at end of file
diff --git a/docs/latex/capabilities__server__component_8cpp__incl.pdf b/docs/latex/capabilities__server__component_8cpp__incl.pdf
new file mode 100644
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diff --git a/docs/latex/capabilities__server__node_8cpp.tex b/docs/latex/capabilities__server__node_8cpp.tex
new file mode 100644
index 0000000..bef9f16
--- /dev/null
+++ b/docs/latex/capabilities__server__node_8cpp.tex
@@ -0,0 +1,24 @@
+\doxysection{capabilities2\+\_\+server/src/capabilities\+\_\+server\+\_\+node.cpp File Reference}
+\hypertarget{capabilities__server__node_8cpp}{}\label{capabilities__server__node_8cpp}\index{capabilities2\_server/src/capabilities\_server\_node.cpp@{capabilities2\_server/src/capabilities\_server\_node.cpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+server.\+hpp$>$}\newline
+Include dependency graph for capabilities\+\_\+server\+\_\+node.\+cpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{capabilities__server__node_8cpp__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int \mbox{\hyperlink{capabilities__server__node_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}{main}} (int argc, char \texorpdfstring{$\ast$}{*}\texorpdfstring{$\ast$}{*}argv)
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Function Documentation}
+\Hypertarget{capabilities__server__node_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}\label{capabilities__server__node_8cpp_a3c04138a5bfe5d72780bb7e82a18e627} 
+\index{capabilities\_server\_node.cpp@{capabilities\_server\_node.cpp}!main@{main}}
+\index{main@{main}!capabilities\_server\_node.cpp@{capabilities\_server\_node.cpp}}
+\doxysubsubsection{\texorpdfstring{main()}{main()}}
+{\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc,  }\item[{char \texorpdfstring{$\ast$}{*}\texorpdfstring{$\ast$}{*}}]{argv }\end{DoxyParamCaption})}
+
diff --git a/docs/latex/capabilities__server__node_8cpp__incl.md5 b/docs/latex/capabilities__server__node_8cpp__incl.md5
new file mode 100644
index 0000000..187e7b1
--- /dev/null
+++ b/docs/latex/capabilities__server__node_8cpp__incl.md5
@@ -0,0 +1 @@
+8c7a48039b6110b3813ce1feae48a59a
\ No newline at end of file
diff --git a/docs/latex/capabilities__server__node_8cpp__incl.pdf b/docs/latex/capabilities__server__node_8cpp__incl.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..074bed594b5a0245a4bd01d854bb7c9dba194371
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diff --git a/docs/latex/capability__registrar_8py.tex b/docs/latex/capability__registrar_8py.tex
new file mode 100644
index 0000000..1b58aa0
--- /dev/null
+++ b/docs/latex/capability__registrar_8py.tex
@@ -0,0 +1,41 @@
+\doxysection{capabilities2\+\_\+server/scripts/capability\+\_\+registrar.py File Reference}
+\hypertarget{capability__registrar_8py}{}\label{capability__registrar_8py}\index{capabilities2\_server/scripts/capability\_registrar.py@{capabilities2\_server/scripts/capability\_registrar.py}}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{capability\+\_\+registrar.\+Capability\+Registrar}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapability__registrar}{capability\+\_\+registrar}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a85b2e418ce57973bee2d82f33e5738b5}{capability\+\_\+registrar.\+args}} = parser.\+parse\+\_\+args()
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_aba4d1e7264910b6be4626bff694d10ac}{capability\+\_\+registrar.\+registrar}} = \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{Capability\+Registrar}}()
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a7bfea02378cecfeceda9259e91e2e091}{capability\+\_\+registrar.\+parser}} = argparse.\+Argument\+Parser()
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_acfac32d04d0fcd7c8433ed1b24dc27bd}{capability\+\_\+registrar.\+type}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_adb5ed3f88c50cdfd43deee3b12020bea}{capability\+\_\+registrar.\+str}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_af66a2aad43c4712a55bee27275bd1e5d}{capability\+\_\+registrar.\+help}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a81f7c17e781033752eb7c2d5d43953f5}{capability\+\_\+registrar.\+default}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a9e88f588295c9d1134a65813e2cba57a}{capability\+\_\+registrar.\+required}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a56cd03cefa17b5d40d607d7efa907b86}{capability\+\_\+registrar.\+request}} = Register\+Capability.\+Request()
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a8def842f3231248fbb4afbada9c57c0e}{capability\+\_\+registrar.\+package}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{capability\+\_\+registrar.\+filename}} = args.\+file
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a9824c18d0c7c2bc9602902693e664d48}{capability\+\_\+registrar.\+spec}} = yaml.\+safe\+\_\+load(\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{filename}})
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a2042dee98cea898a5984b8261540b8fb}{capability\+\_\+registrar.\+content}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/changelog_8md.tex b/docs/latex/changelog_8md.tex
new file mode 100644
index 0000000..85f6696
--- /dev/null
+++ b/docs/latex/changelog_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{changelog.\+md File Reference}
+\hypertarget{changelog_8md}{}\label{changelog_8md}\index{changelog.md@{changelog.md}}
diff --git a/docs/latex/classcapabilities2__events_1_1EventBase.tex b/docs/latex/classcapabilities2__events_1_1EventBase.tex
new file mode 100644
index 0000000..d4a5283
--- /dev/null
+++ b/docs/latex/classcapabilities2__events_1_1EventBase.tex
@@ -0,0 +1,262 @@
+\doxysection{capabilities2\+\_\+events\+::Event\+Base Class Reference}
+\hypertarget{classcapabilities2__events_1_1EventBase}{}\label{classcapabilities2__events_1_1EventBase}\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+
+
+event base class  
+
+
+
+
+{\ttfamily \#include "{}event\+\_\+base.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+events\+::Event\+Base\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{classcapabilities2__events_1_1EventBase__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Types}
+\begin{DoxyCompactItemize}
+\item 
+typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}}
+\item 
+typedef \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}}
+\item 
+typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}}
+\item 
+typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}}
+\item 
+typedef std\+::function$<$ void(const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}} \&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}} \&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}} \&, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}})$>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\+\_\+callback\+\_\+t}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef}{Event\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7}{\texorpdfstring{$\sim$}{\string~}\+Event\+Base}} ()=default
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{emit}} (const std\+::string \&connection\+\_\+id, const uint8\+\_\+t \&event\+\_\+code, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&source, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\+\_\+callback\+\_\+t}} callback)
+\begin{DoxyCompactList}\small\item\em emit an event \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f}{on\+\_\+server\+\_\+ready}} (const std\+::string \&msg)=0
+\begin{DoxyCompactList}\small\item\em on server ready event \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb}{on\+\_\+process\+\_\+launched}} (const std\+::string \&pid)=0
+\begin{DoxyCompactList}\small\item\em on process launched event \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97}{on\+\_\+process\+\_\+terminated}} (const std\+::string \&pid)=0
+\begin{DoxyCompactList}\small\item\em on process terminated event \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0}{on\+\_\+triggered}} (const std\+::string \&trigger\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em on triggered event from server \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900}{on\+\_\+connected}} (const std\+::string \&source, const std\+::string \&target)=0
+\begin{DoxyCompactList}\small\item\em on connected event from server \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528}{on\+\_\+disconnected}} (const std\+::string \&source, const std\+::string \&target)=0
+\begin{DoxyCompactList}\small\item\em on disconnected event from server \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+event base class 
+
+Represents an event in the capabilities framework. An event can be triggered to notify other components about changes in running capability (runners) states. 
+
+\doxysubsection{Member Typedef Documentation}
+\Hypertarget{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}\label{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!access\_id\_t@{access\_id\_t}}
+\index{access\_id\_t@{access\_id\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{access\_id\_t}{access\_id\_t}}
+{\footnotesize\ttfamily typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{capabilities2\+\_\+events\+::\+Event\+Base\+::access\+\_\+id\+\_\+t}}}
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}\label{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!capability\_str\_t@{capability\_str\_t}}
+\index{capability\_str\_t@{capability\_str\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{capability\_str\_t}{capability\_str\_t}}
+{\footnotesize\ttfamily typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capabilities2\+\_\+events\+::\+Event\+Base\+::capability\+\_\+str\+\_\+t}}}
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}\label{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!event\_callback\_t@{event\_callback\_t}}
+\index{event\_callback\_t@{event\_callback\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{event\_callback\_t}{event\_callback\_t}}
+{\footnotesize\ttfamily typedef std\+::function$<$void(const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}}\&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}}\&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}}\&, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}})$>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{capabilities2\+\_\+events\+::\+Event\+Base\+::event\+\_\+callback\+\_\+t}}}
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}\label{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!parameter\_t@{parameter\_t}}
+\index{parameter\_t@{parameter\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{parameter\_t}{parameter\_t}}
+{\footnotesize\ttfamily typedef \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{capabilities2\+\_\+events\+::\+Event\+Base\+::parameter\+\_\+t}}}
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}\label{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!target\_instance\_id\_t@{target\_instance\_id\_t}}
+\index{target\_instance\_id\_t@{target\_instance\_id\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{target\_instance\_id\_t}{target\_instance\_id\_t}}
+{\footnotesize\ttfamily typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{capabilities2\+\_\+events\+::\+Event\+Base\+::target\+\_\+instance\+\_\+id\+\_\+t}}}
+
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef}\label{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!EventBase@{EventBase}}
+\index{EventBase@{EventBase}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{EventBase()}{EventBase()}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Base\+::\+Event\+Base (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7}\label{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!````~EventBase@{\texorpdfstring{$\sim$}{\string~}EventBase}}
+\index{````~EventBase@{\texorpdfstring{$\sim$}{\string~}EventBase}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}EventBase()}{\string~EventBase()}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Base\+::\texorpdfstring{$\sim$}{\string~}\+Event\+Base (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}\label{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!emit@{emit}}
+\index{emit@{emit}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{emit()}{emit()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::emit (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const uint8\+\_\+t \&}]{event\+\_\+code,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{source,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{target,  }\item[{\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\+\_\+callback\+\_\+t}}}]{callback }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+emit an event 
+
+an event emission uses a parameterised callback which lets loosely-\/coupled capabilities propogate state changes when a source capability emits an event to a target capability
+
+
+\begin{DoxyParams}{Parameters}
+{\em connection\+\_\+id} & connection identifier (format\+: "{}bond\+\_\+id/trigger\+\_\+id"{}) \\
+\hline
+{\em event\+\_\+code} & type of event being emitted \\
+\hline
+{\em source} & source capability emitting the event \\
+\hline
+{\em target} & target capability receiving the event \\
+\hline
+{\em callback} & function to trigger target capability with (capability, parameters, bond\+\_\+id, target\+\_\+instance\+\_\+id) \\
+\hline
+\end{DoxyParams}
+
+
+Reimplemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a}{capabilities2\+\_\+events\+::\+Published\+Event}}.
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900}\label{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_connected@{on\_connected}}
+\index{on\_connected@{on\_connected}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{on\_connected()}{on\_connected()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+connected (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{source,  }\item[{const std\+::string \&}]{target }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+on connected event from server 
+
+
+\begin{DoxyParams}{Parameters}
+{\em source} & \\
+\hline
+{\em target} & \\
+\hline
+\end{DoxyParams}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13}{capabilities2\+\_\+events\+::\+Published\+Event}}.
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528}\label{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_disconnected@{on\_disconnected}}
+\index{on\_disconnected@{on\_disconnected}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{on\_disconnected()}{on\_disconnected()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+disconnected (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{source,  }\item[{const std\+::string \&}]{target }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+on disconnected event from server 
+
+
+\begin{DoxyParams}{Parameters}
+{\em source} & \\
+\hline
+{\em target} & \\
+\hline
+\end{DoxyParams}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a32cfbac8d0facda1f52cebba043d46de}{capabilities2\+\_\+events\+::\+Published\+Event}}.
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb}\label{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_process\_launched@{on\_process\_launched}}
+\index{on\_process\_launched@{on\_process\_launched}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{on\_process\_launched()}{on\_process\_launched()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+process\+\_\+launched (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{pid }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+on process launched event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em pid} & \\
+\hline
+\end{DoxyParams}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4}{capabilities2\+\_\+events\+::\+Published\+Event}}.
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97}\label{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_process\_terminated@{on\_process\_terminated}}
+\index{on\_process\_terminated@{on\_process\_terminated}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{on\_process\_terminated()}{on\_process\_terminated()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+process\+\_\+terminated (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{pid }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+on process terminated event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em pid} & \\
+\hline
+\end{DoxyParams}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a}{capabilities2\+\_\+events\+::\+Published\+Event}}.
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f}\label{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_server\_ready@{on\_server\_ready}}
+\index{on\_server\_ready@{on\_server\_ready}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{on\_server\_ready()}{on\_server\_ready()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+server\+\_\+ready (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+on server ready event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em msg} & \\
+\hline
+\end{DoxyParams}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787}{capabilities2\+\_\+events\+::\+Published\+Event}}.
+
+\Hypertarget{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0}\label{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0} 
+\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_triggered@{on\_triggered}}
+\index{on\_triggered@{on\_triggered}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
+\doxysubsubsection{\texorpdfstring{on\_triggered()}{on\_triggered()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+triggered (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{trigger\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+on triggered event from server 
+
+
+\begin{DoxyParams}{Parameters}
+{\em trigger\+\_\+id} & \\
+\hline
+\end{DoxyParams}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774}{capabilities2\+\_\+events\+::\+Published\+Event}}.
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__base_8hpp}{event\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.md5 b/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.md5
new file mode 100644
index 0000000..a2f7031
--- /dev/null
+++ b/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.md5
@@ -0,0 +1 @@
+084898277c8013bbce800c0902892cac
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.pdf b/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.pdf
new file mode 100644
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diff --git a/docs/latex/classcapabilities2__events_1_1EventNode.tex b/docs/latex/classcapabilities2__events_1_1EventNode.tex
new file mode 100644
index 0000000..ab32aa5
--- /dev/null
+++ b/docs/latex/classcapabilities2__events_1_1EventNode.tex
@@ -0,0 +1,313 @@
+\doxysection{capabilities2\+\_\+events\+::Event\+Node Class Reference}
+\hypertarget{classcapabilities2__events_1_1EventNode}{}\label{classcapabilities2__events_1_1EventNode}\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+
+
+an event node is a source of an event  
+
+
+
+
+{\ttfamily \#include "{}event\+\_\+node.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+events\+::Event\+Node\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classcapabilities2__events_1_1EventNode__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{Event\+Pipe}}
+\begin{DoxyCompactList}\small\item\em event pipe structure \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}{id\+\_\+}}
+\item 
+capabilities2\+\_\+msgs\+::msg\+::\+Capability \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\+\_\+}}
+\item 
+std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\+\_\+emitter\+\_\+}}
+\item 
+std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{Event\+Pipe}} $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\+\_\+}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+an event node is a source of an event 
+
+events when emitted will trigger interactions with connected nodes 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}\label{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!EventNode@{EventNode}}
+\index{EventNode@{EventNode}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{EventNode()}{EventNode()}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Node (\begin{DoxyParamCaption}\item[{std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$}]{event\+\_\+emitter = {\ttfamily nullptr} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}\label{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!````~EventNode@{\texorpdfstring{$\sim$}{\string~}EventNode}}
+\index{````~EventNode@{\texorpdfstring{$\sim$}{\string~}EventNode}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}EventNode()}{\string~EventNode()}}
+{\footnotesize\ttfamily virtual capabilities2\+\_\+events\+::\+Event\+Node\+::\texorpdfstring{$\sim$}{\string~}\+Event\+Node (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}, {\ttfamily [default]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}\label{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!add\_connection@{add\_connection}}
+\index{add\_connection@{add\_connection}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{add\_connection()}{add\_connection()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::add\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&}]{type,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{target,  }\item[{\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}}}]{event\+\_\+cb }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. 
+
+add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is\+: "{}bond\+\_\+id/trigger\+\_\+id"{} which allows event emission to extract bond\+\_\+id for access control
+
+
+\begin{DoxyParams}{Parameters}
+{\em connection\+\_\+id} & unique identifier for the connection (format\+: "{}bond\+\_\+id/trigger\+\_\+id"{}) \\
+\hline
+{\em type} & type of event to connect to \\
+\hline
+{\em target} & target capability to connect to \\
+\hline
+{\em event\+\_\+cb} & callback to trigger target capability with (capability, parameters, bond\+\_\+id, target\+\_\+instance\+\_\+id)\\
+\hline
+\end{DoxyParams}
+
+\begin{DoxyExceptions}{Exceptions}
+{\em \doxylink{structcapabilities2__events_1_1event__exception}{event\+\_\+exception}} & if connection with given id already exists \\
+\hline
+\end{DoxyExceptions}
+\Hypertarget{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}\label{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!clear\_connections@{clear\_connections}}
+\index{clear\_connections@{clear\_connections}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{clear\_connections()}{clear\_connections()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::clear\+\_\+connections (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+clear all connections from this event node 
+
+\Hypertarget{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}\label{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!connection\_count@{connection\_count}}
+\index{connection\_count@{connection\_count}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{connection\_count()}{connection\_count()}}
+{\footnotesize\ttfamily size\+\_\+t capabilities2\+\_\+events\+::\+Event\+Node\+::connection\+\_\+count (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+current connection count 
+
+\begin{DoxyReturn}{Returns}
+size\+\_\+t 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}\label{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!emit\_event@{emit\_event}}
+\index{emit\_event@{emit\_event}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{emit\_event()}{emit\_event()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::emit\+\_\+event (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{const uint8\+\_\+t \&}]{event\+\_\+type,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+emit an event from this event node to all matching connections 
+
+event handling 
+
+
+\begin{DoxyParams}{Parameters}
+{\em bond\+\_\+id} & the bond\+\_\+id to match connections with (extracted from connection\+\_\+id) for access control \\
+\hline
+{\em event\+\_\+type} & the type of event being emitted \\
+\hline
+{\em msg\+\_\+parameters} & the new parameters to emit with the event \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}\label{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!get\_id@{get\_id}}
+\index{get\_id@{get\_id}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{get\_id()}{get\_id()}}
+{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+events\+::\+Event\+Node\+::get\+\_\+id (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+unique id of this event node 
+
+\begin{DoxyReturn}{Returns}
+const std\+::string\& 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}\label{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!get\_source@{get\_source}}
+\index{get\_source@{get\_source}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{get\_source()}{get\_source()}}
+{\footnotesize\ttfamily const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& capabilities2\+\_\+events\+::\+Event\+Node\+::get\+\_\+source (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+source capability of this event node 
+
+\begin{DoxyReturn}{Returns}
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability\& 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}\label{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!has\_connection@{has\_connection}}
+\index{has\_connection@{has\_connection}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{has\_connection()}{has\_connection()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+events\+::\+Event\+Node\+::has\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Check if a connection exists. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em connection\+\_\+id} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true 
+
+false 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}\label{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!is\_event\_emitter\_set@{is\_event\_emitter\_set}}
+\index{is\_event\_emitter\_set@{is\_event\_emitter\_set}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{is\_event\_emitter\_set()}{is\_event\_emitter\_set()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+events\+::\+Event\+Node\+::is\+\_\+event\+\_\+emitter\+\_\+set (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+event emitter is set on this node 
+
+\Hypertarget{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}\label{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!list\_connections@{list\_connections}}
+\index{list\_connections@{list\_connections}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{list\_connections()}{list\_connections()}}
+{\footnotesize\ttfamily std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ capabilities2\+\_\+events\+::\+Event\+Node\+::list\+\_\+connections (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+List all connections from this event node. 
+
+\begin{DoxyReturn}{Returns}
+std\+::vector$<$capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection$>$ 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}\label{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!remove\_connection@{remove\_connection}}
+\index{remove\_connection@{remove\_connection}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{remove\_connection()}{remove\_connection()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::remove\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Remove a connection by its id. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em connection\+\_\+id} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}\label{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!set\_event\_emitter@{set\_event\_emitter}}
+\index{set\_event\_emitter@{set\_event\_emitter}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{set\_event\_emitter()}{set\_event\_emitter()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::set\+\_\+event\+\_\+emitter (\begin{DoxyParamCaption}\item[{std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$}]{event\+\_\+emitter }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+event emitter for this event node 
+
+allows late binding of event emitter (when a node is initialized)
+
+
+\begin{DoxyParams}{Parameters}
+{\em event\+\_\+emitter} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}\label{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!set\_source@{set\_source}}
+\index{set\_source@{set\_source}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{set\_source()}{set\_source()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::set\+\_\+source (\begin{DoxyParamCaption}\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{src }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Set the source object. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em src} & \\
+\hline
+\end{DoxyParams}
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}\label{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!connections\_@{connections\_}}
+\index{connections\_@{connections\_}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{connections\_}{connections\_}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{Event\+Pipe}}$>$ capabilities2\+\_\+events\+::\+Event\+Node\+::connections\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}\label{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!event\_emitter\_@{event\_emitter\_}}
+\index{event\_emitter\_@{event\_emitter\_}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{event\_emitter\_}{event\_emitter\_}}
+{\footnotesize\ttfamily std\+::shared\+\_\+ptr$<$\mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}}$>$ capabilities2\+\_\+events\+::\+Event\+Node\+::event\+\_\+emitter\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}\label{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!id\_@{id\_}}
+\index{id\_@{id\_}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{id\_}{id\_}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+events\+::\+Event\+Node\+::id\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}\label{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce} 
+\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!source\_@{source\_}}
+\index{source\_@{source\_}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
+\doxysubsubsection{\texorpdfstring{source\_}{source\_}}
+{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability capabilities2\+\_\+events\+::\+Event\+Node\+::source\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__node_8hpp}{event\+\_\+node.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__events_1_1EventNode__inherit__graph.md5 b/docs/latex/classcapabilities2__events_1_1EventNode__inherit__graph.md5
new file mode 100644
index 0000000..fda2ad0
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diff --git a/docs/latex/classcapabilities2__events_1_1EventNode__inherit__graph.pdf b/docs/latex/classcapabilities2__events_1_1EventNode__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__events_1_1PublishedEvent.tex b/docs/latex/classcapabilities2__events_1_1PublishedEvent.tex
new file mode 100644
index 0000000..c362f72
--- /dev/null
+++ b/docs/latex/classcapabilities2__events_1_1PublishedEvent.tex
@@ -0,0 +1,235 @@
+\doxysection{capabilities2\+\_\+events\+::Published\+Event Class Reference}
+\hypertarget{classcapabilities2__events_1_1PublishedEvent}{}\label{classcapabilities2__events_1_1PublishedEvent}\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+
+
+{\ttfamily \#include "{}published\+\_\+event.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+events\+::Published\+Event\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{classcapabilities2__events_1_1PublishedEvent__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+events\+::Published\+Event\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{classcapabilities2__events_1_1PublishedEvent__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a171a4a05b8abbd64093cb19cf2935f1d}{Published\+Event}} (rclcpp\+::\+Publisher$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped $>$\+::\+Shared\+Ptr event\+\_\+pub)
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a6ab23da65edf53a46acb69d5c0e961cc}{\texorpdfstring{$\sim$}{\string~}\+Published\+Event}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a}{emit}} (const std\+::string \&connection\+\_\+id, const uint8\+\_\+t \&event\+\_\+code, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&source, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} callback) override
+\begin{DoxyCompactList}\small\item\em see \doxylink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{Event\+Base\+::emit}, specialised to publish events \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787}{on\+\_\+server\+\_\+ready}} (const std\+::string \&msg)
+\begin{DoxyCompactList}\small\item\em on server ready event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4}{on\+\_\+process\+\_\+launched}} (const std\+::string \&pid)
+\begin{DoxyCompactList}\small\item\em on process launched event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a}{on\+\_\+process\+\_\+terminated}} (const std\+::string \&pid)
+\begin{DoxyCompactList}\small\item\em on process terminated event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774}{on\+\_\+triggered}} (const std\+::string \&trigger\+\_\+id)
+\begin{DoxyCompactList}\small\item\em on triggered event from server \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13}{on\+\_\+connected}} (const std\+::string \&source, const std\+::string \&target)
+\begin{DoxyCompactList}\small\item\em on connected event from server \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a32cfbac8d0facda1f52cebba043d46de}{on\+\_\+disconnected}} (const std\+::string \&source, const std\+::string \&target)
+\begin{DoxyCompactList}\small\item\em on disconnected event from server \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef}{Event\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7}{\texorpdfstring{$\sim$}{\string~}\+Event\+Base}} ()=default
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Publisher$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\+\_\+pub\+\_\+}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Public Types inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}}
+\item 
+typedef \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}}
+\item 
+typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}}
+\item 
+typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}}
+\item 
+typedef std\+::function$<$ void(const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}} \&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}} \&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}} \&, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}})$>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\+\_\+callback\+\_\+t}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a171a4a05b8abbd64093cb19cf2935f1d}\label{classcapabilities2__events_1_1PublishedEvent_a171a4a05b8abbd64093cb19cf2935f1d} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!PublishedEvent@{PublishedEvent}}
+\index{PublishedEvent@{PublishedEvent}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{PublishedEvent()}{PublishedEvent()}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Published\+Event\+::\+Published\+Event (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Publisher$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped $>$\+::\+Shared\+Ptr}]{event\+\_\+pub }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a6ab23da65edf53a46acb69d5c0e961cc}\label{classcapabilities2__events_1_1PublishedEvent_a6ab23da65edf53a46acb69d5c0e961cc} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!````~PublishedEvent@{\texorpdfstring{$\sim$}{\string~}PublishedEvent}}
+\index{````~PublishedEvent@{\texorpdfstring{$\sim$}{\string~}PublishedEvent}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}PublishedEvent()}{\string~PublishedEvent()}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Published\+Event\+::\texorpdfstring{$\sim$}{\string~}\+Published\+Event (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a}\label{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!emit@{emit}}
+\index{emit@{emit}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{emit()}{emit()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::emit (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const uint8\+\_\+t \&}]{event\+\_\+code,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{source,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{target,  }\item[{\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}}}]{callback }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+see \doxylink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{Event\+Base\+::emit}, specialised to publish events 
+
+
+
+Reimplemented from \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{capabilities2\+\_\+events\+::\+Event\+Base}}.
+
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13}\label{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_connected@{on\_connected}}
+\index{on\_connected@{on\_connected}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{on\_connected()}{on\_connected()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+connected (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{source,  }\item[{const std\+::string \&}]{target }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+on connected event from server 
+
+
+\begin{DoxyParams}{Parameters}
+{\em source} & \\
+\hline
+{\em target} & \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900}{capabilities2\+\_\+events\+::\+Event\+Base}}.
+
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a32cfbac8d0facda1f52cebba043d46de}\label{classcapabilities2__events_1_1PublishedEvent_a32cfbac8d0facda1f52cebba043d46de} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_disconnected@{on\_disconnected}}
+\index{on\_disconnected@{on\_disconnected}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{on\_disconnected()}{on\_disconnected()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+disconnected (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{source,  }\item[{const std\+::string \&}]{target }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+on disconnected event from server 
+
+
+\begin{DoxyParams}{Parameters}
+{\em source} & \\
+\hline
+{\em target} & \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528}{capabilities2\+\_\+events\+::\+Event\+Base}}.
+
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4}\label{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_process\_launched@{on\_process\_launched}}
+\index{on\_process\_launched@{on\_process\_launched}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{on\_process\_launched()}{on\_process\_launched()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+process\+\_\+launched (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{pid }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+on process launched event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em pid} & \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb}{capabilities2\+\_\+events\+::\+Event\+Base}}.
+
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a}\label{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_process\_terminated@{on\_process\_terminated}}
+\index{on\_process\_terminated@{on\_process\_terminated}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{on\_process\_terminated()}{on\_process\_terminated()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+process\+\_\+terminated (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{pid }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+on process terminated event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em pid} & \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97}{capabilities2\+\_\+events\+::\+Event\+Base}}.
+
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787}\label{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_server\_ready@{on\_server\_ready}}
+\index{on\_server\_ready@{on\_server\_ready}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{on\_server\_ready()}{on\_server\_ready()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+server\+\_\+ready (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+on server ready event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em msg} & \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f}{capabilities2\+\_\+events\+::\+Event\+Base}}.
+
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774}\label{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_triggered@{on\_triggered}}
+\index{on\_triggered@{on\_triggered}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{on\_triggered()}{on\_triggered()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+triggered (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{trigger\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+on triggered event from server 
+
+
+\begin{DoxyParams}{Parameters}
+{\em trigger\+\_\+id} & \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0}{capabilities2\+\_\+events\+::\+Event\+Base}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}\label{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453} 
+\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!event\_pub\_@{event\_pub\_}}
+\index{event\_pub\_@{event\_pub\_}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
+\doxysubsubsection{\texorpdfstring{event\_pub\_}{event\_pub\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Publisher$<$capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped$>$\+::\+Shared\+Ptr capabilities2\+\_\+events\+::\+Published\+Event\+::event\+\_\+pub\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{published__event_8hpp}{published\+\_\+event.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.md5 b/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.md5
new file mode 100644
index 0000000..e47e1f8
--- /dev/null
+++ b/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.md5
@@ -0,0 +1 @@
+cbaf38e9495ec813cb676482a04898e4
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.pdf b/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..ecf473d4d497ff1c155192a8a7a2b79aeaecd385
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diff --git a/docs/latex/classcapabilities2__events_1_1PublishedEvent__inherit__graph.md5 b/docs/latex/classcapabilities2__events_1_1PublishedEvent__inherit__graph.md5
new file mode 100644
index 0000000..e47e1f8
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diff --git a/docs/latex/classcapabilities2__events_1_1PublishedEvent__inherit__graph.pdf b/docs/latex/classcapabilities2__events_1_1PublishedEvent__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__events_1_1UUIDGenerator.tex b/docs/latex/classcapabilities2__events_1_1UUIDGenerator.tex
new file mode 100644
index 0000000..d5be272
--- /dev/null
+++ b/docs/latex/classcapabilities2__events_1_1UUIDGenerator.tex
@@ -0,0 +1,63 @@
+\doxysection{capabilities2\+\_\+events\+::UUIDGenerator Class Reference}
+\hypertarget{classcapabilities2__events_1_1UUIDGenerator}{}\label{classcapabilities2__events_1_1UUIDGenerator}\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
+
+
+{\ttfamily \#include "{}uuid\+\_\+generator.\+hpp"{}}
+
+\doxysubsubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}{gen\+\_\+uuid\+\_\+str}} ()
+\begin{DoxyCompactList}\small\item\em generate a uuid string \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ac16e657db07c4d6368089cb8b846e434}{UUIDGenerator}} ()=delete
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_a7b54cb7556182732e476d7b6734acbe7}{UUIDGenerator}} (const \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \&)=delete
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \& \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_a9a621130c12a95d1e1311a456a4c8a35}{operator=}} (const \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \&)=delete
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__events_1_1UUIDGenerator_ac16e657db07c4d6368089cb8b846e434}\label{classcapabilities2__events_1_1UUIDGenerator_ac16e657db07c4d6368089cb8b846e434} 
+\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}!UUIDGenerator@{UUIDGenerator}}
+\index{UUIDGenerator@{UUIDGenerator}!capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
+\doxysubsubsection{\texorpdfstring{UUIDGenerator()}{UUIDGenerator()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+UUIDGenerator\+::\+UUIDGenerator (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}, {\ttfamily [delete]}}
+
+\Hypertarget{classcapabilities2__events_1_1UUIDGenerator_a7b54cb7556182732e476d7b6734acbe7}\label{classcapabilities2__events_1_1UUIDGenerator_a7b54cb7556182732e476d7b6734acbe7} 
+\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}!UUIDGenerator@{UUIDGenerator}}
+\index{UUIDGenerator@{UUIDGenerator}!capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
+\doxysubsubsection{\texorpdfstring{UUIDGenerator()}{UUIDGenerator()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+UUIDGenerator\+::\+UUIDGenerator (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \&}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}, {\ttfamily [delete]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}\label{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421} 
+\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}!gen\_uuid\_str@{gen\_uuid\_str}}
+\index{gen\_uuid\_str@{gen\_uuid\_str}!capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
+\doxysubsubsection{\texorpdfstring{gen\_uuid\_str()}{gen\_uuid\_str()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+events\+::\+UUIDGenerator\+::gen\+\_\+uuid\+\_\+str (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
+
+
+
+generate a uuid string 
+
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__events_1_1UUIDGenerator_a9a621130c12a95d1e1311a456a4c8a35}\label{classcapabilities2__events_1_1UUIDGenerator_a9a621130c12a95d1e1311a456a4c8a35} 
+\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}!operator=@{operator=}}
+\index{operator=@{operator=}!capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
+\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \& capabilities2\+\_\+events\+::\+UUIDGenerator\+::operator= (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \&}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}, {\ttfamily [delete]}}
+
+
+
+The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{uuid__generator_8hpp}{uuid\+\_\+generator.\+hpp}}\item 
+capabilities2\+\_\+events/src/\mbox{\hyperlink{uuid__generator_8cpp}{uuid\+\_\+generator.\+cpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1ActionRunner.tex b/docs/latex/classcapabilities2__runner_1_1ActionRunner.tex
new file mode 100644
index 0000000..2e27195
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1ActionRunner.tex
@@ -0,0 +1,388 @@
+\doxysection{capabilities2\+\_\+runner\+::Action\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>} Class Template Reference}
+\hypertarget{classcapabilities2__runner_1_1ActionRunner}{}\label{classcapabilities2__runner_1_1ActionRunner}\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+
+
+action runner base class  
+
+
+
+
+{\ttfamily \#include "{}action\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Action\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=227pt]{classcapabilities2__runner_1_1ActionRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Action\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1ActionRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a591d542f6f91cfec3aec63eb311b4ac6}{Action\+Runner}} ()
+\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_adec17ec301ee0485a10bb5a1caa82ab9}{init\+\_\+action}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&action\+\_\+name)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the action runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
+virtual Action\+T\+::\+Goal \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe}{generate\+\_\+goal}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters)=0
+\begin{DoxyCompactList}\small\item\em Generate a goal from parameters. \end{DoxyCompactList}\item 
+virtual std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4}{generate\+\_\+feedback}} (const typename Action\+T\+::\+Feedback\+::\+Const\+Shared\+Ptr msg)=0
+\begin{DoxyCompactList}\small\item\em Generate a std\+::string from feedback message. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+\_\+action\+::\+Client$<$ ActionT $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\+\_\+client\+\_\+}}
+\item 
+rclcpp\+\_\+action\+::\+Client$<$ ActionT $>$\+::\+Send\+Goal\+Options \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\+\_\+goal\+\_\+options\+\_\+}}
+\item 
+rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ ActionT $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\+\_\+handle\+\_\+}}
+\item 
+rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ ActionT $>$\+::\+Wrapped\+Result \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a55a723c2c93f6f6842bfd1951d767597}{wrapped\+\_\+result\+\_\+}}
+\item 
+Action\+T\+::\+Result\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e}{result\+\_\+}}
+\item 
+Action\+T\+::\+Goal \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}{goal\+\_\+msg\+\_\+}}
+\item 
+std\+::shared\+\_\+future$<$ typename rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ ActionT $>$\+::\+Shared\+Ptr $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0}{goal\+\_\+handle\+\_\+future\+\_\+}}
+\item 
+std\+::shared\+\_\+future$<$ typename rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ ActionT $>$\+::\+Wrapped\+Result $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a6054145b7cf13f6e9a0e62d85169ab7c}{result\+\_\+future\+\_\+}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
+\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
+std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
+\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
+std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
+\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\subsubsection*{template$<$typename ActionT$>$\newline
+class capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}
+action runner base class 
+
+Create an action client to run an action based capability 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1ActionRunner_a591d542f6f91cfec3aec63eb311b4ac6}\label{classcapabilities2__runner_1_1ActionRunner_a591d542f6f91cfec3aec63eb311b4ac6} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!ActionRunner@{ActionRunner}}
+\index{ActionRunner@{ActionRunner}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{ActionRunner()}{ActionRunner()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::\+Action\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Constructor which needs to be empty due to plugin semantics. 
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8}\label{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!execution@{execution}}
+\index{execution@{execution}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Trigger process to be executed. 
+
+This method utilizes paramters set via the \doxylink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger()} function
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & pointer to \doxylink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters} that contains parameters \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}.
+
+\Hypertarget{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4}\label{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!generate\_feedback@{generate\_feedback}}
+\index{generate\_feedback@{generate\_feedback}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{generate\_feedback()}{generate\_feedback()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::generate\+\_\+feedback (\begin{DoxyParamCaption}\item[{const typename Action\+T\+::\+Feedback\+::\+Const\+Shared\+Ptr}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
+
+
+
+Generate a std\+::string from feedback message. 
+
+This function is used to convert feedback messages into generic strings
+
+A pattern needs to be implemented in the derived class. If the feedback string is empty, nothing will be printed on the screen
+
+
+\begin{DoxyParams}{Parameters}
+{\em msg} & the feedback message received from the action server \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Action\+T\+::\+Feedback the received feedback 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe}\label{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!generate\_goal@{generate\_goal}}
+\index{generate\_goal@{generate\_goal}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{generate\_goal()}{generate\_goal()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual Action\+T\+::\+Goal \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::generate\+\_\+goal (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
+
+
+
+Generate a goal from parameters. 
+
+This function is used in conjunction with the trigger function to inject type erased parameters into the typed action
+
+A pattern needs to be implemented in the derived class
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & capability options that contain parameters for the instance \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Action\+T\+::\+Goal the generated goal 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1ActionRunner_adec17ec301ee0485a10bb5a1caa82ab9}\label{classcapabilities2__runner_1_1ActionRunner_adec17ec301ee0485a10bb5a1caa82ab9} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!init\_action@{init\_action}}
+\index{init\_action@{init\_action}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{init\_action()}{init\_action()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::init\+\_\+action (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{action\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+Initializer function for initializing the action runner in place of constructor due to plugin semantics. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
+\hline
+{\em action\+\_\+name} & action name used in the yaml file, used to load specific configuration from the run\+\_\+config \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}\label{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!stop@{stop}}
+\index{stop@{stop}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+stop function to cease functionality and shutdown 
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}\label{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!action\_client\_@{action\_client\_}}
+\index{action\_client\_@{action\_client\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{action\_client\_}{action\_client\_}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+rclcpp\+\_\+action\+::\+Client$<$ActionT$>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::action\+\_\+client\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+\texorpdfstring{$<$}{<} action client \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}\label{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!goal\_handle\_@{goal\_handle\_}}
+\index{goal\_handle\_@{goal\_handle\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{goal\_handle\_}{goal\_handle\_}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ActionT$>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::goal\+\_\+handle\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+goal handle parameter to capture goal response from goal\+\_\+response\+\_\+callback \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0}\label{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!goal\_handle\_future\_@{goal\_handle\_future\_}}
+\index{goal\_handle\_future\_@{goal\_handle\_future\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{goal\_handle\_future\_}{goal\_handle\_future\_}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+std\+::shared\+\_\+future$<$typename rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ActionT$>$\+::\+Shared\+Ptr$>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::goal\+\_\+handle\+\_\+future\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+Goal Handle Future message \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}\label{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!goal\_msg\_@{goal\_msg\_}}
+\index{goal\_msg\_@{goal\_msg\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{goal\_msg\_}{goal\_msg\_}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+Action\+T\+::\+Goal \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::goal\+\_\+msg\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+Goal message \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e}\label{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!result\_@{result\_}}
+\index{result\_@{result\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{result\_}{result\_}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+Action\+T\+::\+Result\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::result\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+Result \Hypertarget{classcapabilities2__runner_1_1ActionRunner_a6054145b7cf13f6e9a0e62d85169ab7c}\label{classcapabilities2__runner_1_1ActionRunner_a6054145b7cf13f6e9a0e62d85169ab7c} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!result\_future\_@{result\_future\_}}
+\index{result\_future\_@{result\_future\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{result\_future\_}{result\_future\_}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+std\+::shared\+\_\+future$<$typename rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ActionT$>$\+::\+Wrapped\+Result$>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::result\+\_\+future\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+Result Future \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}\label{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!send\_goal\_options\_@{send\_goal\_options\_}}
+\index{send\_goal\_options\_@{send\_goal\_options\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{send\_goal\_options\_}{send\_goal\_options\_}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+rclcpp\+\_\+action\+::\+Client$<$ActionT$>$\+::\+Send\+Goal\+Options \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::send\+\_\+goal\+\_\+options\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+Send Goal Option struct to link result\+\_\+callback, feedback\+\_\+callback and goal\+\_\+response\+\_\+callback with action client \Hypertarget{classcapabilities2__runner_1_1ActionRunner_a55a723c2c93f6f6842bfd1951d767597}\label{classcapabilities2__runner_1_1ActionRunner_a55a723c2c93f6f6842bfd1951d767597} 
+\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!wrapped\_result\_@{wrapped\_result\_}}
+\index{wrapped\_result\_@{wrapped\_result\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{wrapped\_result\_}{wrapped\_result\_}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ActionT$>$\+::\+Wrapped\+Result \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::wrapped\+\_\+result\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+Wrapped Result 
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{action__runner_8hpp}{action\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.md5
new file mode 100644
index 0000000..51ff969
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.md5
@@ -0,0 +1 @@
+c0da78e2464c688a5053297ff84ef13a
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.pdf
new file mode 100644
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diff --git a/docs/latex/classcapabilities2__runner_1_1DummyRunner.tex b/docs/latex/classcapabilities2__runner_1_1DummyRunner.tex
new file mode 100644
index 0000000..10fe1f9
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1DummyRunner.tex
@@ -0,0 +1,224 @@
+\doxysection{capabilities2\+\_\+runner\+::Dummy\+Runner Class Reference}
+\hypertarget{classcapabilities2__runner_1_1DummyRunner}{}\label{classcapabilities2__runner_1_1DummyRunner}\index{capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}}
+
+
+Dummy runner.  
+
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Dummy\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{classcapabilities2__runner_1_1DummyRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Dummy\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1DummyRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_a871306308d5dc43facc2c490410c38cd}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_ae7c05952eaa590755e7ec4a722321513}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_a0b767e28a66171727b2f9609375963f2}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Dummy runner. 
+
+A sample runner that can be used to test the functionality of capabilities server. It does not perform any real action but logs messages when started and stopped. 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1DummyRunner_a871306308d5dc43facc2c490410c38cd}\label{classcapabilities2__runner_1_1DummyRunner_a871306308d5dc43facc2c490410c38cd} 
+\index{capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}!start@{start}}
+\index{start@{start}!capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}}
+\doxysubsubsection{\texorpdfstring{start()}{start()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Dummy\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+start the runner 
+
+runner plugin api 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file\\
+\hline
+\end{DoxyParams}
+\begin{DoxyAttention}{Attention}
+Must call init\+\_\+base in derived class implementation and should call start event 
+\end{DoxyAttention}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+\Hypertarget{classcapabilities2__runner_1_1DummyRunner_ae7c05952eaa590755e7ec4a722321513}\label{classcapabilities2__runner_1_1DummyRunner_ae7c05952eaa590755e7ec4a722321513} 
+\index{capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}!stop@{stop}}
+\index{stop@{stop}!capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}}
+\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Dummy\+Runner\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+stop the runner 
+
+\begin{DoxyAttention}{Attention}
+should clean up threads and should call stop event 
+\end{DoxyAttention}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+\Hypertarget{classcapabilities2__runner_1_1DummyRunner_a0b767e28a66171727b2f9609375963f2}\label{classcapabilities2__runner_1_1DummyRunner_a0b767e28a66171727b2f9609375963f2} 
+\index{capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}!trigger@{trigger}}
+\index{trigger@{trigger}!capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}}
+\doxysubsubsection{\texorpdfstring{trigger()}{trigger()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Dummy\+Runner\+::trigger (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters,  }\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Trigger the runner. 
+
+FIXME\+: implement new event subsystem 
+
+This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up Runner\+Base\+::trigger\+Execution in a thread
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & capability options that contain parameters for the trigger \\
+\hline
+{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
+\hline
+{\em instance\+\_\+id} & unique identifier for the instance of the capability \\
+\hline
+\end{DoxyParams}
+\begin{DoxyAttention}{Attention}
+should call success and failure events with parameters and bond\+\_\+id when the trigger process completes. 
+\end{DoxyAttention}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/src/\mbox{\hyperlink{dummy__runner_8cpp}{dummy\+\_\+runner.\+cpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.md5
new file mode 100644
index 0000000..cd6d30f
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.md5
@@ -0,0 +1 @@
+14d2a7dd4e6d4918be6ef0dea720f422
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.pdf
new file mode 100644
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diff --git a/docs/latex/classcapabilities2__runner_1_1DummyRunner__inherit__graph.md5 b/docs/latex/classcapabilities2__runner_1_1DummyRunner__inherit__graph.md5
new file mode 100644
index 0000000..8849bdb
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diff --git a/docs/latex/classcapabilities2__runner_1_1DummyRunner__inherit__graph.pdf b/docs/latex/classcapabilities2__runner_1_1DummyRunner__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1EnCapRunner.tex b/docs/latex/classcapabilities2__runner_1_1EnCapRunner.tex
new file mode 100644
index 0000000..8588b91
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1EnCapRunner.tex
@@ -0,0 +1,169 @@
+\doxysection{capabilities2\+\_\+runner\+::En\+Cap\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>} Class Template Reference}
+\hypertarget{classcapabilities2__runner_1_1EnCapRunner}{}\label{classcapabilities2__runner_1_1EnCapRunner}\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
+
+
+encapsulated capability runner  
+
+
+
+
+{\ttfamily \#include "{}encap\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::En\+Cap\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=227pt]{classcapabilities2__runner_1_1EnCapRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::En\+Cap\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=227pt]{classcapabilities2__runner_1_1EnCapRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a0bbf60f7f885bc1dddffe90635854bad}{En\+Cap\+Runner}} ()
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7782f8488a37196d1246fef965c75443}{init\+\_\+encapsulated\+\_\+action}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&action\+\_\+name, std\+::function$<$ void(Event \&)$>$ print)
+\begin{DoxyCompactList}\small\item\em init encapsulated action \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a68e87f8c49301e1e001c232a80fa2f16}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em stop the encapsulated action server \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55}{handle\+\_\+goal}} (const rclcpp\+\_\+action\+::\+Goal\+UUID \&uuid, std\+::shared\+\_\+ptr$<$ const capabilities2\+\_\+msgs\+::action\+::\+Capability\+::\+Goal $>$ goal)
+\begin{DoxyCompactList}\small\item\em handle encap action goal \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43}{handle\+\_\+cancel}} (const std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server\+Goal\+Handle$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$ goal\+\_\+handle)
+\begin{DoxyCompactList}\small\item\em handle encap action cancel goal \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58}{handle\+\_\+accepted}} (const std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server\+Goal\+Handle$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$ goal\+\_\+handle)
+\begin{DoxyCompactList}\small\item\em handle encap action accepted \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\+\_\+action\+\_\+}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\subsubsection*{template$<$typename ActionT$>$\newline
+class capabilities2\+\_\+runner\+::\+En\+Cap\+Runner$<$ Action\+T $>$}
+encapsulated capability runner 
+
+Create an action client to run an action based capability using an encapsulated capability action this allows a system to run an action that is not a managed action
+
+Use the generate action, and generate result functions from the action runner to implement an encapsulation strategy for child classes 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a0bbf60f7f885bc1dddffe90635854bad}\label{classcapabilities2__runner_1_1EnCapRunner_a0bbf60f7f885bc1dddffe90635854bad} 
+\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!EnCapRunner@{EnCapRunner}}
+\index{EnCapRunner@{EnCapRunner}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{EnCapRunner()}{EnCapRunner()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::\+En\+Cap\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58}\label{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58} 
+\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!handle\_accepted@{handle\_accepted}}
+\index{handle\_accepted@{handle\_accepted}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{handle\_accepted()}{handle\_accepted()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::handle\+\_\+accepted (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server\+Goal\+Handle$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$}]{goal\+\_\+handle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+handle encap action accepted 
+
+
+\begin{DoxyParams}{Parameters}
+{\em goal\+\_\+handle} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43}\label{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43} 
+\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!handle\_cancel@{handle\_cancel}}
+\index{handle\_cancel@{handle\_cancel}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{handle\_cancel()}{handle\_cancel()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::handle\+\_\+cancel (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server\+Goal\+Handle$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$}]{goal\+\_\+handle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+handle encap action cancel goal 
+
+
+\begin{DoxyParams}{Parameters}
+{\em goal\+\_\+handle} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55}\label{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55} 
+\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!handle\_goal@{handle\_goal}}
+\index{handle\_goal@{handle\_goal}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{handle\_goal()}{handle\_goal()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::handle\+\_\+goal (\begin{DoxyParamCaption}\item[{const rclcpp\+\_\+action\+::\+Goal\+UUID \&}]{uuid,  }\item[{std\+::shared\+\_\+ptr$<$ const capabilities2\+\_\+msgs\+::action\+::\+Capability\+::\+Goal $>$}]{goal }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
+
+
+
+handle encap action goal 
+
+
+\begin{DoxyParams}{Parameters}
+{\em uuid} & \\
+\hline
+{\em goal} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a7782f8488a37196d1246fef965c75443}\label{classcapabilities2__runner_1_1EnCapRunner_a7782f8488a37196d1246fef965c75443} 
+\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!init\_encapsulated\_action@{init\_encapsulated\_action}}
+\index{init\_encapsulated\_action@{init\_encapsulated\_action}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{init\_encapsulated\_action()}{init\_encapsulated\_action()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::init\+\_\+encapsulated\+\_\+action (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{action\+\_\+name,  }\item[{std\+::function$<$ void(Event \&)$>$}]{print }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+init encapsulated action 
+
+call in start when inheriting from Encap\+Runner to initialize the encapsulated action server and the base action runner this is deferred since the action client topic name is not known at this level of abstraction
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
+\hline
+{\em action\+\_\+name} & action name used in the yaml file, used to load specific configuration from the run\+\_\+config \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a68e87f8c49301e1e001c232a80fa2f16}\label{classcapabilities2__runner_1_1EnCapRunner_a68e87f8c49301e1e001c232a80fa2f16} 
+\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!stop@{stop}}
+\index{stop@{stop}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+stop the encapsulated action server 
+
+call the parent stop and stop the encapsulated action 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}\label{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02} 
+\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!encap\_action\_@{encap\_action\_}}
+\index{encap\_action\_@{encap\_action\_}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
+\doxysubsubsection{\texorpdfstring{encap\_action\_}{encap\_action\_}}
+{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
+std\+::shared\+\_\+ptr$<$rclcpp\+\_\+action\+::\+Server$<$capabilities2\+\_\+msgs\+::action\+::\+Capability$>$ $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::encap\+\_\+action\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+encap action server 
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{encap__runner_8hpp}{encap\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.md5
new file mode 100644
index 0000000..b8c6379
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.md5
@@ -0,0 +1 @@
+10d7e6478b4754263e080a6e07061c89
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..4bec78996c8621d43e31aa8aac66b06fdf2a1bdb
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new file mode 100644
index 0000000..b8c6379
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diff --git a/docs/latex/classcapabilities2__runner_1_1EnCapRunner__inherit__graph.pdf b/docs/latex/classcapabilities2__runner_1_1EnCapRunner__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner.tex b/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner.tex
new file mode 100644
index 0000000..76a4583
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner.tex
@@ -0,0 +1,290 @@
+\doxysection{capabilities2\+\_\+runner\+::Get\+Capability\+Specs\+Runner Class Reference}
+\hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
+
+
+Executor runner class.  
+
+
+
+
+{\ttfamily \#include "{}get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Get\+Capability\+Specs\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classcapabilities2__runner_1_1GetCapabilitySpecsRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Get\+Capability\+Specs\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a848b090faf5103681df61bf494495966}{Get\+Capability\+Specs\+Runner}} ()
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Starter function for starting the action runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804}{Service\+Runner}} ()
+\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}{init\+\_\+service}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&service\+\_\+name)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the service runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Request \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b}{generate\+\_\+request}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters) override
+\begin{DoxyCompactList}\small\item\em This generate goal function overrides the generate\+\_\+goal() function from Action\+Runner() \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{param\+\_\+on\+\_\+success}} () override
+\begin{DoxyCompactList}\small\item\em This function overrides the \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{param\+\_\+on\+\_\+success()} function from \doxylink{classcapabilities2__runner_1_1RunnerBase}{Runner\+Base} to provide specific implementation for the \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{Get\+Capability\+Specs\+Runner}. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a97bee7f3c56177c44026dcd20948329c}{process\+\_\+response}} (typename capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Response\+::\+Shared\+Ptr response) override
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c}{process\+\_\+response}} (typename Service\+T\+::\+Response\+::\+Shared\+Ptr)
+\begin{DoxyCompactList}\small\item\em Process the reponse and print data as required. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Client$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\+\_\+client\+\_\+}}
+\item 
+Service\+T\+::\+Response\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}{response\+\_\+}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
+\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
+std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
+\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
+std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
+\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Executor runner class. 
+
+Class to run capabilities2 executor action based capability 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a848b090faf5103681df61bf494495966}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a848b090faf5103681df61bf494495966} 
+\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!GetCapabilitySpecsRunner@{GetCapabilitySpecsRunner}}
+\index{GetCapabilitySpecsRunner@{GetCapabilitySpecsRunner}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
+\doxysubsubsection{\texorpdfstring{GetCapabilitySpecsRunner()}{GetCapabilitySpecsRunner()}}
+{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::\+Get\+Capability\+Specs\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b} 
+\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!generate\_request@{generate\_request}}
+\index{generate\_request@{generate\_request}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
+\doxysubsubsection{\texorpdfstring{generate\_request()}{generate\_request()}}
+{\footnotesize\ttfamily virtual capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Request capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::generate\+\_\+request (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+This generate goal function overrides the generate\+\_\+goal() function from Action\+Runner() 
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & XMLElement that contains parameters in the format \textquotesingle{}$<$\+Event name=follow\+\_\+waypoints provider=\+Waypoint\+Runner x=\textquotesingle{}\$value\textquotesingle{} y=\textquotesingle{}\$value\textquotesingle{} $>$\textquotesingle{} \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Action\+T\+::\+Goal the generated goal 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}.
+
+\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065} 
+\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!param\_on\_success@{param\_on\_success}}
+\index{param\_on\_success@{param\_on\_success}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
+\doxysubsubsection{\texorpdfstring{param\_on\_success()}{param\_on\_success()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::param\+\_\+on\+\_\+success (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+This function overrides the \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{param\+\_\+on\+\_\+success()} function from \doxylink{classcapabilities2__runner_1_1RunnerBase}{Runner\+Base} to provide specific implementation for the \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{Get\+Capability\+Specs\+Runner}. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & Event\+Parameters containing parameters for the trigger event \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Event\+Parameters updated parameters for on\+\_\+success event 
+\end{DoxyReturn}
+
+
+Reimplemented from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a97bee7f3c56177c44026dcd20948329c}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a97bee7f3c56177c44026dcd20948329c} 
+\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!process\_response@{process\_response}}
+\index{process\_response@{process\_response}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
+\doxysubsubsection{\texorpdfstring{process\_response()}{process\_response()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::process\+\_\+response (\begin{DoxyParamCaption}\item[{typename capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Response\+::\+Shared\+Ptr}]{response }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36} 
+\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!start@{start}}
+\index{start@{start}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
+\doxysubsubsection{\texorpdfstring{start()}{start()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Starter function for starting the action runner. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
+\hline
+{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/\mbox{\hyperlink{get__capability__specs__runner_8hpp}{get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.md5
new file mode 100644
index 0000000..4f34f70
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.md5
@@ -0,0 +1 @@
+00a327be2ea880b0a92cd230e19f793e
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.pdf
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new file mode 100644
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diff --git a/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__inherit__graph.pdf b/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner.tex b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner.tex
new file mode 100644
index 0000000..59edb36
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner.tex
@@ -0,0 +1,274 @@
+\doxysection{capabilities2\+\_\+runner\+::Input\+Multiplex\+Runner Class Reference}
+\hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner}{}\label{classcapabilities2__runner_1_1InputMultiplexRunner}\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
+
+
+{\ttfamily \#include "{}input\+\_\+multiplex\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Input\+Multiplex\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=208pt]{classcapabilities2__runner_1_1InputMultiplexRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Input\+Multiplex\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a921185df695a0c589c3f76534622c973}{Input\+Multiplex\+Runner}} ()
+\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Starter function for starting the action runner. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ std\+::string, int $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\+\_\+count\+\_\+tracker}}
+\item 
+std\+::map$<$ std\+::string, int $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\+\_\+input\+\_\+count}}
+\item 
+std\+::map$<$ std\+::string, bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_abdc2ea43099056447273e1f7ee1cc113}{completed\+\_\+executions}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
+\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
+std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
+\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
+std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
+\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_a921185df695a0c589c3f76534622c973}\label{classcapabilities2__runner_1_1InputMultiplexRunner_a921185df695a0c589c3f76534622c973} 
+\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!InputMultiplexRunner@{InputMultiplexRunner}}
+\index{InputMultiplexRunner@{InputMultiplexRunner}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
+\doxysubsubsection{\texorpdfstring{InputMultiplexRunner()}{InputMultiplexRunner()}}
+{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::\+Input\+Multiplex\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Constructor which needs to be empty due to plugin semantics. 
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90}\label{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90} 
+\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!execution@{execution}}
+\index{execution@{execution}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
+\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Trigger process to be executed. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & pointer to tinyxml2\+::\+XMLElement that contains parameters \\
+\hline
+{\em thread\+\_\+id} & unique identifier for the execution thread \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}.
+
+\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e}\label{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e} 
+\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!start@{start}}
+\index{start@{start}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
+\doxysubsubsection{\texorpdfstring{start()}{start()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Starter function for starting the action runner. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a}\label{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a} 
+\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!stop@{stop}}
+\index{stop@{stop}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
+\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+stop function to cease functionality and shutdown 
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_abdc2ea43099056447273e1f7ee1cc113}\label{classcapabilities2__runner_1_1InputMultiplexRunner_abdc2ea43099056447273e1f7ee1cc113} 
+\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!completed\_executions@{completed\_executions}}
+\index{completed\_executions@{completed\_executions}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
+\doxysubsubsection{\texorpdfstring{completed\_executions}{completed\_executions}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, bool$>$ capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::completed\+\_\+executions\hspace{0.3cm}{\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}\label{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878} 
+\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!expected\_input\_count@{expected\_input\_count}}
+\index{expected\_input\_count@{expected\_input\_count}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
+\doxysubsubsection{\texorpdfstring{expected\_input\_count}{expected\_input\_count}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, int$>$ capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::expected\+\_\+input\+\_\+count\hspace{0.3cm}{\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}\label{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b} 
+\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!input\_count\_tracker@{input\_count\_tracker}}
+\index{input\_count\_tracker@{input\_count\_tracker}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
+\doxysubsubsection{\texorpdfstring{input\_count\_tracker}{input\_count\_tracker}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, int$>$ capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::input\+\_\+count\+\_\+tracker\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/\mbox{\hyperlink{input__multiplex__runner_8hpp}{input\+\_\+multiplex\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.md5
new file mode 100644
index 0000000..7b04b90
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.md5
@@ -0,0 +1 @@
+13be9ac85c0a2bca6f767756a7b0bc62
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.pdf
new file mode 100644
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diff --git a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__inherit__graph.md5 b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__inherit__graph.md5
new file mode 100644
index 0000000..8b035c9
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diff --git a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__inherit__graph.pdf b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1LaunchRunner.tex b/docs/latex/classcapabilities2__runner_1_1LaunchRunner.tex
new file mode 100644
index 0000000..e6c7963
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1LaunchRunner.tex
@@ -0,0 +1,232 @@
+\doxysection{capabilities2\+\_\+runner\+::Launch\+Runner Class Reference}
+\hypertarget{classcapabilities2__runner_1_1LaunchRunner}{}\label{classcapabilities2__runner_1_1LaunchRunner}\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
+
+
+launch runner base class  
+
+
+
+
+{\ttfamily \#include "{}launch\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Launch\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{classcapabilities2__runner_1_1LaunchRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Launch\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1LaunchRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ace430452667a2365c3555755643c4c4c}{Launch\+Runner}} ()
+\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Starter function for starting the launch runner. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4}{launch\+\_\+name}}
+\item 
+std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d}{package\+\_\+name}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+launch runner base class 
+
+Create a launch file runner to run a launch file based capability uses process execution to run the launch file and kill the process on stop 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_ace430452667a2365c3555755643c4c4c}\label{classcapabilities2__runner_1_1LaunchRunner_ace430452667a2365c3555755643c4c4c} 
+\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!LaunchRunner@{LaunchRunner}}
+\index{LaunchRunner@{LaunchRunner}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
+\doxysubsubsection{\texorpdfstring{LaunchRunner()}{LaunchRunner()}}
+{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Launch\+Runner\+::\+Launch\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Constructor which needs to be empty due to plugin semantics. 
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9}\label{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9} 
+\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!start@{start}}
+\index{start@{start}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
+\doxysubsubsection{\texorpdfstring{start()}{start()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Launch\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Starter function for starting the launch runner. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
+\hline
+{\em bond\+\_\+id} & bond identifier for the runner \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9}\label{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9} 
+\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!stop@{stop}}
+\index{stop@{stop}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
+\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Launch\+Runner\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+stop function to cease functionality and shutdown 
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4}\label{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4} 
+\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!launch\_name@{launch\_name}}
+\index{launch\_name@{launch\_name}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
+\doxysubsubsection{\texorpdfstring{launch\_name}{launch\_name}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::\+Launch\+Runner\+::launch\+\_\+name\hspace{0.3cm}{\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d}\label{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d} 
+\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!package\_name@{package\_name}}
+\index{package\_name@{package\_name}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
+\doxysubsubsection{\texorpdfstring{package\_name}{package\_name}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::\+Launch\+Runner\+::package\+\_\+name\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{launch__runner_8hpp}{launch\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.md5
new file mode 100644
index 0000000..37bf319
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.md5
@@ -0,0 +1 @@
+caaebf3ba3826fb5923ff532997cb287
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..07e4b666a081d47472a4b20d25ddf9b4a088fa84
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new file mode 100644
index 0000000..0a2768b
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diff --git a/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner.tex b/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner.tex
new file mode 100644
index 0000000..e467028
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner.tex
@@ -0,0 +1,238 @@
+\doxysection{capabilities2\+\_\+runner\+::Multiplex\+Base\+Runner Class Reference}
+\hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner}{}\label{classcapabilities2__runner_1_1MultiplexBaseRunner}\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
+
+
+{\ttfamily \#include "{}multiplex\+\_\+base\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Multiplex\+Base\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=207pt]{classcapabilities2__runner_1_1MultiplexBaseRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Multiplex\+Base\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a9e4cab14be73162040c91cae3c674343}{Multiplex\+Base\+Runner}} ()
+\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_af52788c65f5ca9fb860cee2332abbbe2}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config) override
+\begin{DoxyCompactList}\small\item\em Starter function for starting the action runner. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a7213a134e8a183c4021033e6bd7797c7}{execution}} (int id)
+\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_aa5cefe19419078fb0a4eb18858a684fe}{stop}} () override
+\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{})=0
+\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ int, int $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_afccbbe50f43831a9ad8efa452ed6c99f}{input\+\_\+count\+\_\+tracker}}
+\item 
+std\+::map$<$ int, int $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a8047a02e3c962fe5704ea9e9ef9c5565}{expected\+\_\+input\+\_\+count}}
+\item 
+std\+::map$<$ int, bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\+\_\+executions}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_a9e4cab14be73162040c91cae3c674343}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_a9e4cab14be73162040c91cae3c674343} 
+\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!MultiplexBaseRunner@{MultiplexBaseRunner}}
+\index{MultiplexBaseRunner@{MultiplexBaseRunner}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
+\doxysubsubsection{\texorpdfstring{MultiplexBaseRunner()}{MultiplexBaseRunner()}}
+{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::\+Multiplex\+Base\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Constructor which needs to be empty due to plugin semantics. 
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_a7213a134e8a183c4021033e6bd7797c7}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_a7213a134e8a183c4021033e6bd7797c7} 
+\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!execution@{execution}}
+\index{execution@{execution}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
+\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::execution (\begin{DoxyParamCaption}\item[{int}]{id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+Trigger process to be executed. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em id} & unique identifier for the execution \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_af52788c65f5ca9fb860cee2332abbbe2}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_af52788c65f5ca9fb860cee2332abbbe2} 
+\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!start@{start}}
+\index{start@{start}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
+\doxysubsubsection{\texorpdfstring{start()}{start()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Starter function for starting the action runner. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_aa5cefe19419078fb0a4eb18858a684fe}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_aa5cefe19419078fb0a4eb18858a684fe} 
+\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!stop@{stop}}
+\index{stop@{stop}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
+\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::stop (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+stop function to cease functionality and shutdown 
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859} 
+\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!completed\_executions@{completed\_executions}}
+\index{completed\_executions@{completed\_executions}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
+\doxysubsubsection{\texorpdfstring{completed\_executions}{completed\_executions}}
+{\footnotesize\ttfamily std\+::map$<$int, bool$>$ capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::completed\+\_\+executions\hspace{0.3cm}{\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_a8047a02e3c962fe5704ea9e9ef9c5565}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_a8047a02e3c962fe5704ea9e9ef9c5565} 
+\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!expected\_input\_count@{expected\_input\_count}}
+\index{expected\_input\_count@{expected\_input\_count}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
+\doxysubsubsection{\texorpdfstring{expected\_input\_count}{expected\_input\_count}}
+{\footnotesize\ttfamily std\+::map$<$int, int$>$ capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::expected\+\_\+input\+\_\+count\hspace{0.3cm}{\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_afccbbe50f43831a9ad8efa452ed6c99f}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_afccbbe50f43831a9ad8efa452ed6c99f} 
+\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!input\_count\_tracker@{input\_count\_tracker}}
+\index{input\_count\_tracker@{input\_count\_tracker}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
+\doxysubsubsection{\texorpdfstring{input\_count\_tracker}{input\_count\_tracker}}
+{\footnotesize\ttfamily std\+::map$<$int, int$>$ capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::input\+\_\+count\+\_\+tracker\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{multiplex__base__runner_8hpp}{multiplex\+\_\+base\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.md5
new file mode 100644
index 0000000..2a792f8
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.md5
@@ -0,0 +1 @@
+eb4553637072f24cf3c4525b583b489c
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..259e67954bdfbaf5c40cc164aef16868453f69d0
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diff --git a/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__inherit__graph.pdf b/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner.tex b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner.tex
new file mode 100644
index 0000000..d6cb76c
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner.tex
@@ -0,0 +1,185 @@
+\doxysection{capabilities2\+\_\+runner\+::No\+Trigger\+Runner Class Reference}
+\hypertarget{classcapabilities2__runner_1_1NoTriggerRunner}{}\label{classcapabilities2__runner_1_1NoTriggerRunner}\index{capabilities2\_runner::NoTriggerRunner@{capabilities2\_runner::NoTriggerRunner}}
+
+
+no-\/trigger runner  
+
+
+
+
+{\ttfamily \#include "{}notrigger\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::No\+Trigger\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{classcapabilities2__runner_1_1NoTriggerRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::No\+Trigger\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1NoTriggerRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{})=0
+\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+no-\/trigger runner 
+
+provides a no trigger runner implementation for the runner use for child runner classes that do not require a trigger 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}\label{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4} 
+\index{capabilities2\_runner::NoTriggerRunner@{capabilities2\_runner::NoTriggerRunner}!trigger@{trigger}}
+\index{trigger@{trigger}!capabilities2\_runner::NoTriggerRunner@{capabilities2\_runner::NoTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{trigger()}{trigger()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner\+::trigger (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters,  }\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Trigger the runner. 
+
+FIXME\+: implement new event subsystem 
+
+This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up Runner\+Base\+::trigger\+Execution in a thread
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & capability options that contain parameters for the trigger \\
+\hline
+{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
+\hline
+{\em instance\+\_\+id} & unique identifier for the instance of the capability \\
+\hline
+\end{DoxyParams}
+\begin{DoxyAttention}{Attention}
+should call success and failure events with parameters and bond\+\_\+id when the trigger process completes. 
+\end{DoxyAttention}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{notrigger__runner_8hpp}{notrigger\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.md5
new file mode 100644
index 0000000..b039c21
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.md5
@@ -0,0 +1 @@
+c0c9ad887c32d6142e0e86df5c07c858
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..2dafeaed0b62c411d05be4a75dfc82002502465d
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diff --git a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__inherit__graph.md5 b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__inherit__graph.md5
new file mode 100644
index 0000000..f5d686f
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diff --git a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__inherit__graph.pdf b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1RunnerBase.tex b/docs/latex/classcapabilities2__runner_1_1RunnerBase.tex
new file mode 100644
index 0000000..ffe23ca
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1RunnerBase.tex
@@ -0,0 +1,670 @@
+\doxysection{capabilities2\+\_\+runner\+::Runner\+Base Class Reference}
+\hypertarget{classcapabilities2__runner_1_1RunnerBase}{}\label{classcapabilities2__runner_1_1RunnerBase}\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+
+
+base class for all runners  
+
+
+
+
+{\ttfamily \#include "{}runner\+\_\+base.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Runner\+Base\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classcapabilities2__runner_1_1RunnerBase__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Runner\+Base\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1RunnerBase__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{})=0
+\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+base class for all runners 
+
+Defines the runner plugin api. Inherits from Event\+Node to provide event emission 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}\label{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!RunnerBase@{RunnerBase}}
+\index{RunnerBase@{RunnerBase}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{RunnerBase()}{RunnerBase()}}
+{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Runner\+Base\+::\+Runner\+Base (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}\label{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!````~RunnerBase@{\texorpdfstring{$\sim$}{\string~}RunnerBase}}
+\index{````~RunnerBase@{\texorpdfstring{$\sim$}{\string~}RunnerBase}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}RunnerBase()}{\string~RunnerBase()}}
+{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Runner\+Base\+::\texorpdfstring{$\sim$}{\string~}\+Runner\+Base (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}\label{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!add\_connection@{add\_connection}}
+\index{add\_connection@{add\_connection}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{add\_connection()}{add\_connection()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::add\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&}]{type,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{target,  }\item[{std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$}]{callback }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+make Event\+Node\+::add\+\_\+connection public method on runner api. 
+
+add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is\+: "{}bond\+\_\+id/trigger\+\_\+id"{} which allows event emission to extract bond\+\_\+id for access control
+
+
+\begin{DoxyParams}{Parameters}
+{\em connection\+\_\+id} & unique identifier for the connection (format\+: "{}bond\+\_\+id/trigger\+\_\+id"{}) \\
+\hline
+{\em type} & type of event to connect to \\
+\hline
+{\em target} & target capability to connect to \\
+\hline
+{\em callback} & callback to trigger target capability with (capability, parameters, bond\+\_\+id) \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}\label{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!emit\_failed@{emit\_failed}}
+\index{emit\_failed@{emit\_failed}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{emit\_failed()}{emit\_failed()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::emit\+\_\+failed (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+emit FAILED event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em bond\+\_\+id} & \\
+\hline
+{\em parameters} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}\label{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!emit\_started@{emit\_started}}
+\index{emit\_started@{emit\_started}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{emit\_started()}{emit\_started()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::emit\+\_\+started (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+emit STARTED event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em bond\+\_\+id} & \\
+\hline
+{\em parameters} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}\label{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!emit\_stopped@{emit\_stopped}}
+\index{emit\_stopped@{emit\_stopped}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{emit\_stopped()}{emit\_stopped()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::emit\+\_\+stopped (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+emit STOPPED event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em bond\+\_\+id} & \\
+\hline
+{\em parameters} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}\label{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!emit\_succeeded@{emit\_succeeded}}
+\index{emit\_succeeded@{emit\_succeeded}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{emit\_succeeded()}{emit\_succeeded()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::emit\+\_\+succeeded (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+emit SUCCEEDED event 
+
+
+\begin{DoxyParams}{Parameters}
+{\em bond\+\_\+id} & \\
+\hline
+{\em parameters} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}\label{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!enable\_events@{enable\_events}}
+\index{enable\_events@{enable\_events}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{enable\_events()}{enable\_events()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::enable\+\_\+events (\begin{DoxyParamCaption}\item[{std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$}]{events }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+enable events system for this runner 
+
+
+\begin{DoxyParams}{Parameters}
+{\em events} & event emitter to be used by this runner \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}\label{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_action\_name\_by\_type@{get\_action\_name\_by\_type}}
+\index{get\_action\_name\_by\_type@{get\_action\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_action\_name\_by\_type()}{get\_action\_name\_by\_type()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+action\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{action\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Get the action name by type object. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em action\+\_\+type} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}\label{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_action\_name@{get\_first\_action\_name}}
+\index{get\_first\_action\_name@{get\_first\_action\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_first\_action\_name()}{get\_first\_action\_name()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+action\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Get the first action name. 
+
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}\label{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_parameter\_name@{get\_first\_parameter\_name}}
+\index{get\_first\_parameter\_name@{get\_first\_parameter\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_first\_parameter\_name()}{get\_first\_parameter\_name()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+parameter\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Get the first parameter name. 
+
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}\label{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_resource\_name@{get\_first\_resource\_name}}
+\index{get\_first\_resource\_name@{get\_first\_resource\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_first\_resource\_name()}{get\_first\_resource\_name()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+resource\+\_\+name (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+get first name of a given resource 
+
+This can be used to get the name of the first action resource in the runner config
+
+\begin{DoxyReturn}{Returns}
+std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}\label{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_service\_name@{get\_first\_service\_name}}
+\index{get\_first\_service\_name@{get\_first\_service\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_first\_service\_name()}{get\_first\_service\_name()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+service\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Get the first service name. 
+
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}\label{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_topic\_name@{get\_first\_topic\_name}}
+\index{get\_first\_topic\_name@{get\_first\_topic\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_first\_topic\_name()}{get\_first\_topic\_name()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+topic\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Get the first topic name. 
+
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}\label{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_interface@{get\_interface}}
+\index{get\_interface@{get\_interface}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_interface()}{get\_interface()}}
+{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+interface (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+get the interface of the runner. 
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}\label{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_package\_name@{get\_package\_name}}
+\index{get\_package\_name@{get\_package\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_package\_name()}{get\_package\_name()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+package\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+get the package name to which the runner belong to. 
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}\label{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_parameter\_name\_by\_type@{get\_parameter\_name\_by\_type}}
+\index{get\_parameter\_name\_by\_type@{get\_parameter\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_parameter\_name\_by\_type()}{get\_parameter\_name\_by\_type()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{param\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Get a parameter name by type. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em param\+\_\+type} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}\label{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_pid@{get\_pid}}
+\index{get\_pid@{get\_pid}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_pid()}{get\_pid()}}
+{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+pid (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+get the pid of the runner. 
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}\label{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_provider@{get\_provider}}
+\index{get\_provider@{get\_provider}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_provider()}{get\_provider()}}
+{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+provider (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+get the provider of the runner. 
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}\label{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_resource\_name\_by\_type@{get\_resource\_name\_by\_type}}
+\index{get\_resource\_name\_by\_type@{get\_resource\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_resource\_name\_by\_type()}{get\_resource\_name\_by\_type()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+type,  }\item[{const std\+::string \&}]{msg\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Get a resource name by data type from the config. 
+
+This helps to navigate remappings from the runner config
+
+WARNING\+: this only gets the first resource found of the given type
+
+
+\begin{DoxyParams}{Parameters}
+{\em resource\+\_\+type} & \\
+\hline
+{\em msg\+\_\+type} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}\label{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_service\_name\_by\_type@{get\_service\_name\_by\_type}}
+\index{get\_service\_name\_by\_type@{get\_service\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_service\_name\_by\_type()}{get\_service\_name\_by\_type()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+service\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{srv\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Get a service name by type. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em srv\+\_\+type} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}\label{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_started\_by@{get\_started\_by}}
+\index{get\_started\_by@{get\_started\_by}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_started\_by()}{get\_started\_by()}}
+{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+started\+\_\+by (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+get the starter of the runner. 
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}\label{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_topic\_name\_by\_type@{get\_topic\_name\_by\_type}}
+\index{get\_topic\_name\_by\_type@{get\_topic\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{get\_topic\_name\_by\_type()}{get\_topic\_name\_by\_type()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{topic\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Get a topic name by type. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em topic\+\_\+type} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}\label{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!init\_base@{init\_base}}
+\index{init\_base@{init\_base}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{init\_base()}{init\_base()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::init\+\_\+base (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Initializer function for initializing the base runner in place of constructor due to plugin semantics. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}\label{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!param\_on\_failure@{param\_on\_failure}}
+\index{param\_on\_failure@{param\_on\_failure}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{param\_on\_failure()}{param\_on\_failure()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::param\+\_\+on\+\_\+failure (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Update on\+\_\+failure event parameters with new data if available. 
+
+This function is used to inject new data into the Capability\+Options containing parameters related to the on\+\_\+failure trigger event
+
+A pattern needs to be implemented in the derived class
+
+\begin{DoxyReturn}{Returns}
+Capability\+Options containing new parameters 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}\label{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!param\_on\_started@{param\_on\_started}}
+\index{param\_on\_started@{param\_on\_started}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{param\_on\_started()}{param\_on\_started()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::param\+\_\+on\+\_\+started (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Update on\+\_\+started event parameters with new data if available. 
+
+This function is used to inject new data into the Capability\+Options containing parameters related to the on\+\_\+started trigger event
+
+A pattern needs to be implemented in the derived class
+
+\begin{DoxyReturn}{Returns}
+Capability\+Options containing new parameters 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}\label{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!param\_on\_stopped@{param\_on\_stopped}}
+\index{param\_on\_stopped@{param\_on\_stopped}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{param\_on\_stopped()}{param\_on\_stopped()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::param\+\_\+on\+\_\+stopped (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Update on\+\_\+stopped event parameters with new data if available. 
+
+This function is used to inject new data into the Capability\+Options containing parameters related to the on\+\_\+stopped trigger event
+
+A pattern needs to be implemented in the derived class
+
+\begin{DoxyReturn}{Returns}
+Capability\+Options containing new parameters 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}\label{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!param\_on\_success@{param\_on\_success}}
+\index{param\_on\_success@{param\_on\_success}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{param\_on\_success()}{param\_on\_success()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::param\+\_\+on\+\_\+success (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Update on\+\_\+success event parameters with new data if available. 
+
+This function is used to inject new data into the Capability\+Options containing parameters related to the on\+\_\+success trigger event
+
+A pattern needs to be implemented in the derived class
+
+\begin{DoxyReturn}{Returns}
+Capability\+Options containing new parameters 
+\end{DoxyReturn}
+
+
+Reimplemented in \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}.
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}\label{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!start@{start}}
+\index{start@{start}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{start()}{start()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Runner\+Base\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+start the runner 
+
+runner plugin api 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file\\
+\hline
+\end{DoxyParams}
+\begin{DoxyAttention}{Attention}
+Must call init\+\_\+base in derived class implementation and should call start event 
+\end{DoxyAttention}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9}{capabilities2\+\_\+runner\+::\+Launch\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}, and \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_a871306308d5dc43facc2c490410c38cd}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}.
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}\label{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!stop@{stop}}
+\index{stop@{stop}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Runner\+Base\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+stop the runner 
+
+\begin{DoxyAttention}{Attention}
+should clean up threads and should call stop event 
+\end{DoxyAttention}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}{capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9}{capabilities2\+\_\+runner\+::\+Launch\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659}{capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}}, and \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_ae7c05952eaa590755e7ec4a722321513}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}.
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}\label{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!trigger@{trigger}}
+\index{trigger@{trigger}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{trigger()}{trigger()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Runner\+Base\+::trigger (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters,  }\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Trigger the runner. 
+
+FIXME\+: implement new event subsystem 
+
+This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up Runner\+Base\+::trigger\+Execution in a thread
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & capability options that contain parameters for the trigger \\
+\hline
+{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
+\hline
+{\em instance\+\_\+id} & unique identifier for the instance of the capability \\
+\hline
+\end{DoxyParams}
+\begin{DoxyAttention}{Attention}
+should call success and failure events with parameters and bond\+\_\+id when the trigger process completes. 
+\end{DoxyAttention}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}, and \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_a0b767e28a66171727b2f9609375963f2}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}\label{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!node\_@{node\_}}
+\index{node\_@{node\_}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{node\_}{node\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Node\+::\+Shared\+Ptr capabilities2\+\_\+runner\+::\+Runner\+Base\+::node\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+shared pointer to the capabilities node Allows to use ros node related functionalities 
+
+\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}\label{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce} 
+\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!run\_config\_@{run\_config\_}}
+\index{run\_config\_@{run\_config\_}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
+\doxysubsubsection{\texorpdfstring{run\_config\_}{run\_config\_}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::run\+\_\+config\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+run\+\_\+config\+\_\+ runner configuration 
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.md5
new file mode 100644
index 0000000..6c0029b
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.md5
@@ -0,0 +1 @@
+5daf3f419c7aa79681b56587f566994f
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..8dd334b23f51d9faa180993fdbcce695574a54e7
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diff --git a/docs/latex/classcapabilities2__runner_1_1RunnerBase__inherit__graph.md5 b/docs/latex/classcapabilities2__runner_1_1RunnerBase__inherit__graph.md5
new file mode 100644
index 0000000..eb2f6e1
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diff --git a/docs/latex/classcapabilities2__runner_1_1RunnerBase__inherit__graph.pdf b/docs/latex/classcapabilities2__runner_1_1RunnerBase__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1ServiceRunner.tex b/docs/latex/classcapabilities2__runner_1_1ServiceRunner.tex
new file mode 100644
index 0000000..61308f5
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1ServiceRunner.tex
@@ -0,0 +1,338 @@
+\doxysection{capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} ServiceT \texorpdfstring{$>$}{>} Class Template Reference}
+\hypertarget{classcapabilities2__runner_1_1ServiceRunner}{}\label{classcapabilities2__runner_1_1ServiceRunner}\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
+
+
+service runner base class  
+
+
+
+
+{\ttfamily \#include "{}service\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} ServiceT \texorpdfstring{$>$}{>}\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=238pt]{classcapabilities2__runner_1_1ServiceRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} ServiceT \texorpdfstring{$>$}{>}\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1ServiceRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804}{Service\+Runner}} ()
+\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}{init\+\_\+service}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&service\+\_\+name)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the service runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
+virtual Service\+T\+::\+Request \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}{generate\+\_\+request}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters)=0
+\begin{DoxyCompactList}\small\item\em Generate a request from parameters. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c}{process\+\_\+response}} (typename Service\+T\+::\+Response\+::\+Shared\+Ptr)
+\begin{DoxyCompactList}\small\item\em Process the reponse and print data as required. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Client$<$ ServiceT $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\+\_\+client\+\_\+}}
+\item 
+Service\+T\+::\+Response\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}{response\+\_\+}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
+\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
+std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
+\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
+std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
+\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\subsubsection*{template$<$typename ServiceT$>$\newline
+class capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}
+service runner base class 
+
+Create an server client to run an service based capability 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804}\label{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804} 
+\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!ServiceRunner@{ServiceRunner}}
+\index{ServiceRunner@{ServiceRunner}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
+\doxysubsubsection{\texorpdfstring{ServiceRunner()}{ServiceRunner()}}
+{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
+\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::\+Service\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Constructor which needs to be empty due to plugin semantics. 
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}\label{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41} 
+\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!execution@{execution}}
+\index{execution@{execution}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
+\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
+{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Trigger process to be executed. 
+
+This method utilizes paramters set via the \doxylink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger()} function
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & pointer to tinyxml2\+::\+XMLElement that contains parameters \\
+\hline
+{\em thread\+\_\+id} & unique identifier for the execution thread \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}.
+
+\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}\label{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc} 
+\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!generate\_request@{generate\_request}}
+\index{generate\_request@{generate\_request}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
+\doxysubsubsection{\texorpdfstring{generate\_request()}{generate\_request()}}
+{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
+virtual Service\+T\+::\+Request \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::generate\+\_\+request (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
+
+
+
+Generate a request from parameters. 
+
+This function is used in conjunction with the trigger function to inject type erased parameters into the typed service
+
+A pattern needs to be implemented in the derived class
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+Service\+T\+::\+Request the generated request 
+\end{DoxyReturn}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}.
+
+\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}\label{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87} 
+\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!init\_service@{init\_service}}
+\index{init\_service@{init\_service}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
+\doxysubsubsection{\texorpdfstring{init\_service()}{init\_service()}}
+{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::init\+\_\+service (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{service\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+Initializer function for initializing the service runner in place of constructor due to plugin semantics. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
+\hline
+{\em service\+\_\+name} & action name used in the yaml file, used to load specific configuration from the run\+\_\+config \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c}\label{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c} 
+\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!process\_response@{process\_response}}
+\index{process\_response@{process\_response}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
+\doxysubsubsection{\texorpdfstring{process\_response()}{process\_response()}}
+{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::process\+\_\+response (\begin{DoxyParamCaption}\item[{typename Service\+T\+::\+Response\+::\+Shared\+Ptr}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Process the reponse and print data as required. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em response} & service reponse message \\
+\hline
+{\em trigger\+\_\+id} & thread id associated with this response used for logging and event emission \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+\doxylink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters} containing updated parameters for the on\+\_\+success event if needed
+\end{DoxyReturn}
+A pattern needs to be implemented in the derived class for processing the response and extracting data if needed, currently does nothing. \Hypertarget{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}\label{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633} 
+\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!stop@{stop}}
+\index{stop@{stop}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
+\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
+{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+stop function to cease functionality and shutdown 
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}\label{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188} 
+\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!response\_@{response\_}}
+\index{response\_@{response\_}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
+\doxysubsubsection{\texorpdfstring{response\_}{response\_}}
+{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
+Service\+T\+::\+Response\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::response\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}\label{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431} 
+\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!service\_client\_@{service\_client\_}}
+\index{service\_client\_@{service\_client\_}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
+\doxysubsubsection{\texorpdfstring{service\_client\_}{service\_client\_}}
+{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
+rclcpp\+::\+Client$<$ServiceT$>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::service\+\_\+client\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{service__runner_8hpp}{service\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.md5
new file mode 100644
index 0000000..a9e5a2d
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.md5
@@ -0,0 +1 @@
+65ed3f6942357c7062437462a0c58b24
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..90dd6a52ca14bfafc0f32afee9845e46a1015dc1
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diff --git a/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner.tex b/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner.tex
new file mode 100644
index 0000000..572428a
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner.tex
@@ -0,0 +1,323 @@
+\doxysection{capabilities2\+\_\+runner\+::Thread\+Trigger\+Runner Class Reference}
+\hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner}{}\label{classcapabilities2__runner_1_1ThreadTriggerRunner}\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+
+
+add threaded trigger execution to the runner  
+
+
+
+
+{\ttfamily \#include "{}threadtrigger\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Thread\+Trigger\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classcapabilities2__runner_1_1ThreadTriggerRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Thread\+Trigger\+Runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{})=0
+\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
+\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
+std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
+\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
+std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
+\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7}{stop\+\_\+execution}} (std\+::chrono\+::milliseconds timeout=std\+::chrono\+::milliseconds(500))
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+add threaded trigger execution to the runner 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!ThreadTriggerRunner@{ThreadTriggerRunner}}
+\index{ThreadTriggerRunner@{ThreadTriggerRunner}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{ThreadTriggerRunner()}{ThreadTriggerRunner()}}
+{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::\+Thread\+Trigger\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!````~ThreadTriggerRunner@{\texorpdfstring{$\sim$}{\string~}ThreadTriggerRunner}}
+\index{````~ThreadTriggerRunner@{\texorpdfstring{$\sim$}{\string~}ThreadTriggerRunner}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}ThreadTriggerRunner()}{\string~ThreadTriggerRunner()}}
+{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!bond\_from\_thread\_id@{bond\_from\_thread\_id}}
+\index{bond\_from\_thread\_id@{bond\_from\_thread\_id}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{bond\_from\_thread\_id()}{bond\_from\_thread\_id()}}
+{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::bond\+\_\+from\+\_\+thread\+\_\+id (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+helper function to extract bond\+\_\+id from thread\+\_\+id 
+
+
+\begin{DoxyParams}{Parameters}
+{\em thread\+\_\+id} & unique identifier for the execution thread, format\+: "{}bond\+\_\+id/trigger\+\_\+id"{}\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!execution@{execution}}
+\index{execution@{execution}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
+
+
+
+Trigger process to be executed. 
+
+This method utilizes parameters set via the \doxylink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger()} function
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & parameters for the execution \\
+\hline
+{\em thread\+\_\+id} & unique identifier for the execution thread, can be used for tracking and cleanup\\
+\hline
+\end{DoxyParams}
+\begin{DoxyAttention}{Attention}
+\+: Should be implemented on derieved classes and should call success and failure events appropriately 
+\end{DoxyAttention}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8}{capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}, and \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6}{capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}}.
+
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!instance\_from\_thread\_id@{instance\_from\_thread\_id}}
+\index{instance\_from\_thread\_id@{instance\_from\_thread\_id}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{instance\_from\_thread\_id()}{instance\_from\_thread\_id()}}
+{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::instance\+\_\+from\+\_\+thread\+\_\+id (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+
+
+helper function to extract instance\+\_\+id from thread\+\_\+id 
+
+
+\begin{DoxyParams}{Parameters}
+{\em thread\+\_\+id} & unique identifier for the execution thread, format\+: "{}bond\+\_\+id/instance\+\_\+id"{} \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+const std\+::string 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!stop\_execution@{stop\_execution}}
+\index{stop\_execution@{stop\_execution}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{stop\_execution()}{stop\_execution()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::stop\+\_\+execution (\begin{DoxyParamCaption}\item[{std\+::chrono\+::milliseconds}]{timeout = {\ttfamily std\+:\+:chrono\+:\+:milliseconds(500)} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!trigger@{trigger}}
+\index{trigger@{trigger}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{trigger()}{trigger()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::trigger (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters,  }\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Trigger the runner. 
+
+This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up Runner\+Base\+::trigger\+Execution in a thread
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & pointer to tinyxml2\+::\+XMLElement that contains parameters \\
+\hline
+{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
+\hline
+{\em instance\+\_\+id} & unique identifier for the instance associated with this runner trigger event \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!execution\_should\_stop\_@{execution\_should\_stop\_}}
+\index{execution\_should\_stop\_@{execution\_should\_stop\_}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{execution\_should\_stop\_}{execution\_should\_stop\_}}
+{\footnotesize\ttfamily std\+::atomic$<$bool$>$ capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::execution\+\_\+should\+\_\+stop\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+flag to signal execution threads to stop. 
+
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!execution\_thread\_pool\_@{execution\_thread\_pool\_}}
+\index{execution\_thread\_pool\_@{execution\_thread\_pool\_}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{execution\_thread\_pool\_}{execution\_thread\_pool\_}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::thread$>$ capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::execution\+\_\+thread\+\_\+pool\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+dictionary of threads that executes the execute function 
+
+\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e} 
+\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!mutex\_@{mutex\_}}
+\index{mutex\_@{mutex\_}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
+\doxysubsubsection{\texorpdfstring{mutex\_}{mutex\_}}
+{\footnotesize\ttfamily std\+::mutex capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::mutex\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+mutex for threadpool synchronisation. 
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{threadtrigger__runner_8hpp}{threadtrigger\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.md5
new file mode 100644
index 0000000..93ad2a7
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.md5
@@ -0,0 +1 @@
+5e5970a1b1546aaf03dcd02ab0f240ee
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..5f6812aad265be1a58f85d98bbd6896b4fd01a58
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diff --git a/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__inherit__graph.pdf b/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1TopicRunner.tex b/docs/latex/classcapabilities2__runner_1_1TopicRunner.tex
new file mode 100644
index 0000000..bcd3804
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1TopicRunner.tex
@@ -0,0 +1,345 @@
+\doxysection{capabilities2\+\_\+runner\+::Topic\+Runner\texorpdfstring{$<$}{<} TopicT \texorpdfstring{$>$}{>} Class Template Reference}
+\hypertarget{classcapabilities2__runner_1_1TopicRunner}{}\label{classcapabilities2__runner_1_1TopicRunner}\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+
+
+Topic runner base class.  
+
+
+
+
+{\ttfamily \#include "{}topic\+\_\+runner.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::Topic\+Runner\texorpdfstring{$<$}{<} TopicT \texorpdfstring{$>$}{>}\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=215pt]{classcapabilities2__runner_1_1TopicRunner__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::Topic\+Runner\texorpdfstring{$<$}{<} TopicT \texorpdfstring{$>$}{>}\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=332pt]{classcapabilities2__runner_1_1TopicRunner__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_ac99cd688150e5cfe539e69866e01ae20}{Topic\+Runner}} ()
+\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a485da884c40ea98cef38f74ba5b27684}{init\+\_\+subscriber}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&topic\+\_\+name)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the topic runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
+\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
+\item 
+\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
+\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
+\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
+\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
+\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
+\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
+\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
+\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
+\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
+\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3}{callback}} (const typename Topic\+T\+::\+Shared\+Ptr \&msg)
+\begin{DoxyCompactList}\small\item\em Callback to be executed when receiving a message. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
+virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
+\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
+\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
+\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
+\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
+\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
+\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
+\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
+\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
+\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
+\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
+size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
+\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
+const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
+\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
+\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
+\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Subscription$<$ TopicT $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}{subscription\+\_\+}}
+\begin{DoxyCompactList}\small\item\em parameter to be used in the on\+\_\+started event emission \end{DoxyCompactList}\item 
+Topic\+T\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}{latest\+\_\+message\+\_\+}}
+\begin{DoxyCompactList}\small\item\em parameter to store the latest message received in the callback for use in the trigger execution \end{DoxyCompactList}\item 
+std\+::condition\+\_\+variable \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}{cv\+\_\+}}
+\begin{DoxyCompactList}\small\item\em condition variable and mutex for synchronizing the callback and trigger execution \end{DoxyCompactList}\item 
+std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0}{block\+\_\+mutex\+\_\+}}
+\item 
+bool \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\+\_\+}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
+\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
+std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
+\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
+std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
+\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
+\begin{DoxyCompactItemize}
+\item 
+rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
+\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
+\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
+static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
+\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\subsubsection*{template$<$typename TopicT$>$\newline
+class capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}
+Topic runner base class. 
+
+Create an topic subsriber for data grabbing capability 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_ac99cd688150e5cfe539e69866e01ae20}\label{classcapabilities2__runner_1_1TopicRunner_ac99cd688150e5cfe539e69866e01ae20} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!TopicRunner@{TopicRunner}}
+\index{TopicRunner@{TopicRunner}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{TopicRunner()}{TopicRunner()}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::\+Topic\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Constructor which needs to be empty due to plugin semantics. 
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3}\label{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!callback@{callback}}
+\index{callback@{callback}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{callback()}{callback()}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::callback (\begin{DoxyParamCaption}\item[{const typename Topic\+T\+::\+Shared\+Ptr \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+
+
+Callback to be executed when receiving a message. 
+
+This function is used grab the messages from the callback queue into a class parameter so that it can be used later on dering trigger
+
+
+\begin{DoxyParams}{Parameters}
+{\em msg} & message parameter \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6}\label{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!execution@{execution}}
+\index{execution@{execution}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Trigger process to be executed. 
+
+This method utilizes paramters set via the \doxylink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger()} function
+
+
+\begin{DoxyParams}{Parameters}
+{\em parameters} & pointer to tinyxml2\+::\+XMLElement that contains parameters \\
+\hline
+{\em thread\+\_\+id} & unique identifier for the execution thread \\
+\hline
+\end{DoxyParams}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}.
+
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a485da884c40ea98cef38f74ba5b27684}\label{classcapabilities2__runner_1_1TopicRunner_a485da884c40ea98cef38f74ba5b27684} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!init\_subscriber@{init\_subscriber}}
+\index{init\_subscriber@{init\_subscriber}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{init\_subscriber()}{init\_subscriber()}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::init\+\_\+subscriber (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{topic\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+Initializer function for initializing the topic runner in place of constructor due to plugin semantics. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
+\hline
+{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
+\hline
+{\em topic\+\_\+name} & topic name used in the yaml file, used to load specific configuration from the run\+\_\+config \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659}\label{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!stop@{stop}}
+\index{stop@{stop}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+stop function to cease functionality and shutdown 
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0}\label{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!block\_mutex\_@{block\_mutex\_}}
+\index{block\_mutex\_@{block\_mutex\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{block\_mutex\_}{block\_mutex\_}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::block\+\_\+mutex\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}\label{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!completed\_@{completed\_}}
+\index{completed\_@{completed\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{completed\_}{completed\_}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+bool \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::completed\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}\label{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!cv\_@{cv\_}}
+\index{cv\_@{cv\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{cv\_}{cv\_}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+std\+::condition\+\_\+variable \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::cv\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+condition variable and mutex for synchronizing the callback and trigger execution 
+
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}\label{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!latest\_message\_@{latest\_message\_}}
+\index{latest\_message\_@{latest\_message\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{latest\_message\_}{latest\_message\_}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+Topic\+T\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::latest\+\_\+message\+\_\+\hspace{0.3cm}{\ttfamily [mutable]}, {\ttfamily [protected]}}
+
+
+
+parameter to store the latest message received in the callback for use in the trigger execution 
+
+\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}\label{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71} 
+\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!subscription\_@{subscription\_}}
+\index{subscription\_@{subscription\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
+\doxysubsubsection{\texorpdfstring{subscription\_}{subscription\_}}
+{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
+rclcpp\+::\+Subscription$<$TopicT$>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::subscription\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+
+
+parameter to be used in the on\+\_\+started event emission 
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{topic__runner_8hpp}{topic\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.md5
new file mode 100644
index 0000000..735b5b0
--- /dev/null
+++ b/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.md5
@@ -0,0 +1 @@
+a92e44c949b18872de2cc9e1af27b824
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.pdf
new file mode 100644
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index 0000000..23b443b
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diff --git a/docs/latex/classcapabilities2__runner_1_1TopicRunner__inherit__graph.pdf b/docs/latex/classcapabilities2__runner_1_1TopicRunner__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__server_1_1BondCache.tex b/docs/latex/classcapabilities2__server_1_1BondCache.tex
new file mode 100644
index 0000000..01ee235
--- /dev/null
+++ b/docs/latex/classcapabilities2__server_1_1BondCache.tex
@@ -0,0 +1,176 @@
+\doxysection{capabilities2\+\_\+server\+::Bond\+Cache Class Reference}
+\hypertarget{classcapabilities2__server_1_1BondCache}{}\label{classcapabilities2__server_1_1BondCache}\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+
+
+bond cache class  
+
+
+
+
+{\ttfamily \#include "{}bond\+\_\+cache.\+hpp"{}}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a48efeffaf9fb7570b52c79487eed3f0f}{Bond\+Cache}} (const std\+::string \&bonds\+\_\+topic="{}/capabilities/bond"{})
+\begin{DoxyCompactList}\small\item\em Construct a Bond Cache with a specific bond topic. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}{add\+\_\+bond}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Add a bond to the cache. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}{remove\+\_\+bond}} (const std\+::string \&bond\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a bond id from the cache for all capabilities. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af3825f2898c0ed831a7f89b85d6742c5}{remove\+\_\+bond}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Remove a bond id from a specific capability. \end{DoxyCompactList}\item 
+const std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5}{get\+\_\+capabilities}} (const std\+::string \&bond\+\_\+id)
+\item 
+const std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728}{get\+\_\+bonds}} (const std\+::string \&capability)
+\item 
+bool \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}} (const std\+::string \&capability)
+\item 
+bool \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7db63a73651b43fa55eb444f49d62b26}{exists}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266}{start}} (const std\+::string \&bond\+\_\+id, rclcpp\+::\+Node\+::\+Shared\+Ptr node, std\+::function$<$ void(void)$>$ on\+\_\+broken, std\+::function$<$ void(void)$>$ on\+\_\+formed)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}{bonds\+\_\+topic\+\_\+}}
+\item 
+std\+::map$<$ std\+::string, std\+::vector$<$ std\+::string $>$ $>$ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\+\_\+cache\+\_\+}}
+\item 
+std\+::map$<$ std\+::string, std\+::unique\+\_\+ptr$<$ bond\+::\+Bond $>$ $>$ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\+\_\+bonds\+\_\+}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+bond cache class 
+
+keep track of bonds established by clients and associated resources this is used to manage the lifecycle of capabilities based on client bonds a capability can have multiple bonds from different clients 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__server_1_1BondCache_a48efeffaf9fb7570b52c79487eed3f0f}\label{classcapabilities2__server_1_1BondCache_a48efeffaf9fb7570b52c79487eed3f0f} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!BondCache@{BondCache}}
+\index{BondCache@{BondCache}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{BondCache()}{BondCache()}}
+{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Bond\+Cache\+::\+Bond\+Cache (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bonds\+\_\+topic = {\ttfamily "{}/capabilities/bond"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Construct a Bond Cache with a specific bond topic. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em bonds\+\_\+topic} & \\
+\hline
+\end{DoxyParams}
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}\label{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!add\_bond@{add\_bond}}
+\index{add\_bond@{add\_bond}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{add\_bond()}{add\_bond()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Bond\+Cache\+::add\+\_\+bond (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Add a bond to the cache. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & \\
+\hline
+{\em bond\+\_\+id} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}\label{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!exists@{exists}}
+\index{exists@{exists}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{exists()}{exists()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Bond\+Cache\+::exists (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1BondCache_a7db63a73651b43fa55eb444f49d62b26}\label{classcapabilities2__server_1_1BondCache_a7db63a73651b43fa55eb444f49d62b26} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!exists@{exists}}
+\index{exists@{exists}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{exists()}{exists()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Bond\+Cache\+::exists (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728}\label{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!get\_bonds@{get\_bonds}}
+\index{get\_bonds@{get\_bonds}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{get\_bonds()}{get\_bonds()}}
+{\footnotesize\ttfamily const std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Bond\+Cache\+::get\+\_\+bonds (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5}\label{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!get\_capabilities@{get\_capabilities}}
+\index{get\_capabilities@{get\_capabilities}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{get\_capabilities()}{get\_capabilities()}}
+{\footnotesize\ttfamily const std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Bond\+Cache\+::get\+\_\+capabilities (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}\label{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!remove\_bond@{remove\_bond}}
+\index{remove\_bond@{remove\_bond}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{remove\_bond()}{remove\_bond()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Bond\+Cache\+::remove\+\_\+bond (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Remove a bond id from the cache for all capabilities. 
+
+If a capability has no more bonds, it is removed from the cache
+
+
+\begin{DoxyParams}{Parameters}
+{\em bond\+\_\+id} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1BondCache_af3825f2898c0ed831a7f89b85d6742c5}\label{classcapabilities2__server_1_1BondCache_af3825f2898c0ed831a7f89b85d6742c5} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!remove\_bond@{remove\_bond}}
+\index{remove\_bond@{remove\_bond}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{remove\_bond()}{remove\_bond()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Bond\+Cache\+::remove\+\_\+bond (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Remove a bond id from a specific capability. 
+
+if the bond is used by another capability, it is not removed if the capability has no more bonds, it is removed from the cache
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & \\
+\hline
+{\em bond\+\_\+id} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266}\label{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!start@{start}}
+\index{start@{start}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{start()}{start()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Bond\+Cache\+::start (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{std\+::function$<$ void(void)$>$}]{on\+\_\+broken,  }\item[{std\+::function$<$ void(void)$>$}]{on\+\_\+formed }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}\label{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!bond\_cache\_@{bond\_cache\_}}
+\index{bond\_cache\_@{bond\_cache\_}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{bond\_cache\_}{bond\_cache\_}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::vector$<$std\+::string$>$ $>$ capabilities2\+\_\+server\+::\+Bond\+Cache\+::bond\+\_\+cache\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}\label{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!bonds\_topic\_@{bonds\_topic\_}}
+\index{bonds\_topic\_@{bonds\_topic\_}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{bonds\_topic\_}{bonds\_topic\_}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::\+Bond\+Cache\+::bonds\+\_\+topic\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}\label{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6} 
+\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!live\_bonds\_@{live\_bonds\_}}
+\index{live\_bonds\_@{live\_bonds\_}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
+\doxysubsubsection{\texorpdfstring{live\_bonds\_}{live\_bonds\_}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::unique\+\_\+ptr$<$bond\+::\+Bond$>$ $>$ capabilities2\+\_\+server\+::\+Bond\+Cache\+::live\+\_\+bonds\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{bond__cache_8hpp}{bond\+\_\+cache.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI.tex b/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI.tex
new file mode 100644
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+\doxysection{capabilities2\+\_\+server\+::Capabilities\+API Class Reference}
+\hypertarget{classcapabilities2__server_1_1CapabilitiesAPI}{}\label{classcapabilities2__server_1_1CapabilitiesAPI}\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+
+
+capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners  
+
+
+
+
+{\ttfamily \#include "{}capabilities\+\_\+api.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::Capabilities\+API\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=195pt]{classcapabilities2__server_1_1CapabilitiesAPI__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::Capabilities\+API\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=328pt]{classcapabilities2__server_1_1CapabilitiesAPI__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce}{Capabilities\+API}} ()
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}{connect}} (const std\+::string \&db\+\_\+file, rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr logging)
+\begin{DoxyCompactList}\small\item\em connect with the database file \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\+\_\+capability}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const std\+::string \&provider)
+\begin{DoxyCompactList}\small\item\em Start a capability. Internal function only. Do not used this function externally. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\+\_\+capability}} (const std\+::string \&capability)
+\begin{DoxyCompactList}\small\item\em Stop a capability. Internal function only. Do not used this function externally. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\+\_\+capability}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Free a capability after usage. This will remove the bond and callstop\+\_\+capability This function can be used externally. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}{trigger\+\_\+capability}} (const std\+::string \&bond\+\_\+id, const std\+::string \&capability, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters)
+\begin{DoxyCompactList}\small\item\em trigger a capability \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}{use\+\_\+capability}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const std\+::string \&provider, const std\+::string \&bond\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Use a capability. This will create a bond id for the requested instance and call start\+\_\+capability function can be used externally. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}{connect\+\_\+capability}} (const std\+::string \&bond\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&connection)
+\begin{DoxyCompactList}\small\item\em connect RUNNING capabilities together via event type \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}{add\+\_\+capability}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&spec)
+\item 
+std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03}{get\+\_\+interfaces}} ()
+\item 
+std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52}{get\+\_\+semantic\+\_\+interfaces}} (const std\+::string \&interface)
+\item 
+std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a}{get\+\_\+providers}} (const std\+::string \&interface, const bool \&include\+\_\+semantic)
+\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8}{get\+\_\+capability\+\_\+spec}} (const std\+::string \&resource)
+\begin{DoxyCompactList}\small\item\em Get the capability spec object for a given resource return the spec in yaml string format. \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8}{get\+\_\+capability\+\_\+specs}} ()
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f}{get\+\_\+remappings}} (const std\+::string \&capability\+\_\+spec, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$ res)
+\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Running\+Capability $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514}{get\+\_\+running\+\_\+capabilities}} ()
+\item 
+int \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c}{get\+\_\+pid}} (const std\+::string \&capability)
+\begin{DoxyCompactList}\small\item\em get pid of capability \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}{establish\+\_\+bond}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}{on\+\_\+bond\+\_\+established}} (const std\+::string \&bond\+\_\+id)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}{on\+\_\+bond\+\_\+broken}} (const std\+::string \&bond\+\_\+id)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\+\_\+}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002}{bind\+\_\+dependency}} (const std\+::string \&capability)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282}{unbind\+\_\+dependency}} (const std\+::string \&capability)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::unique\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\+\_\+db\+\_\+}}
+\item 
+rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\+\_\+}}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{Bond\+Cache}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\+\_\+cache\+\_\+}}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{Runner\+Cache}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\+\_\+cache\+\_\+}}
+\item 
+std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\+\_\+bond\+\_\+ids\+\_\+}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce}\label{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!CapabilitiesAPI@{CapabilitiesAPI}}
+\index{CapabilitiesAPI@{CapabilitiesAPI}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{CapabilitiesAPI()}{CapabilitiesAPI()}}
+{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Capabilities\+API\+::\+Capabilities\+API (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}\label{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!add\_capability@{add\_capability}}
+\index{add\_capability@{add\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{add\_capability()}{add\_capability()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::add\+\_\+capability (\begin{DoxyParamCaption}\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&}]{spec }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002}\label{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!bind\_dependency@{bind\_dependency}}
+\index{bind\_dependency@{bind\_dependency}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{bind\_dependency()}{bind\_dependency()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::bind\+\_\+dependency (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}\label{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!connect@{connect}}
+\index{connect@{connect}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{connect()}{connect()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::connect (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{db\+\_\+file,  }\item[{rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr}]{logging }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+connect with the database file 
+
+
+\begin{DoxyParams}{Parameters}
+{\em db\+\_\+file} & file path of the database file \\
+\hline
+{\em logging} & pointer to the node logging interface for logging \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}\label{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!connect\_capability@{connect\_capability}}
+\index{connect\_capability@{connect\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{connect\_capability()}{connect\_capability()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::connect\+\_\+capability (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&}]{connection }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+connect RUNNING capabilities together via event type 
+
+TODO\+: Allow connections for not-\/running capabilities by storing connections in the db FIXME\+: implement new event subsystem Each running capability is a node that can be connected to other capabilities these connections emit events when the capability states change \Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}\label{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!establish\_bond@{establish\_bond}}
+\index{establish\_bond@{establish\_bond}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{establish\_bond()}{establish\_bond()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Capabilities\+API\+::establish\+\_\+bond (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}\label{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!free\_capability@{free\_capability}}
+\index{free\_capability@{free\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{free\_capability()}{free\_capability()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::free\+\_\+capability (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Free a capability after usage. This will remove the bond and callstop\+\_\+capability This function can be used externally. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & capability name to be freed \\
+\hline
+{\em bond\+\_\+id} & bond\+\_\+id of the capability instance to be freed \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8}\label{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_capability\_spec@{get\_capability\_spec}}
+\index{get\_capability\_spec@{get\_capability\_spec}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{get\_capability\_spec()}{get\_capability\_spec()}}
+{\footnotesize\ttfamily const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+capability\+\_\+spec (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Get the capability spec object for a given resource return the spec in yaml string format. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em resource} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8}\label{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_capability\_specs@{get\_capability\_specs}}
+\index{get\_capability\_specs@{get\_capability\_specs}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{get\_capability\_specs()}{get\_capability\_specs()}}
+{\footnotesize\ttfamily std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+capability\+\_\+specs (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03}\label{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_interfaces@{get\_interfaces}}
+\index{get\_interfaces@{get\_interfaces}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{get\_interfaces()}{get\_interfaces()}}
+{\footnotesize\ttfamily std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c}\label{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_pid@{get\_pid}}
+\index{get\_pid@{get\_pid}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{get\_pid()}{get\_pid()}}
+{\footnotesize\ttfamily int capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+pid (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+get pid of capability 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & capability of which the pid is requested \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+value of pid 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a}\label{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_providers@{get\_providers}}
+\index{get\_providers@{get\_providers}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{get\_providers()}{get\_providers()}}
+{\footnotesize\ttfamily std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+providers (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface,  }\item[{const bool \&}]{include\+\_\+semantic }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f}\label{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_remappings@{get\_remappings}}
+\index{get\_remappings@{get\_remappings}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{get\_remappings()}{get\_remappings()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+remappings (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability\+\_\+spec,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514}\label{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_running\_capabilities@{get\_running\_capabilities}}
+\index{get\_running\_capabilities@{get\_running\_capabilities}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{get\_running\_capabilities()}{get\_running\_capabilities()}}
+{\footnotesize\ttfamily std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Running\+Capability $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+running\+\_\+capabilities (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52}\label{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_semantic\_interfaces@{get\_semantic\_interfaces}}
+\index{get\_semantic\_interfaces@{get\_semantic\_interfaces}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces()}{get\_semantic\_interfaces()}}
+{\footnotesize\ttfamily std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+semantic\+\_\+interfaces (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}\label{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!on\_bond\_broken@{on\_bond\_broken}}
+\index{on\_bond\_broken@{on\_bond\_broken}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{on\_bond\_broken()}{on\_bond\_broken()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::on\+\_\+bond\+\_\+broken (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}\label{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!on\_bond\_established@{on\_bond\_established}}
+\index{on\_bond\_established@{on\_bond\_established}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{on\_bond\_established()}{on\_bond\_established()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::on\+\_\+bond\+\_\+established (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}\label{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!start\_capability@{start\_capability}}
+\index{start\_capability@{start\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{start\_capability()}{start\_capability()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Capabilities\+API\+::start\+\_\+capability (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Start a capability. Internal function only. Do not used this function externally. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & ros node pointer of the ros server \\
+\hline
+{\em capability} & capability name to be started \\
+\hline
+{\em provider} & provider of the capability \\
+\hline
+{\em bond\+\_\+id} & bond\+\_\+id of the capability instance to be started\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+{\ttfamily true} if capability started successfully. else returns {\ttfamily false} 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}\label{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!stop\_capability@{stop\_capability}}
+\index{stop\_capability@{stop\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{stop\_capability()}{stop\_capability()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::stop\+\_\+capability (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Stop a capability. Internal function only. Do not used this function externally. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & capability name to be stopped \\
+\hline
+{\em bond\+\_\+id} & bond\+\_\+id of the capability instance to be stopped \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}\label{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!trigger\_capability@{trigger\_capability}}
+\index{trigger\_capability@{trigger\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{trigger\_capability()}{trigger\_capability()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::trigger\+\_\+capability (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+trigger a capability 
+
+This is a new function for a capability provider (runner) that is already started but has additional parameters to be triggered. This function can be used externally.
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & \\
+\hline
+{\em parameters} & \\
+\hline
+{\em bond\+\_\+id} & \\
+\hline
+{\em instance\+\_\+id} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282}\label{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!unbind\_dependency@{unbind\_dependency}}
+\index{unbind\_dependency@{unbind\_dependency}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{unbind\_dependency()}{unbind\_dependency()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::unbind\+\_\+dependency (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}\label{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!use\_capability@{use\_capability}}
+\index{use\_capability@{use\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{use\_capability()}{use\_capability()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Capabilities\+API\+::use\+\_\+capability (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{provider,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Use a capability. This will create a bond id for the requested instance and call start\+\_\+capability function can be used externally. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & ros node pointer of the ros server \\
+\hline
+{\em capability} & capability name to be started \\
+\hline
+{\em provider} & provider of the capability \\
+\hline
+{\em bond\+\_\+id} & bond\+\_\+id for the capability\\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+{\ttfamily true} if capability started successfully. else returns {\ttfamily false} 
+\end{DoxyReturn}
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}\label{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!bond\_cache\_@{bond\_cache\_}}
+\index{bond\_cache\_@{bond\_cache\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{bond\_cache\_}{bond\_cache\_}}
+{\footnotesize\ttfamily \mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{Bond\+Cache}} capabilities2\+\_\+server\+::\+Capabilities\+API\+::bond\+\_\+cache\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}\label{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!cap\_db\_@{cap\_db\_}}
+\index{cap\_db\_@{cap\_db\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{cap\_db\_}{cap\_db\_}}
+{\footnotesize\ttfamily std\+::unique\+\_\+ptr$<$\mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}}$>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::cap\+\_\+db\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}\label{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!event\_@{event\_}}
+\index{event\_@{event\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{event\_}{event\_}}
+{\footnotesize\ttfamily std\+::shared\+\_\+ptr$<$\mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}}$>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::event\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}\label{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!internal\_bond\_ids\_@{internal\_bond\_ids\_}}
+\index{internal\_bond\_ids\_@{internal\_bond\_ids\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{internal\_bond\_ids\_}{internal\_bond\_ids\_}}
+{\footnotesize\ttfamily std\+::vector$<$std\+::string$>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::internal\+\_\+bond\+\_\+ids\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}\label{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!logging\_@{logging\_}}
+\index{logging\_@{logging\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{logging\_}{logging\_}}
+{\footnotesize\ttfamily rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+API\+::logging\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}\label{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2} 
+\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!runner\_cache\_@{runner\_cache\_}}
+\index{runner\_cache\_@{runner\_cache\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
+\doxysubsubsection{\texorpdfstring{runner\_cache\_}{runner\_cache\_}}
+{\footnotesize\ttfamily \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{Runner\+Cache}} capabilities2\+\_\+server\+::\+Capabilities\+API\+::runner\+\_\+cache\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__api_8hpp}{capabilities\+\_\+api.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.md5 b/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.md5
new file mode 100644
index 0000000..1146e84
--- /dev/null
+++ b/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.md5
@@ -0,0 +1 @@
+224aa8714bfe4d066311908713131a5c
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.pdf b/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.pdf
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diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__inherit__graph.pdf b/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesDB.tex b/docs/latex/classcapabilities2__server_1_1CapabilitiesDB.tex
new file mode 100644
index 0000000..78928ca
--- /dev/null
+++ b/docs/latex/classcapabilities2__server_1_1CapabilitiesDB.tex
@@ -0,0 +1,415 @@
+\doxysection{capabilities2\+\_\+server\+::Capabilities\+DB Class Reference}
+\hypertarget{classcapabilities2__server_1_1CapabilitiesDB}{}\label{classcapabilities2__server_1_1CapabilitiesDB}\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+
+
+{\ttfamily \#include "{}capabilities\+\_\+db.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::Capabilities\+DB\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=195pt]{classcapabilities2__server_1_1CapabilitiesDB__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::Capabilities\+DB\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=195pt]{classcapabilities2__server_1_1CapabilitiesDB__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6a06e320c5c1ac224f7879bbe05e6a8e}{Capabilities\+DB}} (const std\+::string db\+\_\+file="{}cache/capabilities.\+sqlite3"{})
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a40951e3346502f6e147865e1ab025e39}{\texorpdfstring{$\sim$}{\string~}\+Capabilities\+DB}} ()
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73}{insert\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&interface) override
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1}{insert\+\_\+semantic\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&semantic\+\_\+interface) override
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448}{insert\+\_\+provider}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&provider) override
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac}{get\+\_\+interface}} (const std\+::string \&name) override
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ae263c0a66dccf6f7cee043f8da2050a9}{get\+\_\+interfaces}} () override
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3}{get\+\_\+semantic\+\_\+interface}} (const std\+::string \&name) override
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ae5f180b570d6c8d57d3b7ed570fa2bc4}{get\+\_\+semantic\+\_\+interfaces}} () override
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}{get\+\_\+provider}} (const std\+::string \&name) override
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_abcb12877bac9acaa5b55f0517cd83c71}{get\+\_\+providers}} () override
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a7147928b1a095676069664c31f91deae}{get\+\_\+remappable}} (const std\+::string \&name) override
+\begin{DoxyCompactList}\small\item\em Get remappable model by name. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aa10f6716c7eb019bad310fa8e580880b}{update\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&interface) override
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a45dde34e7373e6aec64c1f78d673e0cb}{update\+\_\+semantic\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&semantic\+\_\+interface) override
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a74033ce662666907c361fa22fa9e80c2}{update\+\_\+provider}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&provider)
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d}{get\+\_\+providers\+\_\+by\+\_\+interface}} (const std\+::string \&interface\+\_\+name) override
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a}{get\+\_\+semantic\+\_\+interfaces\+\_\+by\+\_\+interface}} (const std\+::string \&interface\+\_\+name) override
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models\+::running\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b}{get\+\_\+running}} (const std\+::string \&provider\+\_\+name) override
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}{apply\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models\+::specification\+\_\+model\+\_\+t}} \&spec, const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \&remappable) override
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a9ce49d71065acc667a5ce863a9e1f2a2}{apply\+\_\+semantic\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} semantic) override
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3c6ed044e3cd0e60b5fcfac889ab0eea}{apply\+\_\+provider\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} provider) override
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76}{get\+\_\+run\+\_\+config}} (const std\+::string \&provider\+\_\+name) override
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{capabilities2\+\_\+server\+::\+DBBase}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2}{DBBase}} ()=default
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb}{\texorpdfstring{$\sim$}{\string~}\+DBBase}} ()=default
+\item 
+{\footnotesize template$<$typename T $>$ }\\bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{exists}} (const std\+::string \&resource\+\_\+name)
+\item 
+virtual bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af}{exists\+\_\+any}} (const std\+::string \&resource\+\_\+name)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df}{open}} () override
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67}{close}} () override
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}} (const std\+::string \&query)
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0}{create\+\_\+tables}} () override
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a665a94af8591b998356567340f9155b9}{to\+\_\+interface}} (sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}stmt)
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3eb0881736fa825daef5ec83e1d919be}{to\+\_\+semantic\+\_\+interface}} (sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}stmt)
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc}{to\+\_\+provider}} (sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}stmt)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}{db\+\_\+file\+\_\+}}
+\item 
+sqlite3 \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\+\_\+}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a6a06e320c5c1ac224f7879bbe05e6a8e}\label{classcapabilities2__server_1_1CapabilitiesDB_a6a06e320c5c1ac224f7879bbe05e6a8e} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!CapabilitiesDB@{CapabilitiesDB}}
+\index{CapabilitiesDB@{CapabilitiesDB}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{CapabilitiesDB()}{CapabilitiesDB()}}
+{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Capabilities\+DB\+::\+Capabilities\+DB (\begin{DoxyParamCaption}\item[{const std\+::string}]{db\+\_\+file = {\ttfamily "{}cache/capabilities.sqlite3"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a40951e3346502f6e147865e1ab025e39}\label{classcapabilities2__server_1_1CapabilitiesDB_a40951e3346502f6e147865e1ab025e39} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!````~CapabilitiesDB@{\texorpdfstring{$\sim$}{\string~}CapabilitiesDB}}
+\index{````~CapabilitiesDB@{\texorpdfstring{$\sim$}{\string~}CapabilitiesDB}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}CapabilitiesDB()}{\string~CapabilitiesDB()}}
+{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Capabilities\+DB\+::\texorpdfstring{$\sim$}{\string~}\+Capabilities\+DB (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a3c6ed044e3cd0e60b5fcfac889ab0eea}\label{classcapabilities2__server_1_1CapabilitiesDB_a3c6ed044e3cd0e60b5fcfac889ab0eea} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!apply\_provider\_remappings@{apply\_provider\_remappings}}
+\index{apply\_provider\_remappings@{apply\_provider\_remappings}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{apply\_provider\_remappings()}{apply\_provider\_remappings()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::apply\+\_\+provider\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}}}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}\label{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!apply\_remappings@{apply\_remappings}}
+\index{apply\_remappings@{apply\_remappings}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{apply\_remappings()}{apply\_remappings()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::apply\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models\+::specification\+\_\+model\+\_\+t}} \&}]{spec,  }\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \&}]{remappable }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a9ce49d71065acc667a5ce863a9e1f2a2}\label{classcapabilities2__server_1_1CapabilitiesDB_a9ce49d71065acc667a5ce863a9e1f2a2} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!apply\_semantic\_remappings@{apply\_semantic\_remappings}}
+\index{apply\_semantic\_remappings@{apply\_semantic\_remappings}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{apply\_semantic\_remappings()}{apply\_semantic\_remappings()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::apply\+\_\+semantic\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}}}]{semantic }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67}\label{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!close@{close}}
+\index{close@{close}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{close()}{close()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::close (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0}\label{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!create\_tables@{create\_tables}}
+\index{create\_tables@{create\_tables}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{create\_tables()}{create\_tables()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::create\+\_\+tables (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}\label{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!exec@{exec}}
+\index{exec@{exec}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{exec()}{exec()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::exec (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{query }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac}\label{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_interface@{get\_interface}}
+\index{get\_interface@{get\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_interface()}{get\_interface()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_ae263c0a66dccf6f7cee043f8da2050a9}\label{classcapabilities2__server_1_1CapabilitiesDB_ae263c0a66dccf6f7cee043f8da2050a9} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_interfaces@{get\_interfaces}}
+\index{get\_interfaces@{get\_interfaces}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_interfaces()}{get\_interfaces()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}\label{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_provider@{get\_provider}}
+\index{get\_provider@{get\_provider}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_provider()}{get\_provider()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+provider (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_abcb12877bac9acaa5b55f0517cd83c71}\label{classcapabilities2__server_1_1CapabilitiesDB_abcb12877bac9acaa5b55f0517cd83c71} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_providers@{get\_providers}}
+\index{get\_providers@{get\_providers}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_providers()}{get\_providers()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+providers (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d}\label{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_providers\_by\_interface@{get\_providers\_by\_interface}}
+\index{get\_providers\_by\_interface@{get\_providers\_by\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_providers\_by\_interface()}{get\_providers\_by\_interface()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+providers\+\_\+by\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a7147928b1a095676069664c31f91deae}\label{classcapabilities2__server_1_1CapabilitiesDB_a7147928b1a095676069664c31f91deae} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_remappable@{get\_remappable}}
+\index{get\_remappable@{get\_remappable}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_remappable()}{get\_remappable()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+remappable (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Get remappable model by name. 
+
+remappable models are either semantic interfaces or providers
+
+
+\begin{DoxyParams}{Parameters}
+{\em name} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+\doxylink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t} 
+\end{DoxyReturn}
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76}\label{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_run\_config@{get\_run\_config}}
+\index{get\_run\_config@{get\_run\_config}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_run\_config()}{get\_run\_config()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+run\+\_\+config (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{provider\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b}\label{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_running@{get\_running}}
+\index{get\_running@{get\_running}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_running()}{get\_running()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models\+::running\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+running (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{provider\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3}\label{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_semantic\_interface@{get\_semantic\_interface}}
+\index{get\_semantic\_interface@{get\_semantic\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_semantic\_interface()}{get\_semantic\_interface()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_ae5f180b570d6c8d57d3b7ed570fa2bc4}\label{classcapabilities2__server_1_1CapabilitiesDB_ae5f180b570d6c8d57d3b7ed570fa2bc4} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_semantic\_interfaces@{get\_semantic\_interfaces}}
+\index{get\_semantic\_interfaces@{get\_semantic\_interfaces}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces()}{get\_semantic\_interfaces()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+semantic\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a}\label{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_semantic\_interfaces\_by\_interface@{get\_semantic\_interfaces\_by\_interface}}
+\index{get\_semantic\_interfaces\_by\_interface@{get\_semantic\_interfaces\_by\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces\_by\_interface()}{get\_semantic\_interfaces\_by\_interface()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+semantic\+\_\+interfaces\+\_\+by\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73}\label{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!insert\_interface@{insert\_interface}}
+\index{insert\_interface@{insert\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{insert\_interface()}{insert\_interface()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::insert\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448}\label{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!insert\_provider@{insert\_provider}}
+\index{insert\_provider@{insert\_provider}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{insert\_provider()}{insert\_provider()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::insert\+\_\+provider (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1}\label{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!insert\_semantic\_interface@{insert\_semantic\_interface}}
+\index{insert\_semantic\_interface@{insert\_semantic\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{insert\_semantic\_interface()}{insert\_semantic\_interface()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::insert\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&}]{semantic\+\_\+interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df}\label{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!open@{open}}
+\index{open@{open}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{open()}{open()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::open (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a665a94af8591b998356567340f9155b9}\label{classcapabilities2__server_1_1CapabilitiesDB_a665a94af8591b998356567340f9155b9} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!to\_interface@{to\_interface}}
+\index{to\_interface@{to\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{to\_interface()}{to\_interface()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::to\+\_\+interface (\begin{DoxyParamCaption}\item[{sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}}]{stmt }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc}\label{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!to\_provider@{to\_provider}}
+\index{to\_provider@{to\_provider}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{to\_provider()}{to\_provider()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::to\+\_\+provider (\begin{DoxyParamCaption}\item[{sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}}]{stmt }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a3eb0881736fa825daef5ec83e1d919be}\label{classcapabilities2__server_1_1CapabilitiesDB_a3eb0881736fa825daef5ec83e1d919be} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!to\_semantic\_interface@{to\_semantic\_interface}}
+\index{to\_semantic\_interface@{to\_semantic\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{to\_semantic\_interface()}{to\_semantic\_interface()}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::to\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}}]{stmt }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_aa10f6716c7eb019bad310fa8e580880b}\label{classcapabilities2__server_1_1CapabilitiesDB_aa10f6716c7eb019bad310fa8e580880b} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!update\_interface@{update\_interface}}
+\index{update\_interface@{update\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{update\_interface()}{update\_interface()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::update\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a74033ce662666907c361fa22fa9e80c2}\label{classcapabilities2__server_1_1CapabilitiesDB_a74033ce662666907c361fa22fa9e80c2} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!update\_provider@{update\_provider}}
+\index{update\_provider@{update\_provider}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{update\_provider()}{update\_provider()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::update\+\_\+provider (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a45dde34e7373e6aec64c1f78d673e0cb}\label{classcapabilities2__server_1_1CapabilitiesDB_a45dde34e7373e6aec64c1f78d673e0cb} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!update\_semantic\_interface@{update\_semantic\_interface}}
+\index{update\_semantic\_interface@{update\_semantic\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{update\_semantic\_interface()}{update\_semantic\_interface()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::update\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&}]{semantic\+\_\+interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
+
+
+
+Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5}{capabilities2\+\_\+server\+::\+DBBase}}.
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}\label{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!db\_@{db\_}}
+\index{db\_@{db\_}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{db\_}{db\_}}
+{\footnotesize\ttfamily sqlite3\texorpdfstring{$\ast$}{*} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::db\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}\label{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d} 
+\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!db\_file\_@{db\_file\_}}
+\index{db\_file\_@{db\_file\_}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
+\doxysubsubsection{\texorpdfstring{db\_file\_}{db\_file\_}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Capabilities\+DB\+::db\+\_\+file\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__db_8hpp}{capabilities\+\_\+db.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesDB__coll__graph.md5 b/docs/latex/classcapabilities2__server_1_1CapabilitiesDB__coll__graph.md5
new file mode 100644
index 0000000..1c65d98
--- /dev/null
+++ b/docs/latex/classcapabilities2__server_1_1CapabilitiesDB__coll__graph.md5
@@ -0,0 +1 @@
+b695d6c2e55191b20a87cfca564f43b5
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesDB__coll__graph.pdf b/docs/latex/classcapabilities2__server_1_1CapabilitiesDB__coll__graph.pdf
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new file mode 100644
index 0000000..1c65d98
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diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesDB__inherit__graph.pdf b/docs/latex/classcapabilities2__server_1_1CapabilitiesDB__inherit__graph.pdf
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diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesServer.tex b/docs/latex/classcapabilities2__server_1_1CapabilitiesServer.tex
new file mode 100644
index 0000000..c89bcac
--- /dev/null
+++ b/docs/latex/classcapabilities2__server_1_1CapabilitiesServer.tex
@@ -0,0 +1,428 @@
+\doxysection{capabilities2\+\_\+server\+::Capabilities\+Server Class Reference}
+\hypertarget{classcapabilities2__server_1_1CapabilitiesServer}{}\label{classcapabilities2__server_1_1CapabilitiesServer}\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+
+
+capabilities server  
+
+
+
+
+{\ttfamily \#include "{}capabilities\+\_\+server.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::Capabilities\+Server\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=290pt]{classcapabilities2__server_1_1CapabilitiesServer__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::Capabilities\+Server\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{classcapabilities2__server_1_1CapabilitiesServer__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aacf69c819dfe2d31895bd6a4b7831aea}{Capabilities\+Server}} (const rclcpp\+::\+Node\+Options \&options=rclcpp\+::\+Node\+Options())
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e}{initialize}} ()
+\begin{DoxyCompactList}\small\item\em Initializes the capabilities server node. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7}{establish\+\_\+bond\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e}{start\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d}{stop\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3}{trigger\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04}{free\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ab351057325bd9c62bbd25657061505d6}{use\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a03500d304d5fef27e356b30b5d23dece}{connect\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a71a42e1eaa2a7b030b8e0b1c90609315}{register\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a1eee46a1f8874823530823183406e082}{get\+\_\+interfaces\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae3299cfc91495fdff2fc8eb1513e7804}{get\+\_\+semantic\+\_\+interfaces\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_afd5d1ff380148dbc66a57e04e92109e0}{get\+\_\+providers\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aed01fea6038bf10c20f4e23325e7b411}{get\+\_\+capability\+\_\+spec\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a8bc0d2808af84412e1696f768366c114}{get\+\_\+capability\+\_\+specs\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a71728f43b140a67280d2eec2a18f00e4}{get\+\_\+remappings\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$ res)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ad25368b49818a71d8bb5aefb64975fb5}{get\+\_\+running\+\_\+capabilities\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities\+::\+Response $>$ res)
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{capabilities2\+\_\+server\+::\+Capabilities\+API}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce}{Capabilities\+API}} ()
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}{connect}} (const std\+::string \&db\+\_\+file, rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr logging)
+\begin{DoxyCompactList}\small\item\em connect with the database file \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\+\_\+capability}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const std\+::string \&provider)
+\begin{DoxyCompactList}\small\item\em Start a capability. Internal function only. Do not used this function externally. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\+\_\+capability}} (const std\+::string \&capability)
+\begin{DoxyCompactList}\small\item\em Stop a capability. Internal function only. Do not used this function externally. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\+\_\+capability}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Free a capability after usage. This will remove the bond and callstop\+\_\+capability This function can be used externally. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}{trigger\+\_\+capability}} (const std\+::string \&bond\+\_\+id, const std\+::string \&capability, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters)
+\begin{DoxyCompactList}\small\item\em trigger a capability \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}{use\+\_\+capability}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const std\+::string \&provider, const std\+::string \&bond\+\_\+id)
+\begin{DoxyCompactList}\small\item\em Use a capability. This will create a bond id for the requested instance and call start\+\_\+capability function can be used externally. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}{connect\+\_\+capability}} (const std\+::string \&bond\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&connection)
+\begin{DoxyCompactList}\small\item\em connect RUNNING capabilities together via event type \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}{add\+\_\+capability}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&spec)
+\item 
+std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03}{get\+\_\+interfaces}} ()
+\item 
+std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52}{get\+\_\+semantic\+\_\+interfaces}} (const std\+::string \&interface)
+\item 
+std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a}{get\+\_\+providers}} (const std\+::string \&interface, const bool \&include\+\_\+semantic)
+\item 
+const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8}{get\+\_\+capability\+\_\+spec}} (const std\+::string \&resource)
+\begin{DoxyCompactList}\small\item\em Get the capability spec object for a given resource return the spec in yaml string format. \end{DoxyCompactList}\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8}{get\+\_\+capability\+\_\+specs}} ()
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f}{get\+\_\+remappings}} (const std\+::string \&capability\+\_\+spec, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$ res)
+\item 
+std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Running\+Capability $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514}{get\+\_\+running\+\_\+capabilities}} ()
+\item 
+int \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c}{get\+\_\+pid}} (const std\+::string \&capability)
+\begin{DoxyCompactList}\small\item\em get pid of capability \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}{establish\+\_\+bond}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}{on\+\_\+bond\+\_\+established}} (const std\+::string \&bond\+\_\+id)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}{on\+\_\+bond\+\_\+broken}} (const std\+::string \&bond\+\_\+id)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a58c477d3ba7423b273778842fe156dcc}{load\+\_\+capabilities}} (const std\+::string \&package\+\_\+path)
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a5e0231cf2f4d4c16ec057e5603b0efd1}{parse\+\_\+package\+\_\+xml}} (const std\+::string \&package\+\_\+xml, tinyxml2\+::\+XMLDocument \&doc)
+\begin{DoxyCompactList}\small\item\em parse package.\+xml file \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a38bec3f55aab20fb4ef4be05ff20ee20}{load\+\_\+spec\+\_\+content}} (const std\+::string \&spec\+\_\+file, capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&capability\+\_\+spec)
+\begin{DoxyCompactList}\small\item\em load capability spec content from a file \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+double \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a6e8b97337893a97daa58e3f0c11bb565}{loop\+\_\+hz\+\_\+}}
+\item 
+rclcpp\+::\+Publisher$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa850ac5910b408d86b73b7bc04d82134}{event\+\_\+pub\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a4d626b97ce07ce813f045f334e0672bf}{establish\+\_\+bond\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a1a04b3d8e38c3e738d6dad3e9f90ed32}{start\+\_\+capability\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aee406dd808d0277a3d1babfbaf5d0dee}{stop\+\_\+capability\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a0e28a32f07cadfecd641727cf7d6df9a}{free\+\_\+capability\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a234c5773e90eebb05bd36fe2025f5503}{connect\+\_\+capability\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ab479dbd4ed2028355725f553dca81d4e}{trigger\+\_\+capability\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a152c07656d903772602e01a23b717c94}{use\+\_\+capability\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a12ab12a8447c6333dd2383534e2268bb}{register\+\_\+capability\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa7b2bb889301337796e782ea00d788a9}{get\+\_\+interfaces\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae9b834509054095c04cc7f9d1557ec96}{get\+\_\+semantic\+\_\+interfaces\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a755cc7001a6739ae422492a9b6d4f4e3}{get\+\_\+providers\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a8286d3d3b6ad3eefef8bb91abcf349a2}{get\+\_\+capability\+\_\+spec\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aad26d9c4b7948bff89e9dfc54dae3b33}{get\+\_\+capability\+\_\+specs\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c}{get\+\_\+remappings\+\_\+srv\+\_\+}}
+\item 
+rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ac358c10e20544260cb65ad6fd3a31c8d}{get\+\_\+running\+\_\+capabilities\+\_\+srv\+\_\+}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Additional Inherited Members}
+\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{capabilities2\+\_\+server\+::\+Capabilities\+API}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\+\_\+}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+capabilities server 
+
+Capabilities server node that provides a ROS service capabilities API for managing capabilities. implements the \doxylink{classcapabilities2__server_1_1CapabilitiesAPI}{Capabilities\+API} interface for core capabilities functionality. 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aacf69c819dfe2d31895bd6a4b7831aea}\label{classcapabilities2__server_1_1CapabilitiesServer_aacf69c819dfe2d31895bd6a4b7831aea} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!CapabilitiesServer@{CapabilitiesServer}}
+\index{CapabilitiesServer@{CapabilitiesServer}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{CapabilitiesServer()}{CapabilitiesServer()}}
+{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Capabilities\+Server\+::\+Capabilities\+Server (\begin{DoxyParamCaption}\item[{const rclcpp\+::\+Node\+Options \&}]{options = {\ttfamily rclcpp\+:\+:NodeOptions()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a03500d304d5fef27e356b30b5d23dece}\label{classcapabilities2__server_1_1CapabilitiesServer_a03500d304d5fef27e356b30b5d23dece} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!connect\_capability\_cb@{connect\_capability\_cb}}
+\index{connect\_capability\_cb@{connect\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{connect\_capability\_cb()}{connect\_capability\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::connect\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7}\label{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!establish\_bond\_cb@{establish\_bond\_cb}}
+\index{establish\_bond\_cb@{establish\_bond\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{establish\_bond\_cb()}{establish\_bond\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::establish\+\_\+bond\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04}\label{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!free\_capability\_cb@{free\_capability\_cb}}
+\index{free\_capability\_cb@{free\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{free\_capability\_cb()}{free\_capability\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::free\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aed01fea6038bf10c20f4e23325e7b411}\label{classcapabilities2__server_1_1CapabilitiesServer_aed01fea6038bf10c20f4e23325e7b411} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_capability\_spec\_cb@{get\_capability\_spec\_cb}}
+\index{get\_capability\_spec\_cb@{get\_capability\_spec\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_capability\_spec\_cb()}{get\_capability\_spec\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+capability\+\_\+spec\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a8bc0d2808af84412e1696f768366c114}\label{classcapabilities2__server_1_1CapabilitiesServer_a8bc0d2808af84412e1696f768366c114} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_capability\_specs\_cb@{get\_capability\_specs\_cb}}
+\index{get\_capability\_specs\_cb@{get\_capability\_specs\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_capability\_specs\_cb()}{get\_capability\_specs\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+capability\+\_\+specs\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a1eee46a1f8874823530823183406e082}\label{classcapabilities2__server_1_1CapabilitiesServer_a1eee46a1f8874823530823183406e082} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_interfaces\_cb@{get\_interfaces\_cb}}
+\index{get\_interfaces\_cb@{get\_interfaces\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_interfaces\_cb()}{get\_interfaces\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+interfaces\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_afd5d1ff380148dbc66a57e04e92109e0}\label{classcapabilities2__server_1_1CapabilitiesServer_afd5d1ff380148dbc66a57e04e92109e0} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_providers\_cb@{get\_providers\_cb}}
+\index{get\_providers\_cb@{get\_providers\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_providers\_cb()}{get\_providers\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+providers\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a71728f43b140a67280d2eec2a18f00e4}\label{classcapabilities2__server_1_1CapabilitiesServer_a71728f43b140a67280d2eec2a18f00e4} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_remappings\_cb@{get\_remappings\_cb}}
+\index{get\_remappings\_cb@{get\_remappings\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_remappings\_cb()}{get\_remappings\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+remappings\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ad25368b49818a71d8bb5aefb64975fb5}\label{classcapabilities2__server_1_1CapabilitiesServer_ad25368b49818a71d8bb5aefb64975fb5} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_running\_capabilities\_cb@{get\_running\_capabilities\_cb}}
+\index{get\_running\_capabilities\_cb@{get\_running\_capabilities\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_running\_capabilities\_cb()}{get\_running\_capabilities\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+running\+\_\+capabilities\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ae3299cfc91495fdff2fc8eb1513e7804}\label{classcapabilities2__server_1_1CapabilitiesServer_ae3299cfc91495fdff2fc8eb1513e7804} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_semantic\_interfaces\_cb@{get\_semantic\_interfaces\_cb}}
+\index{get\_semantic\_interfaces\_cb@{get\_semantic\_interfaces\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces\_cb()}{get\_semantic\_interfaces\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+semantic\+\_\+interfaces\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e}\label{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!initialize@{initialize}}
+\index{initialize@{initialize}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{initialize()}{initialize()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::initialize (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Initializes the capabilities server node. 
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a58c477d3ba7423b273778842fe156dcc}\label{classcapabilities2__server_1_1CapabilitiesServer_a58c477d3ba7423b273778842fe156dcc} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!load\_capabilities@{load\_capabilities}}
+\index{load\_capabilities@{load\_capabilities}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{load\_capabilities()}{load\_capabilities()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::load\+\_\+capabilities (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{package\+\_\+path }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a38bec3f55aab20fb4ef4be05ff20ee20}\label{classcapabilities2__server_1_1CapabilitiesServer_a38bec3f55aab20fb4ef4be05ff20ee20} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!load\_spec\_content@{load\_spec\_content}}
+\index{load\_spec\_content@{load\_spec\_content}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{load\_spec\_content()}{load\_spec\_content()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::load\+\_\+spec\+\_\+content (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{spec\+\_\+file,  }\item[{capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&}]{capability\+\_\+spec }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
+
+
+
+load capability spec content from a file 
+
+
+\begin{DoxyParams}{Parameters}
+{\em spec\+\_\+file} & \\
+\hline
+{\em capability\+\_\+spec} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a5e0231cf2f4d4c16ec057e5603b0efd1}\label{classcapabilities2__server_1_1CapabilitiesServer_a5e0231cf2f4d4c16ec057e5603b0efd1} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!parse\_package\_xml@{parse\_package\_xml}}
+\index{parse\_package\_xml@{parse\_package\_xml}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{parse\_package\_xml()}{parse\_package\_xml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::parse\+\_\+package\+\_\+xml (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{package\+\_\+xml,  }\item[{tinyxml2\+::\+XMLDocument \&}]{doc }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
+
+
+
+parse package.\+xml file 
+
+
+\begin{DoxyParams}{Parameters}
+{\em package\+\_\+xml} & \\
+\hline
+{\em doc} & \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a71a42e1eaa2a7b030b8e0b1c90609315}\label{classcapabilities2__server_1_1CapabilitiesServer_a71a42e1eaa2a7b030b8e0b1c90609315} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!register\_capability\_cb@{register\_capability\_cb}}
+\index{register\_capability\_cb@{register\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{register\_capability\_cb()}{register\_capability\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::register\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e}\label{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!start\_capability\_cb@{start\_capability\_cb}}
+\index{start\_capability\_cb@{start\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{start\_capability\_cb()}{start\_capability\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::start\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d}\label{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!stop\_capability\_cb@{stop\_capability\_cb}}
+\index{stop\_capability\_cb@{stop\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{stop\_capability\_cb()}{stop\_capability\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::stop\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3}\label{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!trigger\_capability\_cb@{trigger\_capability\_cb}}
+\index{trigger\_capability\_cb@{trigger\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{trigger\_capability\_cb()}{trigger\_capability\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::trigger\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ab351057325bd9c62bbd25657061505d6}\label{classcapabilities2__server_1_1CapabilitiesServer_ab351057325bd9c62bbd25657061505d6} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!use\_capability\_cb@{use\_capability\_cb}}
+\index{use\_capability\_cb@{use\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{use\_capability\_cb()}{use\_capability\_cb()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::use\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a234c5773e90eebb05bd36fe2025f5503}\label{classcapabilities2__server_1_1CapabilitiesServer_a234c5773e90eebb05bd36fe2025f5503} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!connect\_capability\_srv\_@{connect\_capability\_srv\_}}
+\index{connect\_capability\_srv\_@{connect\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{connect\_capability\_srv\_}{connect\_capability\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::connect\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a4d626b97ce07ce813f045f334e0672bf}\label{classcapabilities2__server_1_1CapabilitiesServer_a4d626b97ce07ce813f045f334e0672bf} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!establish\_bond\_srv\_@{establish\_bond\_srv\_}}
+\index{establish\_bond\_srv\_@{establish\_bond\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{establish\_bond\_srv\_}{establish\_bond\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::establish\+\_\+bond\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aa850ac5910b408d86b73b7bc04d82134}\label{classcapabilities2__server_1_1CapabilitiesServer_aa850ac5910b408d86b73b7bc04d82134} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!event\_pub\_@{event\_pub\_}}
+\index{event\_pub\_@{event\_pub\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{event\_pub\_}{event\_pub\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Publisher$<$capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::event\+\_\+pub\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a0e28a32f07cadfecd641727cf7d6df9a}\label{classcapabilities2__server_1_1CapabilitiesServer_a0e28a32f07cadfecd641727cf7d6df9a} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!free\_capability\_srv\_@{free\_capability\_srv\_}}
+\index{free\_capability\_srv\_@{free\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{free\_capability\_srv\_}{free\_capability\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::free\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a8286d3d3b6ad3eefef8bb91abcf349a2}\label{classcapabilities2__server_1_1CapabilitiesServer_a8286d3d3b6ad3eefef8bb91abcf349a2} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_capability\_spec\_srv\_@{get\_capability\_spec\_srv\_}}
+\index{get\_capability\_spec\_srv\_@{get\_capability\_spec\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_capability\_spec\_srv\_}{get\_capability\_spec\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+capability\+\_\+spec\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aad26d9c4b7948bff89e9dfc54dae3b33}\label{classcapabilities2__server_1_1CapabilitiesServer_aad26d9c4b7948bff89e9dfc54dae3b33} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_capability\_specs\_srv\_@{get\_capability\_specs\_srv\_}}
+\index{get\_capability\_specs\_srv\_@{get\_capability\_specs\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_capability\_specs\_srv\_}{get\_capability\_specs\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+capability\+\_\+specs\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aa7b2bb889301337796e782ea00d788a9}\label{classcapabilities2__server_1_1CapabilitiesServer_aa7b2bb889301337796e782ea00d788a9} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_interfaces\_srv\_@{get\_interfaces\_srv\_}}
+\index{get\_interfaces\_srv\_@{get\_interfaces\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_interfaces\_srv\_}{get\_interfaces\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+interfaces\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a755cc7001a6739ae422492a9b6d4f4e3}\label{classcapabilities2__server_1_1CapabilitiesServer_a755cc7001a6739ae422492a9b6d4f4e3} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_providers\_srv\_@{get\_providers\_srv\_}}
+\index{get\_providers\_srv\_@{get\_providers\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_providers\_srv\_}{get\_providers\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+providers\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c}\label{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_remappings\_srv\_@{get\_remappings\_srv\_}}
+\index{get\_remappings\_srv\_@{get\_remappings\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_remappings\_srv\_}{get\_remappings\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+remappings\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ac358c10e20544260cb65ad6fd3a31c8d}\label{classcapabilities2__server_1_1CapabilitiesServer_ac358c10e20544260cb65ad6fd3a31c8d} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_running\_capabilities\_srv\_@{get\_running\_capabilities\_srv\_}}
+\index{get\_running\_capabilities\_srv\_@{get\_running\_capabilities\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_running\_capabilities\_srv\_}{get\_running\_capabilities\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+running\+\_\+capabilities\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ae9b834509054095c04cc7f9d1557ec96}\label{classcapabilities2__server_1_1CapabilitiesServer_ae9b834509054095c04cc7f9d1557ec96} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_semantic\_interfaces\_srv\_@{get\_semantic\_interfaces\_srv\_}}
+\index{get\_semantic\_interfaces\_srv\_@{get\_semantic\_interfaces\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces\_srv\_}{get\_semantic\_interfaces\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+semantic\+\_\+interfaces\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a6e8b97337893a97daa58e3f0c11bb565}\label{classcapabilities2__server_1_1CapabilitiesServer_a6e8b97337893a97daa58e3f0c11bb565} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!loop\_hz\_@{loop\_hz\_}}
+\index{loop\_hz\_@{loop\_hz\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{loop\_hz\_}{loop\_hz\_}}
+{\footnotesize\ttfamily double capabilities2\+\_\+server\+::\+Capabilities\+Server\+::loop\+\_\+hz\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a12ab12a8447c6333dd2383534e2268bb}\label{classcapabilities2__server_1_1CapabilitiesServer_a12ab12a8447c6333dd2383534e2268bb} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!register\_capability\_srv\_@{register\_capability\_srv\_}}
+\index{register\_capability\_srv\_@{register\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{register\_capability\_srv\_}{register\_capability\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::register\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a1a04b3d8e38c3e738d6dad3e9f90ed32}\label{classcapabilities2__server_1_1CapabilitiesServer_a1a04b3d8e38c3e738d6dad3e9f90ed32} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!start\_capability\_srv\_@{start\_capability\_srv\_}}
+\index{start\_capability\_srv\_@{start\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{start\_capability\_srv\_}{start\_capability\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::start\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aee406dd808d0277a3d1babfbaf5d0dee}\label{classcapabilities2__server_1_1CapabilitiesServer_aee406dd808d0277a3d1babfbaf5d0dee} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!stop\_capability\_srv\_@{stop\_capability\_srv\_}}
+\index{stop\_capability\_srv\_@{stop\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{stop\_capability\_srv\_}{stop\_capability\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::stop\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ab479dbd4ed2028355725f553dca81d4e}\label{classcapabilities2__server_1_1CapabilitiesServer_ab479dbd4ed2028355725f553dca81d4e} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!trigger\_capability\_srv\_@{trigger\_capability\_srv\_}}
+\index{trigger\_capability\_srv\_@{trigger\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{trigger\_capability\_srv\_}{trigger\_capability\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::trigger\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a152c07656d903772602e01a23b717c94}\label{classcapabilities2__server_1_1CapabilitiesServer_a152c07656d903772602e01a23b717c94} 
+\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!use\_capability\_srv\_@{use\_capability\_srv\_}}
+\index{use\_capability\_srv\_@{use\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
+\doxysubsubsection{\texorpdfstring{use\_capability\_srv\_}{use\_capability\_srv\_}}
+{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::use\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__server_8hpp}{capabilities\+\_\+server.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesServer__coll__graph.md5 b/docs/latex/classcapabilities2__server_1_1CapabilitiesServer__coll__graph.md5
new file mode 100644
index 0000000..94ed922
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@@ -0,0 +1 @@
+78e6d556da3c00fd9f5941b6974e08e1
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diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesServer__coll__graph.pdf b/docs/latex/classcapabilities2__server_1_1CapabilitiesServer__coll__graph.pdf
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diff --git a/docs/latex/classcapabilities2__server_1_1DBBase.tex b/docs/latex/classcapabilities2__server_1_1DBBase.tex
new file mode 100644
index 0000000..f0a454b
--- /dev/null
+++ b/docs/latex/classcapabilities2__server_1_1DBBase.tex
@@ -0,0 +1,355 @@
+\doxysection{capabilities2\+\_\+server\+::DBBase Class Reference}
+\hypertarget{classcapabilities2__server_1_1DBBase}{}\label{classcapabilities2__server_1_1DBBase}\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+
+
+{\ttfamily \#include "{}db\+\_\+base.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::DBBase\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=195pt]{classcapabilities2__server_1_1DBBase__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2}{DBBase}} ()=default
+\item 
+virtual \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb}{\texorpdfstring{$\sim$}{\string~}\+DBBase}} ()=default
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82}{insert\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&interface)=0
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134}{insert\+\_\+semantic\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&semantic\+\_\+interface)=0
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277}{insert\+\_\+provider}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&provider)=0
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}{get\+\_\+interface}} (const std\+::string \&name)=0
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882}{get\+\_\+interfaces}} ()=0
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}{get\+\_\+semantic\+\_\+interface}} (const std\+::string \&name)=0
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413}{get\+\_\+semantic\+\_\+interfaces}} ()=0
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}{get\+\_\+provider}} (const std\+::string \&name)=0
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b}{get\+\_\+providers}} ()=0
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f}{get\+\_\+remappable}} (const std\+::string \&name)=0
+\begin{DoxyCompactList}\small\item\em Get remappable model by name. \end{DoxyCompactList}\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399}{update\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&interface)=0
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5}{update\+\_\+semantic\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&semantic\+\_\+interface)=0
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9}{update\+\_\+provider}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&provider)=0
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92}{get\+\_\+providers\+\_\+by\+\_\+interface}} (const std\+::string \&interface\+\_\+name)=0
+\item 
+virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66}{get\+\_\+semantic\+\_\+interfaces\+\_\+by\+\_\+interface}} (const std\+::string \&interface\+\_\+name)=0
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models\+::running\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d}{get\+\_\+running}} (const std\+::string \&provider\+\_\+name)=0
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8}{apply\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models\+::specification\+\_\+model\+\_\+t}} \&spec, const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \&remappable)=0
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372}{apply\+\_\+semantic\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} semantic)=0
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc}{apply\+\_\+provider\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} provider)=0
+\item 
+virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc}{get\+\_\+run\+\_\+config}} (const std\+::string \&provider\+\_\+name)=0
+\item 
+{\footnotesize template$<$typename T $>$ }\\bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{exists}} (const std\+::string \&resource\+\_\+name)
+\item 
+virtual bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af}{exists\+\_\+any}} (const std\+::string \&resource\+\_\+name)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Protected Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b}{open}} ()=0
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c}{close}} ()=0
+\item 
+virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a}{create\+\_\+tables}} ()=0
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2}\label{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!DBBase@{DBBase}}
+\index{DBBase@{DBBase}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{DBBase()}{DBBase()}}
+{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+DBBase\+::\+DBBase (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb}\label{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!````~DBBase@{\texorpdfstring{$\sim$}{\string~}DBBase}}
+\index{````~DBBase@{\texorpdfstring{$\sim$}{\string~}DBBase}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}DBBase()}{\string~DBBase()}}
+{\footnotesize\ttfamily virtual capabilities2\+\_\+server\+::\+DBBase\+::\texorpdfstring{$\sim$}{\string~}\+DBBase (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}, {\ttfamily [default]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc}\label{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!apply\_provider\_remappings@{apply\_provider\_remappings}}
+\index{apply\_provider\_remappings@{apply\_provider\_remappings}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{apply\_provider\_remappings()}{apply\_provider\_remappings()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::apply\+\_\+provider\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}}}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3c6ed044e3cd0e60b5fcfac889ab0eea}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8}\label{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!apply\_remappings@{apply\_remappings}}
+\index{apply\_remappings@{apply\_remappings}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{apply\_remappings()}{apply\_remappings()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::apply\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models\+::specification\+\_\+model\+\_\+t}} \&}]{spec,  }\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \&}]{remappable }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372}\label{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!apply\_semantic\_remappings@{apply\_semantic\_remappings}}
+\index{apply\_semantic\_remappings@{apply\_semantic\_remappings}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{apply\_semantic\_remappings()}{apply\_semantic\_remappings()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::apply\+\_\+semantic\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}}}]{semantic }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a9ce49d71065acc667a5ce863a9e1f2a2}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c}\label{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!close@{close}}
+\index{close@{close}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{close()}{close()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::close (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a}\label{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!create\_tables@{create\_tables}}
+\index{create\_tables@{create\_tables}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{create\_tables()}{create\_tables()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::create\+\_\+tables (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}\label{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!exists@{exists}}
+\index{exists@{exists}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{exists()}{exists()}}
+{\footnotesize\ttfamily template$<$typename T $>$ \\
+bool capabilities2\+\_\+server\+::\+DBBase\+::exists (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af}\label{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!exists\_any@{exists\_any}}
+\index{exists\_any@{exists\_any}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{exists\_any()}{exists\_any()}}
+{\footnotesize\ttfamily virtual bool capabilities2\+\_\+server\+::\+DBBase\+::exists\+\_\+any (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}\label{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_interface@{get\_interface}}
+\index{get\_interface@{get\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_interface()}{get\_interface()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882}\label{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_interfaces@{get\_interfaces}}
+\index{get\_interfaces@{get\_interfaces}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_interfaces()}{get\_interfaces()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ae263c0a66dccf6f7cee043f8da2050a9}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}\label{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_provider@{get\_provider}}
+\index{get\_provider@{get\_provider}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_provider()}{get\_provider()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+provider (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b}\label{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_providers@{get\_providers}}
+\index{get\_providers@{get\_providers}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_providers()}{get\_providers()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+providers (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_abcb12877bac9acaa5b55f0517cd83c71}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92}\label{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_providers\_by\_interface@{get\_providers\_by\_interface}}
+\index{get\_providers\_by\_interface@{get\_providers\_by\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_providers\_by\_interface()}{get\_providers\_by\_interface()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+providers\+\_\+by\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f}\label{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_remappable@{get\_remappable}}
+\index{get\_remappable@{get\_remappable}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_remappable()}{get\_remappable()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+remappable (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Get remappable model by name. 
+
+remappable models are either semantic interfaces or providers
+
+
+\begin{DoxyParams}{Parameters}
+{\em name} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+\doxylink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t} 
+\end{DoxyReturn}
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a7147928b1a095676069664c31f91deae}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc}\label{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_run\_config@{get\_run\_config}}
+\index{get\_run\_config@{get\_run\_config}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_run\_config()}{get\_run\_config()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+run\+\_\+config (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{provider\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d}\label{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_running@{get\_running}}
+\index{get\_running@{get\_running}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_running()}{get\_running()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models\+::running\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+running (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{provider\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}\label{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_semantic\_interface@{get\_semantic\_interface}}
+\index{get\_semantic\_interface@{get\_semantic\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_semantic\_interface()}{get\_semantic\_interface()}}
+{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413}\label{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_semantic\_interfaces@{get\_semantic\_interfaces}}
+\index{get\_semantic\_interfaces@{get\_semantic\_interfaces}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces()}{get\_semantic\_interfaces()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+semantic\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ae5f180b570d6c8d57d3b7ed570fa2bc4}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66}\label{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_semantic\_interfaces\_by\_interface@{get\_semantic\_interfaces\_by\_interface}}
+\index{get\_semantic\_interfaces\_by\_interface@{get\_semantic\_interfaces\_by\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces\_by\_interface()}{get\_semantic\_interfaces\_by\_interface()}}
+{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+semantic\+\_\+interfaces\+\_\+by\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82}\label{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!insert\_interface@{insert\_interface}}
+\index{insert\_interface@{insert\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{insert\_interface()}{insert\_interface()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::insert\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277}\label{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!insert\_provider@{insert\_provider}}
+\index{insert\_provider@{insert\_provider}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{insert\_provider()}{insert\_provider()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::insert\+\_\+provider (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134}\label{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!insert\_semantic\_interface@{insert\_semantic\_interface}}
+\index{insert\_semantic\_interface@{insert\_semantic\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{insert\_semantic\_interface()}{insert\_semantic\_interface()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::insert\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&}]{semantic\+\_\+interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b}\label{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!open@{open}}
+\index{open@{open}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{open()}{open()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::open (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399}\label{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!update\_interface@{update\_interface}}
+\index{update\_interface@{update\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{update\_interface()}{update\_interface()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::update\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aa10f6716c7eb019bad310fa8e580880b}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9}\label{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!update\_provider@{update\_provider}}
+\index{update\_provider@{update\_provider}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{update\_provider()}{update\_provider()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::update\+\_\+provider (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a74033ce662666907c361fa22fa9e80c2}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+\Hypertarget{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5}\label{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5} 
+\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!update\_semantic\_interface@{update\_semantic\_interface}}
+\index{update\_semantic\_interface@{update\_semantic\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
+\doxysubsubsection{\texorpdfstring{update\_semantic\_interface()}{update\_semantic\_interface()}}
+{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::update\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&}]{semantic\+\_\+interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
+
+
+
+Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a45dde34e7373e6aec64c1f78d673e0cb}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{db__base_8hpp}{db\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.md5 b/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.md5
new file mode 100644
index 0000000..59ca68d
--- /dev/null
+++ b/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.md5
@@ -0,0 +1 @@
+a408cd23364f5fe29ce775881350ab14
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.pdf b/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..0cf30db720e9badbe8516a0511c9430d92b171ea
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diff --git a/docs/latex/classcapabilities2__server_1_1RunnerCache.tex b/docs/latex/classcapabilities2__server_1_1RunnerCache.tex
new file mode 100644
index 0000000..c99a53e
--- /dev/null
+++ b/docs/latex/classcapabilities2__server_1_1RunnerCache.tex
@@ -0,0 +1,249 @@
+\doxysection{capabilities2\+\_\+server\+::Runner\+Cache Class Reference}
+\hypertarget{classcapabilities2__server_1_1RunnerCache}{}\label{classcapabilities2__server_1_1RunnerCache}\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+
+
+runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use  
+
+
+
+
+{\ttfamily \#include "{}runner\+\_\+cache.\+hpp"{}}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a54ca36d2ea36c95783ed042c1ab31b7f}{Runner\+Cache}} ()
+\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25}{add\+\_\+runner}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} \&run\+\_\+config)
+\begin{DoxyCompactList}\small\item\em Add a runner to the cache. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a}{trigger\+\_\+runner}} (const std\+::string \&bond\+\_\+id, const std\+::string \&capability, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters)
+\begin{DoxyCompactList}\small\item\em Trigger a runner in the cache. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf}{add\+\_\+connection}} (const std\+::string \&capability, const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&connection, std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ event\+\_\+emitter=nullptr)
+\begin{DoxyCompactList}\small\item\em Add state change connection between runners via an event. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c}{remove\+\_\+runner}} (const std\+::string \&capability)
+\begin{DoxyCompactList}\small\item\em Remove a given runner. \end{DoxyCompactList}\item 
+const std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb}{get\+\_\+running\+\_\+capabilities}} ()
+\begin{DoxyCompactList}\small\item\em Get a list of active runners in the cache. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}{provider}} (const std\+::string \&capability)
+\begin{DoxyCompactList}\small\item\em Get provider of capability. \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f}{started\+\_\+by}} (const std\+::string \&capability)
+\begin{DoxyCompactList}\small\item\em get started\+\_\+by of capability \end{DoxyCompactList}\item 
+const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}{pid}} (const std\+::string \&capability)
+\begin{DoxyCompactList}\small\item\em get pid of capability \end{DoxyCompactList}\item 
+bool \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}} (const std\+::string \&capability)
+\begin{DoxyCompactList}\small\item\em Check if a capability has a runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Private Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ std\+::string, std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} $>$ $>$ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\+\_\+cache\+\_\+}}
+\item 
+pluginlib\+::\+Class\+Loader$<$ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\+\_\+loader\+\_\+}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use 
+
+There are two main types of runners\+:
+\begin{DoxyEnumerate}
+\item launch file runner
+\item $<$resource type$>$ runner -\/ e.\+g. action, service, topic, etc. 
+\end{DoxyEnumerate}
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_a54ca36d2ea36c95783ed042c1ab31b7f}\label{classcapabilities2__server_1_1RunnerCache_a54ca36d2ea36c95783ed042c1ab31b7f} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!RunnerCache@{RunnerCache}}
+\index{RunnerCache@{RunnerCache}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{RunnerCache()}{RunnerCache()}}
+{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Runner\+Cache\+::\+Runner\+Cache (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf}\label{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!add\_connection@{add\_connection}}
+\index{add\_connection@{add\_connection}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{add\_connection()}{add\_connection()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Runner\+Cache\+::add\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&}]{connection,  }\item[{std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$}]{event\+\_\+emitter = {\ttfamily nullptr} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Add state change connection between runners via an event. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & capability from where the event originates \\
+\hline
+{\em connection\+\_\+id} & unique id for the connection \\
+\hline
+{\em connection} & connection options for the event \\
+\hline
+{\em event\+\_\+emitter} & event emitter to be used by this runner for emitting events on state changes to the target capability \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25}\label{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!add\_runner@{add\_runner}}
+\index{add\_runner@{add\_runner}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{add\_runner()}{add\_runner()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Runner\+Cache\+::add\+\_\+runner (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const std\+::string \&}]{capability,  }\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} \&}]{run\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Add a runner to the cache. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em node} & pointer to the origin node, generally the \doxylink{namespacecapabilities2__server}{capabilities2\+\_\+server} \\
+\hline
+{\em capability} & capability name to be loaded \\
+\hline
+{\em run\+\_\+config} & run\+\_\+config of the runner to be loaded \\
+\hline
+\end{DoxyParams}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb}\label{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!get\_running\_capabilities@{get\_running\_capabilities}}
+\index{get\_running\_capabilities@{get\_running\_capabilities}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{get\_running\_capabilities()}{get\_running\_capabilities()}}
+{\footnotesize\ttfamily const std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Runner\+Cache\+::get\+\_\+running\+\_\+capabilities (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Get a list of active runners in the cache. 
+
+\begin{DoxyReturn}{Returns}
+const std\+::vector$<$std\+::string$>$ of runners 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}\label{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!pid@{pid}}
+\index{pid@{pid}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{pid()}{pid()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Runner\+Cache\+::pid (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+get pid of capability 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & capability of which the pid is requested \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+value of pid 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}\label{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!provider@{provider}}
+\index{provider@{provider}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{provider()}{provider()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Runner\+Cache\+::provider (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Get provider of capability. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & capability of which the provider is requested \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+provider name 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c}\label{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!remove\_runner@{remove\_runner}}
+\index{remove\_runner@{remove\_runner}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{remove\_runner()}{remove\_runner()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Runner\+Cache\+::remove\+\_\+runner (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Remove a given runner. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & capability to be removed \\
+\hline
+{\em bond\+\_\+id} & bond\+\_\+id of the capability instance to be removed\\
+\hline
+\end{DoxyParams}
+This will stop the runner and remove it from the cache. If the runner is not found then an error is thrown. \Hypertarget{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}\label{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!running@{running}}
+\index{running@{running}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{running()}{running()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Runner\+Cache\+::running (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Check if a capability has a runner. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true 
+
+false 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f}\label{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!started\_by@{started\_by}}
+\index{started\_by@{started\_by}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{started\_by()}{started\_by()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Runner\+Cache\+::started\+\_\+by (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+get started\+\_\+by of capability 
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & capability of which the started\+\_\+by is requested \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+name of the started\+\_\+by 
+\end{DoxyReturn}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a}\label{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!trigger\_runner@{trigger\_runner}}
+\index{trigger\_runner@{trigger\_runner}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{trigger\_runner()}{trigger\_runner()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Runner\+Cache\+::trigger\+\_\+runner (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Trigger a runner in the cache. 
+
+xml parameters are used
+
+
+\begin{DoxyParams}{Parameters}
+{\em capability} & capability name to be loaded \\
+\hline
+{\em parameters} & parameters related to the runner in std\+::string form for compatibility across various runners \\
+\hline
+{\em bond\+\_\+id} & unique identifier for the group on connections associated with this runner trigger \\
+\hline
+{\em instance\+\_\+id} & unique identifier for the instance of the capability \\
+\hline
+\end{DoxyParams}
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}\label{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!runner\_cache\_@{runner\_cache\_}}
+\index{runner\_cache\_@{runner\_cache\_}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{runner\_cache\_}{runner\_cache\_}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::shared\+\_\+ptr$<$\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}$>$ $>$ capabilities2\+\_\+server\+::\+Runner\+Cache\+::runner\+\_\+cache\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+\Hypertarget{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}\label{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4} 
+\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!runner\_loader\_@{runner\_loader\_}}
+\index{runner\_loader\_@{runner\_loader\_}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
+\doxysubsubsection{\texorpdfstring{runner\_loader\_}{runner\_loader\_}}
+{\footnotesize\ttfamily pluginlib\+::\+Class\+Loader$<$\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}$>$ capabilities2\+\_\+server\+::\+Runner\+Cache\+::runner\+\_\+loader\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{runner__cache_8hpp}{runner\+\_\+cache.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar.tex b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar.tex
new file mode 100644
index 0000000..a8e2d6f
--- /dev/null
+++ b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar.tex
@@ -0,0 +1,71 @@
+\doxysection{capability\+\_\+registrar.\+Capability\+Registrar Class Reference}
+\hypertarget{classcapability__registrar_1_1CapabilityRegistrar}{}\label{classcapability__registrar_1_1CapabilityRegistrar}\index{capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}}
+
+
+Inheritance diagram for capability\+\_\+registrar.\+Capability\+Registrar\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=243pt]{classcapability__registrar_1_1CapabilityRegistrar__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capability\+\_\+registrar.\+Capability\+Registrar\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=243pt]{classcapability__registrar_1_1CapabilityRegistrar__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+None \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar_a87ea80c65743c70b84f83db52f9271ab}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self)
+\item 
+\mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar_ace403fc5b5ae1f730ae85edf9e0fad82}{register\+\_\+capabilities}} (self, Register\+Capability.\+Request req)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar_a9be42b9cef7268d635d5d55bd3a5bc4b}{register\+\_\+client}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyVerb}Capability Registrar Node
+\end{DoxyVerb}
+ 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{classcapability__registrar_1_1CapabilityRegistrar_a87ea80c65743c70b84f83db52f9271ab}\label{classcapability__registrar_1_1CapabilityRegistrar_a87ea80c65743c70b84f83db52f9271ab} 
+\index{capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}!\_\_init\_\_@{\_\_init\_\_}}
+\index{\_\_init\_\_@{\_\_init\_\_}!capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}}
+\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}}
+{\footnotesize\ttfamily  None capability\+\_\+registrar.\+Capability\+Registrar.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{classcapability__registrar_1_1CapabilityRegistrar_ace403fc5b5ae1f730ae85edf9e0fad82}\label{classcapability__registrar_1_1CapabilityRegistrar_ace403fc5b5ae1f730ae85edf9e0fad82} 
+\index{capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}!register\_capabilities@{register\_capabilities}}
+\index{register\_capabilities@{register\_capabilities}!capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}}
+\doxysubsubsection{\texorpdfstring{register\_capabilities()}{register\_capabilities()}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+Capability\+Registrar.\+register\+\_\+capabilities (\begin{DoxyParamCaption}\item[{}]{self,  }\item[{Register\+Capability.\+Request}]{req }\end{DoxyParamCaption})}
+
+\begin{DoxyVerb}call register service with request
+\end{DoxyVerb}
+ 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{classcapability__registrar_1_1CapabilityRegistrar_a9be42b9cef7268d635d5d55bd3a5bc4b}\label{classcapability__registrar_1_1CapabilityRegistrar_a9be42b9cef7268d635d5d55bd3a5bc4b} 
+\index{capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}!register\_client@{register\_client}}
+\index{register\_client@{register\_client}!capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}}
+\doxysubsubsection{\texorpdfstring{register\_client}{register\_client}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+Capability\+Registrar.\+register\+\_\+client}
+
+
+
+The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/scripts/\mbox{\hyperlink{capability__registrar_8py}{capability\+\_\+registrar.\+py}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.md5 b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.md5
new file mode 100644
index 0000000..ce65877
--- /dev/null
+++ b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.md5
@@ -0,0 +1 @@
+19f6b645b966aad9b9c6368543dd2b20
\ No newline at end of file
diff --git a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.pdf b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.pdf
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diff --git a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__inherit__graph.md5 b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__inherit__graph.md5
new file mode 100644
index 0000000..ce65877
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diff --git a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__inherit__graph.pdf b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__inherit__graph.pdf
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diff --git a/docs/latex/create__runners_8md.tex b/docs/latex/create__runners_8md.tex
new file mode 100644
index 0000000..89eeefb
--- /dev/null
+++ b/docs/latex/create__runners_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+runner/docs/create\+\_\+runners.md File Reference}
+\hypertarget{create__runners_8md}{}\label{create__runners_8md}\index{capabilities2\_runner/docs/create\_runners.md@{capabilities2\_runner/docs/create\_runners.md}}
diff --git a/docs/latex/db__base_8hpp.tex b/docs/latex/db__base_8hpp.tex
new file mode 100644
index 0000000..ae098ee
--- /dev/null
+++ b/docs/latex/db__base_8hpp.tex
@@ -0,0 +1,42 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/db\+\_\+base.hpp File Reference}
+\hypertarget{db__base_8hpp}{}\label{db__base_8hpp}\index{capabilities2\_server/include/capabilities2\_server/db\_base.hpp@{capabilities2\_server/include/capabilities2\_server/db\_base.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/interface.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/semantic\+\_\+interface.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/provider.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/remappable\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/running.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/run\+\_\+config.\+hpp$>$}\newline
+Include dependency graph for db\+\_\+base.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{db__base_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{db__base_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{capabilities2\+\_\+server\+::\+DBBase}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a6e3d2cbc55c111a6f09bb9adbbf91977}{capabilities2\+\_\+server\+::\+DBBase\+::exists$<$ models\+::interface\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
+\item 
+template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a01ea1d7937d31e53be0186ccbbded6cd}{capabilities2\+\_\+server\+::\+DBBase\+::exists$<$ models\+::semantic\+\_\+interface\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
+\item 
+template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a30c6a598ad096b7253c2b1217c9ddce6}{capabilities2\+\_\+server\+::\+DBBase\+::exists$<$ models\+::provider\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
+\end{DoxyCompactItemize}
diff --git a/docs/latex/db__base_8hpp__dep__incl.md5 b/docs/latex/db__base_8hpp__dep__incl.md5
new file mode 100644
index 0000000..d99064c
--- /dev/null
+++ b/docs/latex/db__base_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+8dd650f9c80213294b03e0cf52aa5cd6
\ No newline at end of file
diff --git a/docs/latex/db__base_8hpp__dep__incl.pdf b/docs/latex/db__base_8hpp__dep__incl.pdf
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diff --git a/docs/latex/db__base_8hpp_source.tex b/docs/latex/db__base_8hpp_source.tex
new file mode 100644
index 0000000..50b270e
--- /dev/null
+++ b/docs/latex/db__base_8hpp_source.tex
@@ -0,0 +1,139 @@
+\doxysection{db\+\_\+base.\+hpp}
+\hypertarget{db__base_8hpp_source}{}\label{db__base_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/db\_base.hpp@{capabilities2\_server/include/capabilities2\_server/db\_base.hpp}}
+\mbox{\hyperlink{db__base_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{interface_8hpp}{capabilities2\_server/models/interface.hpp}}>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{semantic__interface_8hpp}{capabilities2\_server/models/semantic\_interface.hpp}}>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{provider_8hpp}{capabilities2\_server/models/provider.hpp}}>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{remappable__base_8hpp}{capabilities2\_server/models/remappable\_base.hpp}}>}}
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{running_8hpp}{capabilities2\_server/models/running.hpp}}>}}
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{run__config_8hpp}{capabilities2\_server/models/run\_config.hpp}}>}}
+\DoxyCodeLine{00010\ }
+\DoxyCodeLine{00011\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00012\ \{}
+\DoxyCodeLine{00013\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}}}
+\DoxyCodeLine{00014\ \{}
+\DoxyCodeLine{00015\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00016\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2}{DBBase}}()\ =\ \textcolor{keywordflow}{default};}
+\DoxyCodeLine{00017\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb}{\string~DBBase}}()\ =\ \textcolor{keywordflow}{default};}
+\DoxyCodeLine{00018\ }
+\DoxyCodeLine{00019\ \ \ \textcolor{comment}{/*\ inserters\ */}}
+\DoxyCodeLine{00020\ }
+\DoxyCodeLine{00021\ \ \ \textcolor{comment}{//\ insert\ interface}}
+\DoxyCodeLine{00022\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82}{insert\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\&\ interface)\ =\ 0;}
+\DoxyCodeLine{00023\ }
+\DoxyCodeLine{00024\ \ \ \textcolor{comment}{//\ insert\ semantic\ interface}}
+\DoxyCodeLine{00025\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134}{insert\_semantic\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\&\ semantic\_interface)\ =\ 0;}
+\DoxyCodeLine{00026\ }
+\DoxyCodeLine{00027\ \ \ \textcolor{comment}{//\ insert\ provider}}
+\DoxyCodeLine{00028\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277}{insert\_provider}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\&\ provider)\ =\ 0;}
+\DoxyCodeLine{00029\ }
+\DoxyCodeLine{00030\ \ \ \textcolor{comment}{/*\ getters\ */}}
+\DoxyCodeLine{00031\ }
+\DoxyCodeLine{00032\ \ \ \textcolor{comment}{//\ get\ interface}}
+\DoxyCodeLine{00033\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}{get\_interface}}(\textcolor{keyword}{const}\ std::string\&\ name)\ =\ 0;}
+\DoxyCodeLine{00034\ }
+\DoxyCodeLine{00035\ \ \ \textcolor{comment}{//\ get\ interfaces}}
+\DoxyCodeLine{00036\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::interface\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882}{get\_interfaces}}()\ =\ 0;}
+\DoxyCodeLine{00037\ }
+\DoxyCodeLine{00038\ \ \ \textcolor{comment}{//\ get\ semantic\ interface}}
+\DoxyCodeLine{00039\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}{get\_semantic\_interface}}(\textcolor{keyword}{const}\ std::string\&\ name)\ =\ 0;}
+\DoxyCodeLine{00040\ }
+\DoxyCodeLine{00041\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces}}
+\DoxyCodeLine{00042\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::semantic\_interface\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413}{get\_semantic\_interfaces}}()\ =\ 0;}
+\DoxyCodeLine{00043\ }
+\DoxyCodeLine{00044\ \ \ \textcolor{comment}{//\ get\ provider}}
+\DoxyCodeLine{00045\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}{get\_provider}}(\textcolor{keyword}{const}\ std::string\&\ name)\ =\ 0;}
+\DoxyCodeLine{00046\ }
+\DoxyCodeLine{00047\ \ \ \textcolor{comment}{//\ get\ providers}}
+\DoxyCodeLine{00048\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::provider\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b}{get\_providers}}()\ =\ 0;}
+\DoxyCodeLine{00049\ }
+\DoxyCodeLine{00058\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models::remappable\_base\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f}{get\_remappable}}(\textcolor{keyword}{const}\ std::string\&\ name)\ =\ 0;}
+\DoxyCodeLine{00059\ }
+\DoxyCodeLine{00060\ \ \ \textcolor{comment}{/*\ updaters\ */}}
+\DoxyCodeLine{00061\ }
+\DoxyCodeLine{00062\ \ \ \textcolor{comment}{//\ update\ interface}}
+\DoxyCodeLine{00063\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399}{update\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\&\ interface)\ =\ 0;}
+\DoxyCodeLine{00064\ }
+\DoxyCodeLine{00065\ \ \ \textcolor{comment}{//\ update\ semantic\ interface}}
+\DoxyCodeLine{00066\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5}{update\_semantic\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\&\ semantic\_interface)\ =\ 0;}
+\DoxyCodeLine{00067\ }
+\DoxyCodeLine{00068\ \ \ \textcolor{comment}{//\ update\ provider}}
+\DoxyCodeLine{00069\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9}{update\_provider}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\&\ provider)\ =\ 0;}
+\DoxyCodeLine{00070\ }
+\DoxyCodeLine{00071\ \ \ \textcolor{comment}{/*\ foreign\ keys\ */}}
+\DoxyCodeLine{00072\ }
+\DoxyCodeLine{00073\ \ \ \textcolor{comment}{//\ get\ providers\ by\ interface}}
+\DoxyCodeLine{00074\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::provider\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92}{get\_providers\_by\_interface}}(\textcolor{keyword}{const}\ std::string\&\ interface\_name)\ =\ 0;}
+\DoxyCodeLine{00075\ }
+\DoxyCodeLine{00076\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces\ by\ interface}}
+\DoxyCodeLine{00077\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::semantic\_interface\_model\_t>}
+\DoxyCodeLine{00078\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66}{get\_semantic\_interfaces\_by\_interface}}(\textcolor{keyword}{const}\ std::string\&\ interface\_name)\ =\ 0;}
+\DoxyCodeLine{00079\ }
+\DoxyCodeLine{00080\ \ \ \textcolor{comment}{//\ get\ running\ model\ from\ provider}}
+\DoxyCodeLine{00081\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d}{get\_running}}(\textcolor{keyword}{const}\ std::string\&\ provider\_name)\ =\ 0;}
+\DoxyCodeLine{00082\ }
+\DoxyCodeLine{00083\ \ \ \textcolor{comment}{//\ apply\ a\ remapping\ to\ a\ specification\ model}}
+\DoxyCodeLine{00084\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8}{apply\_remappings}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models::specification\_model\_t}}\&\ spec,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models::remappable\_base\_t}}\&\ remappable)\ =\ 0;}
+\DoxyCodeLine{00085\ }
+\DoxyCodeLine{00086\ \ \ \textcolor{comment}{//\ apply\ semantics\ to\ interface}}
+\DoxyCodeLine{00087\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372}{apply\_semantic\_remappings}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ semantic)\ =\ 0;}
+\DoxyCodeLine{00088\ }
+\DoxyCodeLine{00089\ \ \ \textcolor{comment}{//\ apply\ provider\ remappings}}
+\DoxyCodeLine{00090\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc}{apply\_provider\_remappings}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider)\ =\ 0;}
+\DoxyCodeLine{00091\ }
+\DoxyCodeLine{00092\ \ \ \textcolor{comment}{//\ get\ run\ config\ model}}
+\DoxyCodeLine{00093\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc}{get\_run\_config}}(\textcolor{keyword}{const}\ std::string\&\ provider\_name)\ =\ 0;}
+\DoxyCodeLine{00094\ }
+\DoxyCodeLine{00095\ \ \ \textcolor{comment}{//\ exists\ in\ db\ templated\ by\ model\ type}}
+\DoxyCodeLine{00096\ \ \ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ T>}
+\DoxyCodeLine{00097\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{exists}}(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
+\DoxyCodeLine{00098\ \ \ \{}
+\DoxyCodeLine{00099\ \ \ \ \ \textcolor{comment}{//\ clearly\ not\ in\ db\ as\ it\ does\ not\ match\ a\ valid\ model\ type}}
+\DoxyCodeLine{00100\ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}invalid\ model\ type"{}});}
+\DoxyCodeLine{00101\ \ \ \}}
+\DoxyCodeLine{00102\ }
+\DoxyCodeLine{00103\ \ \ \textcolor{comment}{//\ exists\ in\ db\ anywhere}}
+\DoxyCodeLine{00104\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af}{exists\_any}}(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
+\DoxyCodeLine{00105\ \ \ \{}
+\DoxyCodeLine{00106\ \ \ \ \ \textcolor{comment}{//\ query\ all\ tables\ for\ name}}
+\DoxyCodeLine{00107\ \ \ \ \ \textcolor{comment}{//\ if\ name\ is\ in\ any\ table,\ then\ it\ exists}}
+\DoxyCodeLine{00108\ \ \ \ \ \textcolor{keywordflow}{return}\ !\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}{get\_interface}}(resource\_name).\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty()\ ||}
+\DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \ \ \ !\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}{get\_semantic\_interface}}(resource\_name).\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty()\ ||}
+\DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \ \ \ !\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}{get\_provider}}(resource\_name).\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty();}
+\DoxyCodeLine{00111\ \ \ \}}
+\DoxyCodeLine{00112\ }
+\DoxyCodeLine{00113\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00114\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b}{open}}()\ =\ 0;}
+\DoxyCodeLine{00115\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c}{close}}()\ =\ 0;}
+\DoxyCodeLine{00116\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a}{create\_tables}}()\ =\ 0;}
+\DoxyCodeLine{00117\ \};}
+\DoxyCodeLine{00118\ }
+\DoxyCodeLine{00119\ \textcolor{comment}{//\ 'exists'\ template\ specializations}}
+\DoxyCodeLine{00120\ \textcolor{comment}{//\ interface\ exists\ in\ db}}
+\DoxyCodeLine{00121\ \textcolor{keyword}{template}\ <>}
+\DoxyCodeLine{00122\ \textcolor{keywordtype}{bool}\ DBBase::exists<models::interface\_model\_t>(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
+\DoxyCodeLine{00123\ \{}
+\DoxyCodeLine{00124\ \ \ \textcolor{keywordflow}{return}\ !get\_interface(resource\_name).header.name.empty();}
+\DoxyCodeLine{00125\ \}}
+\DoxyCodeLine{00126\ }
+\DoxyCodeLine{00127\ \textcolor{comment}{//\ semantic\ interface\ exists\ in\ db}}
+\DoxyCodeLine{00128\ \textcolor{keyword}{template}\ <>}
+\DoxyCodeLine{00129\ \textcolor{keywordtype}{bool}\ DBBase::exists<models::semantic\_interface\_model\_t>(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
+\DoxyCodeLine{00130\ \{}
+\DoxyCodeLine{00131\ \ \ \textcolor{keywordflow}{return}\ !get\_semantic\_interface(resource\_name).header.name.empty();}
+\DoxyCodeLine{00132\ \}}
+\DoxyCodeLine{00133\ }
+\DoxyCodeLine{00134\ \textcolor{comment}{//\ provider\ exists\ in\ db}}
+\DoxyCodeLine{00135\ \textcolor{keyword}{template}\ <>}
+\DoxyCodeLine{00136\ \textcolor{keywordtype}{bool}\ DBBase::exists<models::provider\_model\_t>(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
+\DoxyCodeLine{00137\ \{}
+\DoxyCodeLine{00138\ \ \ \textcolor{keywordflow}{return}\ !get\_provider(resource\_name).header.name.empty();}
+\DoxyCodeLine{00139\ \}}
+\DoxyCodeLine{00140\ }
+\DoxyCodeLine{00141\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/defineable__base_8hpp.tex b/docs/latex/defineable__base_8hpp.tex
new file mode 100644
index 0000000..1d943ea
--- /dev/null
+++ b/docs/latex/defineable__base_8hpp.tex
@@ -0,0 +1,30 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/defineable\+\_\+base.hpp File Reference}
+\hypertarget{defineable__base_8hpp}{}\label{defineable__base_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/defineable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/defineable\_base.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+Include dependency graph for defineable\+\_\+base.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=248pt]{defineable__base_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{defineable__base_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em defineable base \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/defineable__base_8hpp__dep__incl.md5 b/docs/latex/defineable__base_8hpp__dep__incl.md5
new file mode 100644
index 0000000..c00e391
--- /dev/null
+++ b/docs/latex/defineable__base_8hpp__dep__incl.md5
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\ No newline at end of file
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diff --git a/docs/latex/defineable__base_8hpp_source.tex b/docs/latex/defineable__base_8hpp_source.tex
new file mode 100644
index 0000000..61b6fe7
--- /dev/null
+++ b/docs/latex/defineable__base_8hpp_source.tex
@@ -0,0 +1,50 @@
+\doxysection{defineable\+\_\+base.\+hpp}
+\hypertarget{defineable__base_8hpp_source}{}\label{defineable__base_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/defineable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/defineable\_base.hpp}}
+\mbox{\hyperlink{defineable__base_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00005\ }
+\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00007\ \{}
+\DoxyCodeLine{00008\ }
+\DoxyCodeLine{00009\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00010\ \{}
+\DoxyCodeLine{00011\ }
+\DoxyCodeLine{00021\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{defineable\_base\_t}}}
+\DoxyCodeLine{00022\ \{}
+\DoxyCodeLine{00023\ \ \ \textcolor{comment}{//\ the\ definition\ stored\ as\ a\ string}}
+\DoxyCodeLine{00024\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\_str}}\ =\ \textcolor{stringliteral}{"{}"{}};\ \ \textcolor{comment}{//\ optional\ property}}
+\DoxyCodeLine{00025\ \ \ \textcolor{comment}{//\ is\ the\ definition\ valid}}
+\DoxyCodeLine{00026\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}{valid}}\ =\ \textcolor{keyword}{false};}
+\DoxyCodeLine{00027\ }
+\DoxyCodeLine{00028\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
+\DoxyCodeLine{00029\ \ \ \{}
+\DoxyCodeLine{00030\ \ \ \ \ \textcolor{comment}{//\ try\ get\ the\ definition\ as\ a\ string}}
+\DoxyCodeLine{00031\ \ \ \ \ \textcolor{keywordflow}{if}\ (node[\textcolor{stringliteral}{"{}definition"{}}])}
+\DoxyCodeLine{00032\ \ \ \ \ \{}
+\DoxyCodeLine{00033\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\_str}}\ =\ node[\textcolor{stringliteral}{"{}definition"{}}].as<std::string>();}
+\DoxyCodeLine{00034\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}{valid}}\ =\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00035\ \ \ \ \ \}}
+\DoxyCodeLine{00036\ \ \ \}}
+\DoxyCodeLine{00037\ }
+\DoxyCodeLine{00038\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1}{to\_yaml}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00039\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00040\ \ \ \ \ YAML::Node\ node;}
+\DoxyCodeLine{00041\ \ \ \ \ node[\textcolor{stringliteral}{"{}definition"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\_str}};}
+\DoxyCodeLine{00042\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
+\DoxyCodeLine{00043\ \ \ \}}
+\DoxyCodeLine{00044\ }
+\DoxyCodeLine{00045\ \ \ \textcolor{comment}{//\ is\ the\ definition\ valid}}
+\DoxyCodeLine{00046\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}{defined}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00047\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00048\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}{valid}};}
+\DoxyCodeLine{00049\ \ \ \}}
+\DoxyCodeLine{00050\ \};}
+\DoxyCodeLine{00051\ }
+\DoxyCodeLine{00052\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00053\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/design_8md.tex b/docs/latex/design_8md.tex
new file mode 100644
index 0000000..dd3088a
--- /dev/null
+++ b/docs/latex/design_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/design.md File Reference}
+\hypertarget{design_8md}{}\label{design_8md}\index{docs/design.md@{docs/design.md}}
diff --git a/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3.tex b/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3.tex
new file mode 100644
index 0000000..c122008
--- /dev/null
+++ b/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3.tex
@@ -0,0 +1,16 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system Directory Reference}
+\hypertarget{dir_07f685e2b6ccaff3fb10959c113272a3}{}\label{dir_07f685e2b6ccaff3fb10959c113272a3}\index{capabilities2\_runner/include/capabilities2\_runner/system Directory Reference@{capabilities2\_runner/include/capabilities2\_runner/system Directory Reference}}
+Directory dependency graph for system\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=212pt]{dir_07f685e2b6ccaff3fb10959c113272a3_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{get__capability__specs__runner_8hpp}{get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp}}
+\item 
+file \mbox{\hyperlink{input__multiplex__runner_8hpp}{input\+\_\+multiplex\+\_\+runner.\+hpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3_dep.md5 b/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3_dep.md5
new file mode 100644
index 0000000..621979a
--- /dev/null
+++ b/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3_dep.md5
@@ -0,0 +1 @@
+856147f47e81e0cb3b55d03a414e4dc3
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diff --git a/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3_dep.pdf b/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3_dep.pdf
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diff --git a/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7.tex b/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7.tex
new file mode 100644
index 0000000..421310a
--- /dev/null
+++ b/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7.tex
@@ -0,0 +1,14 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/utils Directory Reference}
+\hypertarget{dir_0e99b85eded0c8f6d3453536b6b117b7}{}\label{dir_0e99b85eded0c8f6d3453536b6b117b7}\index{capabilities2\_server/include/capabilities2\_server/utils Directory Reference@{capabilities2\_server/include/capabilities2\_server/utils Directory Reference}}
+Directory dependency graph for utils\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=211pt]{dir_0e99b85eded0c8f6d3453536b6b117b7_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{sql__safe_8hpp}{sql\+\_\+safe.\+hpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7_dep.md5 b/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7_dep.md5
new file mode 100644
index 0000000..1cd22f1
--- /dev/null
+++ b/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7_dep.md5
@@ -0,0 +1 @@
+2aad6527daf00c024bbdf31f63460524
\ No newline at end of file
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diff --git a/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd.tex b/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd.tex
new file mode 100644
index 0000000..7ac9632
--- /dev/null
+++ b/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd.tex
@@ -0,0 +1,9 @@
+\doxysection{capabilities2\+\_\+server/docs Directory Reference}
+\hypertarget{dir_133ae7d1cc60a71e0d0063bd4c4356bd}{}\label{dir_133ae7d1cc60a71e0d0063bd4c4356bd}\index{capabilities2\_server/docs Directory Reference@{capabilities2\_server/docs Directory Reference}}
+Directory dependency graph for docs\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=211pt]{dir_133ae7d1cc60a71e0d0063bd4c4356bd_dep}
+\end{center}
+\end{figure}
diff --git a/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd_dep.md5 b/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd_dep.md5
new file mode 100644
index 0000000..aa6225c
--- /dev/null
+++ b/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd_dep.md5
@@ -0,0 +1 @@
+adb7d86fa80b827492d330ee1ecd6e5e
\ No newline at end of file
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diff --git a/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437.tex b/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437.tex
new file mode 100644
index 0000000..78f4f45
--- /dev/null
+++ b/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437.tex
@@ -0,0 +1,14 @@
+\doxysection{capabilities2\+\_\+server/scripts Directory Reference}
+\hypertarget{dir_1ae2601ec6ef3e5d0cf6dc5201a27437}{}\label{dir_1ae2601ec6ef3e5d0cf6dc5201a27437}\index{capabilities2\_server/scripts Directory Reference@{capabilities2\_server/scripts Directory Reference}}
+Directory dependency graph for scripts\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=211pt]{dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{capability__registrar_8py}{capability\+\_\+registrar.\+py}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.md5 b/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.md5
new file mode 100644
index 0000000..7fbc375
--- /dev/null
+++ b/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.md5
@@ -0,0 +1 @@
+e4f4be11b273880401f660f905b1fee9
\ No newline at end of file
diff --git a/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.pdf b/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.pdf
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diff --git a/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d.tex b/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d.tex
new file mode 100644
index 0000000..2c304c9
--- /dev/null
+++ b/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d.tex
@@ -0,0 +1,36 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models Directory Reference}
+\hypertarget{dir_1bf5b06d15e554f4d54614040e1e0b2d}{}\label{dir_1bf5b06d15e554f4d54614040e1e0b2d}\index{capabilities2\_server/include/capabilities2\_server/models Directory Reference@{capabilities2\_server/include/capabilities2\_server/models Directory Reference}}
+Directory dependency graph for models\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=327pt]{dir_1bf5b06d15e554f4d54614040e1e0b2d_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{defineable__base_8hpp}{defineable\+\_\+base.\+hpp}}
+\item 
+file \mbox{\hyperlink{header_8hpp}{header.\+hpp}}
+\item 
+file \mbox{\hyperlink{interface_8hpp}{interface.\+hpp}}
+\item 
+file \mbox{\hyperlink{predicate_8hpp}{predicate.\+hpp}}
+\item 
+file \mbox{\hyperlink{predicateable__base_8hpp}{predicateable\+\_\+base.\+hpp}}
+\item 
+file \mbox{\hyperlink{provider_8hpp}{provider.\+hpp}}
+\item 
+file \mbox{\hyperlink{remappable__base_8hpp}{remappable\+\_\+base.\+hpp}}
+\item 
+file \mbox{\hyperlink{remapping_8hpp}{remapping.\+hpp}}
+\item 
+file \mbox{\hyperlink{resource_8hpp}{resource.\+hpp}}
+\item 
+file \mbox{\hyperlink{run__config_8hpp}{run\+\_\+config.\+hpp}}
+\item 
+file \mbox{\hyperlink{running_8hpp}{running.\+hpp}}
+\item 
+file \mbox{\hyperlink{semantic__interface_8hpp}{semantic\+\_\+interface.\+hpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.md5 b/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.md5
new file mode 100644
index 0000000..99968ee
--- /dev/null
+++ b/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.md5
@@ -0,0 +1 @@
+9ba83c5b05526ff4badd49af76ecaf04
\ No newline at end of file
diff --git a/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.pdf b/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.pdf
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diff --git a/docs/latex/dir_49e56c817e5e54854c35e136979f97ca.tex b/docs/latex/dir_49e56c817e5e54854c35e136979f97ca.tex
new file mode 100644
index 0000000..69e5354
--- /dev/null
+++ b/docs/latex/dir_49e56c817e5e54854c35e136979f97ca.tex
@@ -0,0 +1,2 @@
+\doxysection{docs Directory Reference}
+\hypertarget{dir_49e56c817e5e54854c35e136979f97ca}{}\label{dir_49e56c817e5e54854c35e136979f97ca}\index{docs Directory Reference@{docs Directory Reference}}
diff --git a/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e.tex b/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e.tex
new file mode 100644
index 0000000..7d3bbdc
--- /dev/null
+++ b/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e.tex
@@ -0,0 +1,14 @@
+\doxysection{capabilities2\+\_\+events/include Directory Reference}
+\hypertarget{dir_5d95c21bcb0e08e60d3c845ed072574e}{}\label{dir_5d95c21bcb0e08e60d3c845ed072574e}\index{capabilities2\_events/include Directory Reference@{capabilities2\_events/include Directory Reference}}
+Directory dependency graph for include\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=316pt]{dir_5d95c21bcb0e08e60d3c845ed072574e_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_930544a6b4d7294c7d05c1cc4fea3dca}{capabilities2\+\_\+events}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e_dep.md5 b/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e_dep.md5
new file mode 100644
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--- /dev/null
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diff --git a/docs/latex/dir_6050e924de42b382705ef17654b3c724.tex b/docs/latex/dir_6050e924de42b382705ef17654b3c724.tex
new file mode 100644
index 0000000..8207103
--- /dev/null
+++ b/docs/latex/dir_6050e924de42b382705ef17654b3c724.tex
@@ -0,0 +1,9 @@
+\doxysection{capabilities2\+\_\+runner/docs Directory Reference}
+\hypertarget{dir_6050e924de42b382705ef17654b3c724}{}\label{dir_6050e924de42b382705ef17654b3c724}\index{capabilities2\_runner/docs Directory Reference@{capabilities2\_runner/docs Directory Reference}}
+Directory dependency graph for docs\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=212pt]{dir_6050e924de42b382705ef17654b3c724_dep}
+\end{center}
+\end{figure}
diff --git a/docs/latex/dir_6050e924de42b382705ef17654b3c724_dep.md5 b/docs/latex/dir_6050e924de42b382705ef17654b3c724_dep.md5
new file mode 100644
index 0000000..040c286
--- /dev/null
+++ b/docs/latex/dir_6050e924de42b382705ef17654b3c724_dep.md5
@@ -0,0 +1 @@
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diff --git a/docs/latex/dir_665933740db5a645207bdff751686859.tex b/docs/latex/dir_665933740db5a645207bdff751686859.tex
new file mode 100644
index 0000000..a6abc91
--- /dev/null
+++ b/docs/latex/dir_665933740db5a645207bdff751686859.tex
@@ -0,0 +1,14 @@
+\doxysection{capabilities2\+\_\+events/src Directory Reference}
+\hypertarget{dir_665933740db5a645207bdff751686859}{}\label{dir_665933740db5a645207bdff751686859}\index{capabilities2\_events/src Directory Reference@{capabilities2\_events/src Directory Reference}}
+Directory dependency graph for src\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=213pt]{dir_665933740db5a645207bdff751686859_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{uuid__generator_8cpp}{uuid\+\_\+generator.\+cpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_665933740db5a645207bdff751686859_dep.md5 b/docs/latex/dir_665933740db5a645207bdff751686859_dep.md5
new file mode 100644
index 0000000..2d6372d
--- /dev/null
+++ b/docs/latex/dir_665933740db5a645207bdff751686859_dep.md5
@@ -0,0 +1 @@
+3d34487567e257e65169bc360dd165e6
\ No newline at end of file
diff --git a/docs/latex/dir_665933740db5a645207bdff751686859_dep.pdf b/docs/latex/dir_665933740db5a645207bdff751686859_dep.pdf
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diff --git a/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee.tex b/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee.tex
new file mode 100644
index 0000000..e72bcea
--- /dev/null
+++ b/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee.tex
@@ -0,0 +1,14 @@
+\doxysection{capabilities2\+\_\+server/include Directory Reference}
+\hypertarget{dir_6f42b610c7c0eba485562e9f42cf4eee}{}\label{dir_6f42b610c7c0eba485562e9f42cf4eee}\index{capabilities2\_server/include Directory Reference@{capabilities2\_server/include Directory Reference}}
+Directory dependency graph for include\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{dir_6f42b610c7c0eba485562e9f42cf4eee_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_e2dc497995eb2331d5f961bdf471e58c}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.md5 b/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.md5
new file mode 100644
index 0000000..c4b71f2
--- /dev/null
+++ b/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.md5
@@ -0,0 +1 @@
+46499678b1447c8f3fa16e05788285c8
\ No newline at end of file
diff --git a/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.pdf b/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.pdf
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diff --git a/docs/latex/dir_893eca9b61704b59497c2543c6de837c.tex b/docs/latex/dir_893eca9b61704b59497c2543c6de837c.tex
new file mode 100644
index 0000000..5eae230
--- /dev/null
+++ b/docs/latex/dir_893eca9b61704b59497c2543c6de837c.tex
@@ -0,0 +1,16 @@
+\doxysection{capabilities2\+\_\+events Directory Reference}
+\hypertarget{dir_893eca9b61704b59497c2543c6de837c}{}\label{dir_893eca9b61704b59497c2543c6de837c}\index{capabilities2\_events Directory Reference@{capabilities2\_events Directory Reference}}
+Directory dependency graph for capabilities2\+\_\+events\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=279pt]{dir_893eca9b61704b59497c2543c6de837c_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_5d95c21bcb0e08e60d3c845ed072574e}{include}}
+\item 
+directory \mbox{\hyperlink{dir_665933740db5a645207bdff751686859}{src}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.md5 b/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.md5
new file mode 100644
index 0000000..f59c6ea
--- /dev/null
+++ b/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.md5
@@ -0,0 +1 @@
+325f3395e9f29edac64ea401a1684b42
\ No newline at end of file
diff --git a/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.pdf b/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.pdf
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diff --git a/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123.tex b/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123.tex
new file mode 100644
index 0000000..3c3adae
--- /dev/null
+++ b/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123.tex
@@ -0,0 +1,26 @@
+\doxysection{capabilities2\+\_\+server/test Directory Reference}
+\hypertarget{dir_8f30a181762ec3f97d43f8f63bada123}{}\label{dir_8f30a181762ec3f97d43f8f63bada123}\index{capabilities2\_server/test Directory Reference@{capabilities2\_server/test Directory Reference}}
+Directory dependency graph for test\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=211pt]{dir_8f30a181762ec3f97d43f8f63bada123_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{call__establish__bond_8py}{call\+\_\+establish\+\_\+bond.\+py}}
+\item 
+file \mbox{\hyperlink{call__get__interfaces_8py}{call\+\_\+get\+\_\+interfaces.\+py}}
+\item 
+file \mbox{\hyperlink{call__get__providers_8py}{call\+\_\+get\+\_\+providers.\+py}}
+\item 
+file \mbox{\hyperlink{call__get__semantic__interfaces_8py}{call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+py}}
+\item 
+file \mbox{\hyperlink{call__get__specs_8py}{call\+\_\+get\+\_\+specs.\+py}}
+\item 
+file \mbox{\hyperlink{call__register__cap_8py}{call\+\_\+register\+\_\+cap.\+py}}
+\item 
+file \mbox{\hyperlink{test_8cpp}{test.\+cpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.md5 b/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.md5
new file mode 100644
index 0000000..cbfeee4
--- /dev/null
+++ b/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.md5
@@ -0,0 +1 @@
+49fb01eecf8b858207227ddb8ecd8c61
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diff --git a/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.pdf b/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.pdf
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diff --git a/docs/latex/dir_900be469113f2cf67da4bc73dceee489.tex b/docs/latex/dir_900be469113f2cf67da4bc73dceee489.tex
new file mode 100644
index 0000000..d4f6166
--- /dev/null
+++ b/docs/latex/dir_900be469113f2cf67da4bc73dceee489.tex
@@ -0,0 +1,21 @@
+\doxysection{capabilities2\+\_\+runner/src Directory Reference}
+\hypertarget{dir_900be469113f2cf67da4bc73dceee489}{}\label{dir_900be469113f2cf67da4bc73dceee489}\index{capabilities2\_runner/src Directory Reference@{capabilities2\_runner/src Directory Reference}}
+Directory dependency graph for src\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=231pt]{dir_900be469113f2cf67da4bc73dceee489_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_e205d21b7452bc93d523a35149c4724f}{system}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{dummy__runner_8cpp}{dummy\+\_\+runner.\+cpp}}
+\item 
+file \mbox{\hyperlink{launch__runner_8cpp}{launch\+\_\+runner.\+cpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.md5 b/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.md5
new file mode 100644
index 0000000..6d4df9f
--- /dev/null
+++ b/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.md5
@@ -0,0 +1 @@
+a6ca01127c3918967280e6eb8eb6fa25
\ No newline at end of file
diff --git a/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.pdf b/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.pdf
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diff --git a/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca.tex b/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca.tex
new file mode 100644
index 0000000..4e13184
--- /dev/null
+++ b/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca.tex
@@ -0,0 +1,22 @@
+\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events Directory Reference}
+\hypertarget{dir_930544a6b4d7294c7d05c1cc4fea3dca}{}\label{dir_930544a6b4d7294c7d05c1cc4fea3dca}\index{capabilities2\_events/include/capabilities2\_events Directory Reference@{capabilities2\_events/include/capabilities2\_events Directory Reference}}
+Directory dependency graph for capabilities2\+\_\+events\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=230pt]{dir_930544a6b4d7294c7d05c1cc4fea3dca_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{event__base_8hpp}{event\+\_\+base.\+hpp}}
+\item 
+file \mbox{\hyperlink{event__node_8hpp}{event\+\_\+node.\+hpp}}
+\item 
+file \mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}}
+\item 
+file \mbox{\hyperlink{published__event_8hpp}{published\+\_\+event.\+hpp}}
+\item 
+file \mbox{\hyperlink{uuid__generator_8hpp}{uuid\+\_\+generator.\+hpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.md5 b/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.md5
new file mode 100644
index 0000000..2937c96
--- /dev/null
+++ b/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.md5
@@ -0,0 +1 @@
+b5e5581a7ea85ed97103fb6d05b147cc
\ No newline at end of file
diff --git a/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.pdf b/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.pdf
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diff --git a/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659.tex b/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659.tex
new file mode 100644
index 0000000..1c4f1de
--- /dev/null
+++ b/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659.tex
@@ -0,0 +1,18 @@
+\doxysection{capabilities2\+\_\+runner Directory Reference}
+\hypertarget{dir_ae9b8f7772f36f75ddf7a4660dc4c659}{}\label{dir_ae9b8f7772f36f75ddf7a4660dc4c659}\index{capabilities2\_runner Directory Reference@{capabilities2\_runner Directory Reference}}
+Directory dependency graph for capabilities2\+\_\+runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_6050e924de42b382705ef17654b3c724}{docs}}
+\item 
+directory \mbox{\hyperlink{dir_d596d1b13e10115fa0e063d9d8185b97}{include}}
+\item 
+directory \mbox{\hyperlink{dir_900be469113f2cf67da4bc73dceee489}{src}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.md5 b/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.md5
new file mode 100644
index 0000000..e3ba6ef
--- /dev/null
+++ b/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.md5
@@ -0,0 +1 @@
+cc9a57301092d32f1ff7fe0bac977640
\ No newline at end of file
diff --git a/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.pdf b/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.pdf
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diff --git a/docs/latex/dir_b4e877ec4d217156391fc3055a1b9ea0.tex b/docs/latex/dir_b4e877ec4d217156391fc3055a1b9ea0.tex
new file mode 100644
index 0000000..357dfb2
--- /dev/null
+++ b/docs/latex/dir_b4e877ec4d217156391fc3055a1b9ea0.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+msgs Directory Reference}
+\hypertarget{dir_b4e877ec4d217156391fc3055a1b9ea0}{}\label{dir_b4e877ec4d217156391fc3055a1b9ea0}\index{capabilities2\_msgs Directory Reference@{capabilities2\_msgs Directory Reference}}
diff --git a/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370.tex b/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370.tex
new file mode 100644
index 0000000..c9549cf
--- /dev/null
+++ b/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370.tex
@@ -0,0 +1,24 @@
+\doxysection{capabilities2\+\_\+server Directory Reference}
+\hypertarget{dir_c3ebc9632501f3b8db76e200f637a370}{}\label{dir_c3ebc9632501f3b8db76e200f637a370}\index{capabilities2\_server Directory Reference@{capabilities2\_server Directory Reference}}
+Directory dependency graph for capabilities2\+\_\+server\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{dir_c3ebc9632501f3b8db76e200f637a370_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_133ae7d1cc60a71e0d0063bd4c4356bd}{docs}}
+\item 
+directory \mbox{\hyperlink{dir_6f42b610c7c0eba485562e9f42cf4eee}{include}}
+\item 
+directory \mbox{\hyperlink{dir_df8984be9ef6e64165c7bb103d37a24c}{launch}}
+\item 
+directory \mbox{\hyperlink{dir_1ae2601ec6ef3e5d0cf6dc5201a27437}{scripts}}
+\item 
+directory \mbox{\hyperlink{dir_f40596f2669028e01f470a477872f720}{src}}
+\item 
+directory \mbox{\hyperlink{dir_8f30a181762ec3f97d43f8f63bada123}{test}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370_dep.md5 b/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370_dep.md5
new file mode 100644
index 0000000..41f3df2
--- /dev/null
+++ b/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370_dep.md5
@@ -0,0 +1 @@
+f8562dc2221992f4d55d0cdaa96ab550
\ No newline at end of file
diff --git a/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370_dep.pdf b/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370_dep.pdf
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diff --git a/docs/latex/dir_c88f82dd231ae0856530de318d7cb819.tex b/docs/latex/dir_c88f82dd231ae0856530de318d7cb819.tex
new file mode 100644
index 0000000..8e92aa4
--- /dev/null
+++ b/docs/latex/dir_c88f82dd231ae0856530de318d7cb819.tex
@@ -0,0 +1,35 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner Directory Reference}
+\hypertarget{dir_c88f82dd231ae0856530de318d7cb819}{}\label{dir_c88f82dd231ae0856530de318d7cb819}\index{capabilities2\_runner/include/capabilities2\_runner Directory Reference@{capabilities2\_runner/include/capabilities2\_runner Directory Reference}}
+Directory dependency graph for capabilities2\+\_\+runner\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=316pt]{dir_c88f82dd231ae0856530de318d7cb819_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_07f685e2b6ccaff3fb10959c113272a3}{system}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{action__runner_8hpp}{action\+\_\+runner.\+hpp}}
+\item 
+file \mbox{\hyperlink{encap__runner_8hpp}{encap\+\_\+runner.\+hpp}}
+\item 
+file \mbox{\hyperlink{launch__runner_8hpp}{launch\+\_\+runner.\+hpp}}
+\item 
+file \mbox{\hyperlink{multiplex__base__runner_8hpp}{multiplex\+\_\+base\+\_\+runner.\+hpp}}
+\item 
+file \mbox{\hyperlink{notrigger__runner_8hpp}{notrigger\+\_\+runner.\+hpp}}
+\item 
+file \mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}
+\item 
+file \mbox{\hyperlink{service__runner_8hpp}{service\+\_\+runner.\+hpp}}
+\item 
+file \mbox{\hyperlink{threadtrigger__runner_8hpp}{threadtrigger\+\_\+runner.\+hpp}}
+\item 
+file \mbox{\hyperlink{topic__runner_8hpp}{topic\+\_\+runner.\+hpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.md5 b/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.md5
new file mode 100644
index 0000000..d053a52
--- /dev/null
+++ b/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.md5
@@ -0,0 +1 @@
+2d407e7aaf0fe29ae7d1dd615cf994ef
\ No newline at end of file
diff --git a/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.pdf b/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.pdf
new file mode 100644
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diff --git a/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97.tex b/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97.tex
new file mode 100644
index 0000000..70648f4
--- /dev/null
+++ b/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97.tex
@@ -0,0 +1,14 @@
+\doxysection{capabilities2\+\_\+runner/include Directory Reference}
+\hypertarget{dir_d596d1b13e10115fa0e063d9d8185b97}{}\label{dir_d596d1b13e10115fa0e063d9d8185b97}\index{capabilities2\_runner/include Directory Reference@{capabilities2\_runner/include Directory Reference}}
+Directory dependency graph for include\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=314pt]{dir_d596d1b13e10115fa0e063d9d8185b97_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_c88f82dd231ae0856530de318d7cb819}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.md5 b/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.md5
new file mode 100644
index 0000000..fd473d4
--- /dev/null
+++ b/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.md5
@@ -0,0 +1 @@
+5ab80022a9f8a434d03e21a8435713ec
\ No newline at end of file
diff --git a/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.pdf b/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.pdf
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diff --git a/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c.tex b/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c.tex
new file mode 100644
index 0000000..1b70852
--- /dev/null
+++ b/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c.tex
@@ -0,0 +1,16 @@
+\doxysection{capabilities2\+\_\+server/launch Directory Reference}
+\hypertarget{dir_df8984be9ef6e64165c7bb103d37a24c}{}\label{dir_df8984be9ef6e64165c7bb103d37a24c}\index{capabilities2\_server/launch Directory Reference@{capabilities2\_server/launch Directory Reference}}
+Directory dependency graph for launch\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=211pt]{dir_df8984be9ef6e64165c7bb103d37a24c_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{capabilities2__server_8composed_8launch_8py}{capabilities2\+\_\+server.\+composed.\+launch.\+py}}
+\item 
+file \mbox{\hyperlink{capabilities2__server_8launch_8py}{capabilities2\+\_\+server.\+launch.\+py}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.md5 b/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.md5
new file mode 100644
index 0000000..9022674
--- /dev/null
+++ b/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.md5
@@ -0,0 +1 @@
+19ad01e941229dbad9b1f9cc1b4dc18f
\ No newline at end of file
diff --git a/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.pdf b/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.pdf
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diff --git a/docs/latex/dir_e205d21b7452bc93d523a35149c4724f.tex b/docs/latex/dir_e205d21b7452bc93d523a35149c4724f.tex
new file mode 100644
index 0000000..db45f82
--- /dev/null
+++ b/docs/latex/dir_e205d21b7452bc93d523a35149c4724f.tex
@@ -0,0 +1,14 @@
+\doxysection{capabilities2\+\_\+runner/src/system Directory Reference}
+\hypertarget{dir_e205d21b7452bc93d523a35149c4724f}{}\label{dir_e205d21b7452bc93d523a35149c4724f}\index{capabilities2\_runner/src/system Directory Reference@{capabilities2\_runner/src/system Directory Reference}}
+Directory dependency graph for system\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=166pt]{dir_e205d21b7452bc93d523a35149c4724f_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{system__runners_8cpp}{system\+\_\+runners.\+cpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_e205d21b7452bc93d523a35149c4724f_dep.md5 b/docs/latex/dir_e205d21b7452bc93d523a35149c4724f_dep.md5
new file mode 100644
index 0000000..e1b80d7
--- /dev/null
+++ b/docs/latex/dir_e205d21b7452bc93d523a35149c4724f_dep.md5
@@ -0,0 +1 @@
+f044664138321d903fa4f78d42b3ca58
\ No newline at end of file
diff --git a/docs/latex/dir_e205d21b7452bc93d523a35149c4724f_dep.pdf b/docs/latex/dir_e205d21b7452bc93d523a35149c4724f_dep.pdf
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diff --git a/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c.tex b/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c.tex
new file mode 100644
index 0000000..1c04ad8
--- /dev/null
+++ b/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c.tex
@@ -0,0 +1,31 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server Directory Reference}
+\hypertarget{dir_e2dc497995eb2331d5f961bdf471e58c}{}\label{dir_e2dc497995eb2331d5f961bdf471e58c}\index{capabilities2\_server/include/capabilities2\_server Directory Reference@{capabilities2\_server/include/capabilities2\_server Directory Reference}}
+Directory dependency graph for capabilities2\+\_\+server\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{dir_e2dc497995eb2331d5f961bdf471e58c_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Directories}
+\begin{DoxyCompactItemize}
+\item 
+directory \mbox{\hyperlink{dir_1bf5b06d15e554f4d54614040e1e0b2d}{models}}
+\item 
+directory \mbox{\hyperlink{dir_0e99b85eded0c8f6d3453536b6b117b7}{utils}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{bond__cache_8hpp}{bond\+\_\+cache.\+hpp}}
+\item 
+file \mbox{\hyperlink{capabilities__api_8hpp}{capabilities\+\_\+api.\+hpp}}
+\item 
+file \mbox{\hyperlink{capabilities__db_8hpp}{capabilities\+\_\+db.\+hpp}}
+\item 
+file \mbox{\hyperlink{capabilities__server_8hpp}{capabilities\+\_\+server.\+hpp}}
+\item 
+file \mbox{\hyperlink{db__base_8hpp}{db\+\_\+base.\+hpp}}
+\item 
+file \mbox{\hyperlink{runner__cache_8hpp}{runner\+\_\+cache.\+hpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c_dep.md5 b/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c_dep.md5
new file mode 100644
index 0000000..460621e
--- /dev/null
+++ b/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c_dep.md5
@@ -0,0 +1 @@
+c024819c039841a43fe3dcb5f7d488a5
\ No newline at end of file
diff --git a/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c_dep.pdf b/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c_dep.pdf
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diff --git a/docs/latex/dir_f40596f2669028e01f470a477872f720.tex b/docs/latex/dir_f40596f2669028e01f470a477872f720.tex
new file mode 100644
index 0000000..75feec2
--- /dev/null
+++ b/docs/latex/dir_f40596f2669028e01f470a477872f720.tex
@@ -0,0 +1,16 @@
+\doxysection{capabilities2\+\_\+server/src Directory Reference}
+\hypertarget{dir_f40596f2669028e01f470a477872f720}{}\label{dir_f40596f2669028e01f470a477872f720}\index{capabilities2\_server/src Directory Reference@{capabilities2\_server/src Directory Reference}}
+Directory dependency graph for src\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=211pt]{dir_f40596f2669028e01f470a477872f720_dep}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Files}
+\begin{DoxyCompactItemize}
+\item 
+file \mbox{\hyperlink{capabilities__server__component_8cpp}{capabilities\+\_\+server\+\_\+component.\+cpp}}
+\item 
+file \mbox{\hyperlink{capabilities__server__node_8cpp}{capabilities\+\_\+server\+\_\+node.\+cpp}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.md5 b/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.md5
new file mode 100644
index 0000000..194a5f6
--- /dev/null
+++ b/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.md5
@@ -0,0 +1 @@
+e2104e947ac22883338a39457c92fd71
\ No newline at end of file
diff --git a/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.pdf b/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.pdf
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diff --git a/docs/latex/docs_2readme_8md.tex b/docs/latex/docs_2readme_8md.tex
new file mode 100644
index 0000000..56fdee9
--- /dev/null
+++ b/docs/latex/docs_2readme_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/readme.md File Reference}
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diff --git a/docs/latex/doxygen.sty b/docs/latex/doxygen.sty
new file mode 100644
index 0000000..4bfc17f
--- /dev/null
+++ b/docs/latex/doxygen.sty
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+  \textbf{#1} (\textnormal{#2}\,\pageref{#3})%
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+  \textbf{#1} (\textnormal{#2}\,\pageref{#3})%
+}
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+% Used to link to a table when hyperlinks are turned on
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+  \ref{#1}%
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+  \ref{#3}%
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+
+% Version of hypertarget with correct landing location
+\newcommand{\Hypertarget}[1]{\Hy@raisedlink{\hypertarget{#1}{}}}
+
+% possibility to have sections etc. be within the margins
+% unfortunately had to copy part of book.cls and add \raggedright
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+\newcounter{subsubsubsection}[subsubsection]
+\newcounter{subsubsubsubsection}[subsubsubsection]
+\newcounter{subsubsubsubsubsection}[subsubsubsubsection]
+\newcounter{subsubsubsubsubsubsection}[subsubsubsubsubsection]
+\renewcommand{\thesubsubsubsection}{\thesubsubsection.\arabic{subsubsubsection}}
+\renewcommand{\thesubsubsubsubsection}{\thesubsubsubsection.\arabic{subsubsubsubsection}}
+\renewcommand{\thesubsubsubsubsubsection}{\thesubsubsubsubsection.\arabic{subsubsubsubsubsection}}
+\renewcommand{\thesubsubsubsubsubsubsection}{\thesubsubsubsubsubsection.\arabic{subsubsubsubsubsubsection}}
+\newcommand{\subsubsubsectionmark}[1]{}
+\newcommand{\subsubsubsubsectionmark}[1]{}
+\newcommand{\subsubsubsubsubsectionmark}[1]{}
+\newcommand{\subsubsubsubsubsubsectionmark}[1]{}
+\def\toclevel@subsubsubsection{4}
+\def\toclevel@subsubsubsubsection{5}
+\def\toclevel@subsubsubsubsubsection{6}
+\def\toclevel@subsubsubsubsubsubsection{7}
+\def\toclevel@paragraph{8}
+\def\toclevel@subparagraph{9}
+
+\newcommand\doxysection{\@startsection {section}{1}{\z@}%
+                                     {-3.5ex \@plus -1ex \@minus -.2ex}%
+                                     {2.3ex \@plus.2ex}%
+                                     {\raggedright\normalfont\Large\bfseries}}
+\newcommand\doxysubsection{\@startsection{subsection}{2}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\large\bfseries}}
+\newcommand\doxysubsubsection{\@startsection{subsubsection}{3}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubsubsubsection{\@startsection{subsubsubsection}{4}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubsubsubsubsection{\@startsection{subsubsubsubsection}{5}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubsubsubsubsubsection{\@startsection{subsubsubsubsubsection}{6}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubsubsubsubsubsubsection{\@startsection{subsubsubsubsubsubsection}{7}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxyparagraph{\@startsection{paragraph}{8}{\z@}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}
+\newcommand\doxysubparagraph{\@startsection{subparagraph}{9}{\parindent}%
+                                     {-3.25ex\@plus -1ex \@minus -.2ex}%
+                                     {1.5ex \@plus .2ex}%
+                                     {\raggedright\normalfont\normalsize\bfseries}}    
+                                  
+\newcommand\l@subsubsubsection{\@dottedtocline{4}{6.1em}{7.8em}}
+\newcommand\l@subsubsubsubsection{\@dottedtocline{5}{6.1em}{9.4em}}
+\newcommand\l@subsubsubsubsubsection{\@dottedtocline{6}{6.1em}{11em}}
+\newcommand\l@subsubsubsubsubsubsection{\@dottedtocline{7}{6.1em}{12.6em}}
+\renewcommand\l@paragraph{\@dottedtocline{8}{6.1em}{14.2em}}
+\renewcommand\l@subparagraph{\@dottedtocline{9}{6.1em}{15.8em}}
+\makeatother
+% the sectsty doesn't look to be maintained but gives, in our case, some warning like:
+% LaTeX Warning: Command \underline  has changed.
+%               Check if current package is valid.
+% unfortunately had to copy the relevant part
+\newcommand*{\doxypartfont}          [1]
+   {\gdef\SS@partnumberfont{\SS@sectid{0}\SS@nopart\SS@makeulinepartchap#1}
+    \gdef\SS@parttitlefont{\SS@sectid{0}\SS@titlepart\SS@makeulinepartchap#1}}
+\newcommand*{\doxychapterfont}       [1]
+   {\gdef\SS@chapnumfont{\SS@sectid{1}\SS@nopart\SS@makeulinepartchap#1}
+    \gdef\SS@chaptitlefont{\SS@sectid{1}\SS@titlepart\SS@makeulinepartchap#1}}
+\newcommand*{\doxysectionfont}       [1]
+   {\gdef\SS@sectfont{\SS@sectid{2}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxysubsectionfont}    [1]
+   {\gdef\SS@subsectfont{\SS@sectid{3}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxysubsubsectionfont} [1]
+   {\gdef\SS@subsubsectfont{\SS@sectid{4}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxyparagraphfont}     [1]
+   {\gdef\SS@parafont{\SS@sectid{5}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxysubparagraphfont}  [1]
+   {\gdef\SS@subparafont{\SS@sectid{6}\SS@rr\SS@makeulinesect#1}}
+\newcommand*{\doxyminisecfont}  [1]
+   {\gdef\SS@minisecfont{\SS@sectid{7}\SS@rr\SS@makeulinepartchap#1}}
+\newcommand*{\doxyallsectionsfont}   [1] {\doxypartfont{#1}%
+                                          \doxychapterfont{#1}%
+                                          \doxysectionfont{#1}%
+                                          \doxysubsectionfont{#1}%
+                                          \doxysubsubsectionfont{#1}%
+                                          \doxyparagraphfont{#1}%
+                                          \doxysubparagraphfont{#1}%
+                                          \doxyminisecfont{#1}}%
+% Define caption that is also suitable in a table
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+\def\doxyfigcaption{%
+\H@refstepcounter{figure}%
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+
+% Define alpha enumarative names for counters > 26
+\makeatletter
+\def\enumalphalphcnt#1{\expandafter\@enumalphalphcnt\csname c@#1\endcsname}
+\def\@enumalphalphcnt#1{\alphalph{#1}}
+\def\enumAlphAlphcnt#1{\expandafter\@enumAlphAlphcnt\csname c@#1\endcsname}
+\def\@enumAlphAlphcnt#1{\AlphAlph{#1}}
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+\AddEnumerateCounter{\enumalphalphcnt}{\@enumalphalphcnt}{aa}
+\AddEnumerateCounter{\enumAlphAlphcnt}{\@enumAlphAlphcnt}{AA}
diff --git a/docs/latex/dummy__runner_8cpp.tex b/docs/latex/dummy__runner_8cpp.tex
new file mode 100644
index 0000000..00da76c
--- /dev/null
+++ b/docs/latex/dummy__runner_8cpp.tex
@@ -0,0 +1,21 @@
+\doxysection{capabilities2\+\_\+runner/src/dummy\+\_\+runner.cpp File Reference}
+\hypertarget{dummy__runner_8cpp}{}\label{dummy__runner_8cpp}\index{capabilities2\_runner/src/dummy\_runner.cpp@{capabilities2\_runner/src/dummy\_runner.cpp}}
+{\ttfamily \#include $<$pluginlib/class\+\_\+list\+\_\+macros.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
+Include dependency graph for dummy\+\_\+runner.\+cpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{dummy__runner_8cpp__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}
+\begin{DoxyCompactList}\small\item\em Dummy runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/dummy__runner_8cpp__incl.md5 b/docs/latex/dummy__runner_8cpp__incl.md5
new file mode 100644
index 0000000..d103dbc
--- /dev/null
+++ b/docs/latex/dummy__runner_8cpp__incl.md5
@@ -0,0 +1 @@
+eb02afab945f5e5f79e8f5c12e7280ee
\ No newline at end of file
diff --git a/docs/latex/dummy__runner_8cpp__incl.pdf b/docs/latex/dummy__runner_8cpp__incl.pdf
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diff --git a/docs/latex/encap__runner_8hpp.tex b/docs/latex/encap__runner_8hpp.tex
new file mode 100644
index 0000000..a87c99a
--- /dev/null
+++ b/docs/latex/encap__runner_8hpp.tex
@@ -0,0 +1,21 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/encap\+\_\+runner.hpp File Reference}
+\hypertarget{encap__runner_8hpp}{}\label{encap__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/encap\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/encap\_runner.hpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+runner/notrigger\+\_\+action\+\_\+runner.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/action/capability.\+hpp$>$}\newline
+Include dependency graph for encap\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{encap__runner_8hpp__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner$<$ Action\+T $>$}}
+\begin{DoxyCompactList}\small\item\em encapsulated capability runner \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/encap__runner_8hpp__incl.md5 b/docs/latex/encap__runner_8hpp__incl.md5
new file mode 100644
index 0000000..d5235d2
--- /dev/null
+++ b/docs/latex/encap__runner_8hpp__incl.md5
@@ -0,0 +1 @@
+ad43f6210c72abe4707856a08ca8f18a
\ No newline at end of file
diff --git a/docs/latex/encap__runner_8hpp__incl.pdf b/docs/latex/encap__runner_8hpp__incl.pdf
new file mode 100644
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diff --git a/docs/latex/encap__runner_8hpp_source.tex b/docs/latex/encap__runner_8hpp_source.tex
new file mode 100644
index 0000000..10c1aa8
--- /dev/null
+++ b/docs/latex/encap__runner_8hpp_source.tex
@@ -0,0 +1,64 @@
+\doxysection{encap\+\_\+runner.\+hpp}
+\hypertarget{encap__runner_8hpp_source}{}\label{encap__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/encap\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/encap\_runner.hpp}}
+\mbox{\hyperlink{encap__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <capabilities2\_runner/notrigger\_action\_runner.hpp>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/action/capability.hpp>}}
+\DoxyCodeLine{00005\ }
+\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00007\ \{}
+\DoxyCodeLine{00008\ }
+\DoxyCodeLine{00020\ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ ActionT>}
+\DoxyCodeLine{00021\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{EnCapRunner}}\ :\ \textcolor{keyword}{public}\ NoTriggerActionRunner<ActionT>}
+\DoxyCodeLine{00022\ \{}
+\DoxyCodeLine{00023\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00024\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a0bbf60f7f885bc1dddffe90635854bad}{EnCapRunner}}()\ :\ NoTriggerActionRunner()}
+\DoxyCodeLine{00025\ \ \ \{}
+\DoxyCodeLine{00026\ \ \ \}}
+\DoxyCodeLine{00027\ }
+\DoxyCodeLine{00040\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7782f8488a37196d1246fef965c75443}{init\_encapsulated\_action}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,}
+\DoxyCodeLine{00041\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ action\_name,\ std::function<\textcolor{keywordtype}{void}(Event\&)>\ print)}
+\DoxyCodeLine{00042\ \ \ \{}
+\DoxyCodeLine{00043\ \ \ \ \ \textcolor{comment}{//\ init\ the\ base\ action\ runner}}
+\DoxyCodeLine{00044\ \ \ \ \ init\_action(node,\ run\_config,\ action\_name,\ print);}
+\DoxyCodeLine{00045\ }
+\DoxyCodeLine{00046\ \ \ \ \ \textcolor{comment}{//\ create\ an\ encapsulating\ action\ server}}
+\DoxyCodeLine{00047\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\_action\_}}\ =\ rclcpp\_action::create\_server<capabilities2\_msgs::action::Capability>(}
+\DoxyCodeLine{00048\ \ \ \ \ \ \ \ \ node\_,\ \textcolor{stringliteral}{"{}\string~/encap/"{}}\ +\ get\_provider(),}
+\DoxyCodeLine{00049\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55}{EnCapRunner::handle\_goal}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2),}
+\DoxyCodeLine{00050\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43}{EnCapRunner::handle\_cancel}},\ \textcolor{keyword}{this},\ std::placeholders::\_1),}
+\DoxyCodeLine{00051\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58}{EnCapRunner::handle\_accepted}},\ \textcolor{keyword}{this},\ std::placeholders::\_1));}
+\DoxyCodeLine{00052\ \ \ \}}
+\DoxyCodeLine{00053\ }
+\DoxyCodeLine{00060\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a68e87f8c49301e1e001c232a80fa2f16}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00061\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00062\ \ \ \ \ \textcolor{comment}{//\ stop\ the\ encapsulating\ action\ server}}
+\DoxyCodeLine{00063\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\_action\_}}-\/>cancel\_all\_goals();}
+\DoxyCodeLine{00064\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\_action\_}}.reset();}
+\DoxyCodeLine{00065\ }
+\DoxyCodeLine{00066\ \ \ \ \ \textcolor{comment}{//\ stop\ the\ base\ class}}
+\DoxyCodeLine{00067\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}{ActionRunner::stop}}(bond\_id,\ instance\_id);}
+\DoxyCodeLine{00068\ }
+\DoxyCodeLine{00069\ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
+\DoxyCodeLine{00070\ \ \ \ \ emit\_stopped(bond\_id,\ instance\_id,\ param\_on\_stopped());}
+\DoxyCodeLine{00071\ \ \ \}}
+\DoxyCodeLine{00072\ }
+\DoxyCodeLine{00073\ \ \ \textcolor{comment}{//\ encapsulated\ action\ server\ related\ functions}}
+\DoxyCodeLine{00080\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55}{handle\_goal}}(\textcolor{keyword}{const}\ rclcpp\_action::GoalUUID\&\ uuid,}
+\DoxyCodeLine{00081\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<const\ capabilities2\_msgs::action::Capability::Goal>\ goal);}
+\DoxyCodeLine{00082\ }
+\DoxyCodeLine{00088\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43}{handle\_cancel}}(}
+\DoxyCodeLine{00089\ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::shared\_ptr<rclcpp\_action::ServerGoalHandle<capabilities2\_msgs::action::Capability>>\ goal\_handle);}
+\DoxyCodeLine{00090\ }
+\DoxyCodeLine{00096\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58}{handle\_accepted}}(}
+\DoxyCodeLine{00097\ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::shared\_ptr<rclcpp\_action::ServerGoalHandle<capabilities2\_msgs::action::Capability>>\ goal\_handle);}
+\DoxyCodeLine{00098\ }
+\DoxyCodeLine{00099\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00101\ \ \ std::shared\_ptr<rclcpp\_action::Server<capabilities2\_msgs::action::Capability>>\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\_action\_}};}
+\DoxyCodeLine{00102\ \};}
+\DoxyCodeLine{00103\ }
+\DoxyCodeLine{00104\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/etoc_doxygen.sty b/docs/latex/etoc_doxygen.sty
new file mode 100644
index 0000000..5f7e127
--- /dev/null
+++ b/docs/latex/etoc_doxygen.sty
@@ -0,0 +1,2178 @@
+%%
+%% This is file etoc_doxygen.sty
+%%
+%% Apart from this header notice and the renaming from etoc to
+%% etoc_doxygen (also in \ProvidesPackage) it is an identical
+%% copy of
+%%
+%%     etoc.sty
+%%
+%% at version 1.2b of 2023/07/01.
+%%
+%% This file has been provided to Doxygen team courtesy of the
+%% author for benefit of users having a LaTeX installation not
+%% yet providing version 1.2a or later of etoc, whose
+%% deeplevels feature is required.
+%%
+%% The original source etoc.dtx (only of the latest version at
+%% any given time) is available at
+%% 
+%%     https://ctan.org/pkg/etoc
+%%
+%% and contains the terms for copying and modification as well
+%% as author contact information.
+%%
+%% In brief any modified versions of this file must be renamed
+%% with new filenames distinct from etoc.sty.
+%% 
+%% Package: etoc
+%% Version: 1.2b
+%% License: LPPL 1.3c
+%% Copyright (C) 2012-2023 Jean-Francois B. <user jfbu at github>
+\NeedsTeXFormat{LaTeX2e}[2003/12/01]
+\ProvidesPackage{etoc_doxygen}[2023/07/01 v1.2b Completely customisable TOCs (JFB)]
+\newif\ifEtoc@oldLaTeX
+\@ifl@t@r\fmtversion{2020/10/01}
+  {}
+  {\Etoc@oldLaTeXtrue
+   \PackageInfo{etoc}{Old LaTeX (\fmtversion) detected!\MessageBreak
+   Since 1.1a (2023/01/14), etoc prefers LaTeX at least\MessageBreak
+   as recent as 2020-10-01, for reasons of the .toc file,\MessageBreak
+   and used to require it (from 1.1a to 1.2).\MessageBreak
+   This etoc (1.2b) does not *require* it, but has not been\MessageBreak
+   tested thoroughly on old LaTeX (especially if document\MessageBreak
+   does not use hyperref) and retrofitting was done only\MessageBreak
+   on basis of author partial remembrances of old context.\MessageBreak
+   Reported}}
+\RequirePackage{kvoptions}
+\SetupKeyvalOptions{prefix=Etoc@}
+\newif\ifEtoc@lof
+\DeclareVoidOption{lof}{\Etoc@loftrue
+  \PackageInfo{etoc}{Experimental support for \string\locallistoffigures.\MessageBreak
+                     Barely tested, use at own risk}%
+}
+\newif\ifEtoc@lot
+\DeclareVoidOption{lot}{\Etoc@lottrue
+  \PackageInfo{etoc}{Experimental support for \string\locallistoftables.\MessageBreak
+                     Barely tested, use at own risk}%
+}
+\@ifclassloaded{memoir}{
+\PackageInfo{etoc}
+   {As this is with memoir class, all `...totoc' options\MessageBreak
+    are set true by default.  Reported}
+\DeclareBoolOption[true]{maintoctotoc}
+\DeclareBoolOption[true]{localtoctotoc}
+\DeclareBoolOption[true]{localloftotoc}
+\DeclareBoolOption[true]{locallottotoc}
+}{
+\DeclareBoolOption[false]{maintoctotoc}
+\DeclareBoolOption[false]{localtoctotoc}
+\DeclareBoolOption[false]{localloftotoc}
+\DeclareBoolOption[false]{locallottotoc}
+}
+\DeclareBoolOption[true]{ouroboros}
+\DeclareBoolOption[false]{deeplevels}
+\DeclareDefaultOption{\PackageWarning{etoc}{Option `\CurrentOption' is unknown.}}
+\ProcessKeyvalOptions*
+\DisableKeyvalOption[action=error,package=etoc]{etoc}{lof}
+\DisableKeyvalOption[action=error,package=etoc]{etoc}{lot}
+\DisableKeyvalOption[action=error,package=etoc]{etoc}{deeplevels}
+\def\etocsetup#1{\setkeys{etoc}{#1}}
+\def\etocifmaintoctotoc{\ifEtoc@maintoctotoc
+                           \expandafter\@firstoftwo
+                         \else
+                           \expandafter\@secondoftwo
+                         \fi}
+\def\etociflocaltoctotoc{\ifEtoc@localtoctotoc
+                           \expandafter\@firstoftwo
+                         \else
+                           \expandafter\@secondoftwo
+                         \fi}
+\def\etociflocalloftotoc{\ifEtoc@localloftotoc
+                           \expandafter\@firstoftwo
+                         \else
+                           \expandafter\@secondoftwo
+                         \fi}
+\def\etociflocallottotoc{\ifEtoc@locallottotoc
+                           \expandafter\@firstoftwo
+                         \else
+                           \expandafter\@secondoftwo
+                         \fi}
+\RequirePackage{multicol}
+\def\etoc@{\etoc@}
+\long\def\Etoc@gobtoetoc@ #1\etoc@{}
+\newtoks\Etoc@toctoks
+\def\Etoc@par{\par}
+\def\etocinline{\def\Etoc@par{}}
+\let\etocnopar\etocinline
+\def\etocdisplay{\def\Etoc@par{\par}}
+\let\Etoc@global\@empty
+\def\etocglobaldefs{\let\Etoc@global\global\let\tof@global\global}
+\def\etoclocaldefs {\let\Etoc@global\@empty\let\tof@global\@empty}
+\newif\ifEtoc@numbered
+\newif\ifEtoc@hyperref
+\newif\ifEtoc@parskip
+\newif\ifEtoc@tocwithid
+\newif\ifEtoc@standardlines
+\newif\ifEtoc@etocstyle
+\newif\ifEtoc@classstyle
+\newif\ifEtoc@keeporiginaltoc
+\newif\ifEtoc@skipprefix
+\newif\ifEtoc@isfirst
+\newif\ifEtoc@localtoc
+\newif\ifEtoc@skipthisone
+\newif\ifEtoc@stoptoc
+\newif\ifEtoc@notactive
+\newif\ifEtoc@mustclosegroup
+\newif\ifEtoc@isemptytoc
+\newif\ifEtoc@checksemptiness
+\def\etocchecksemptiness       {\Etoc@checksemptinesstrue }
+\def\etocdoesnotcheckemptiness {\Etoc@checksemptinessfalse }
+\newif\ifEtoc@notocifnotoc
+\def\etocnotocifnotoc {\Etoc@checksemptinesstrue\Etoc@notocifnotoctrue }
+\newcounter{etoc@tocid}
+\def\Etoc@tocext{toc}
+\def\Etoc@lofext{lof}
+\def\Etoc@lotext{lot}
+\let\Etoc@currext\Etoc@tocext
+\def\etocifislocal{\ifEtoc@localtoc\expandafter\@firstoftwo\else
+                                   \expandafter\@secondoftwo\fi
+                  }
+\def\etocifislocaltoc{\etocifislocal{\ifx\Etoc@currext\Etoc@tocext
+                                     \expandafter\@firstoftwo\else
+                                     \expandafter\@secondoftwo\fi}%
+                                    {\@secondoftwo}%
+                     }
+\def\etocifislocallof{\etocifislocal{\ifx\Etoc@currext\Etoc@lofext
+                                     \expandafter\@firstoftwo\else
+                                     \expandafter\@secondoftwo\fi}%
+                                    {\@secondoftwo}%
+                     }
+\def\etocifislocallot{\etocifislocal{\ifx\Etoc@currext\Etoc@lotext
+                                     \expandafter\@firstoftwo\else
+                                     \expandafter\@secondoftwo\fi}%
+                                    {\@secondoftwo}%
+                     }
+\expandafter\def\csname Etoc@-3@@\endcsname {-\thr@@}
+\expandafter\def\csname Etoc@-2@@\endcsname {-\tw@}
+\expandafter\let\csname Etoc@-1@@\endcsname \m@ne
+\expandafter\let\csname Etoc@0@@\endcsname  \z@
+\expandafter\let\csname Etoc@1@@\endcsname  \@ne
+\expandafter\let\csname Etoc@2@@\endcsname  \tw@
+\expandafter\let\csname Etoc@3@@\endcsname  \thr@@
+\expandafter\chardef\csname Etoc@4@@\endcsname  4
+\expandafter\chardef\csname Etoc@5@@\endcsname  5
+\expandafter\chardef\csname Etoc@6@@\endcsname  6
+\ifEtoc@deeplevels
+  \expandafter\chardef\csname Etoc@7@@\endcsname  7
+  \expandafter\chardef\csname Etoc@8@@\endcsname  8
+  \expandafter\chardef\csname Etoc@9@@\endcsname  9
+  \expandafter\chardef\csname Etoc@10@@\endcsname  10
+  \expandafter\chardef\csname Etoc@11@@\endcsname  11
+  \expandafter\chardef\csname Etoc@12@@\endcsname  12
+\fi
+\expandafter\let\expandafter\Etoc@maxlevel
+  \csname Etoc@\ifEtoc@deeplevels12\else6\fi @@\endcsname
+\edef\etocthemaxlevel{\number\Etoc@maxlevel}
+\@ifclassloaded{memoir}{\def\Etoc@minf{-\thr@@}}{\def\Etoc@minf{-\tw@}}
+\let\Etoc@none@@  \Etoc@minf
+\expandafter\let\expandafter\Etoc@all@@
+  \csname Etoc@\ifEtoc@deeplevels11\else5\fi @@\endcsname
+\let\Etoc@dolevels\@empty
+\def\Etoc@newlevel #1{\expandafter\def\expandafter\Etoc@dolevels\expandafter
+        {\Etoc@dolevels\Etoc@do{#1}}}
+\ifdefined\expanded
+  \def\etocsetlevel#1#2{\expanded{\noexpand\etoc@setlevel{#1}{#2}}}%
+\else
+   \def\etocsetlevel#1#2{{\edef\Etoc@tmp{\noexpand\etoc@setlevel{#1}{#2}}\expandafter}\Etoc@tmp}%
+\fi
+\def\etoc@setlevel#1#2{%
+   \edef\Etoc@tmp{\the\numexpr#2}%
+   \if1\ifnum\Etoc@tmp>\Etoc@maxlevel0\fi\unless\ifnum\Etoc@minf<\Etoc@tmp;\fi1%
+      \ifEtoc@deeplevels
+        \in@{.#1,}{.none,.all,.figure,.table,.-3,.-2,.-1,.0,.1,.2,.3,.4,.5,.6,%
+                                              .7,.8,.9,.10,.11,.12,}%
+      \else
+        \in@{.#1,}{.none,.all,.figure,.table,.-3,.-2,.-1,.0,.1,.2,.3,.4,.5,.6,}%
+      \fi
+      \ifin@\else\if\@car#1\@nil @\in@true\fi\fi
+      \ifin@
+         \PackageWarning{etoc}
+            {Sorry, but `#1' is forbidden as level name.\MessageBreak
+             \if\@car#1\@nil @%
+                (because of the @ as first character)\MessageBreak\fi
+             Reported}%
+      \else
+        \etocifunknownlevelTF{#1}{\Etoc@newlevel{#1}}{}%
+        \expandafter\let\csname Etoc@#1@@\expandafter\endcsname
+                        \csname Etoc@\Etoc@tmp @@\endcsname
+        \expandafter\edef\csname Etoc@@#1@@\endcsname
+                         {\expandafter\noexpand\csname Etoc@#1@@\endcsname}%
+        \expandafter\edef\csname toclevel@@#1\endcsname
+                         {\expandafter\noexpand\csname toclevel@#1\endcsname}%
+      \fi
+   \else
+      \PackageWarning{etoc}
+         {Argument `\detokenize{#2}' of \string\etocsetlevel\space should
+          represent one of\MessageBreak
+          \ifnum\Etoc@minf=-\thr@@-2, \fi-1, 0, 1, 2, \ifEtoc@deeplevels ...\else3, 4\fi,
+          \the\numexpr\Etoc@maxlevel-1, or \number\Etoc@maxlevel\space
+          but evaluates to \Etoc@tmp.\MessageBreak
+          The level of `#1' will be set to \number\Etoc@maxlevel.\MessageBreak
+          Tables of contents will ignore `#1' as long\MessageBreak
+          as its level is \number\Etoc@maxlevel\space (=\string\etocthemaxlevel).%
+          \MessageBreak
+          Reported}%
+      \etocifunknownlevelTF{#1}{\Etoc@newlevel{#1}}{}%
+      \expandafter\let\csname Etoc@#1@@\endcsname\Etoc@maxlevel
+   \fi
+}
+\def\etoclevel#1{\csname Etoc@#1@@\endcsname}
+\def\etocthelevel#1{\number\csname Etoc@#1@@\endcsname}
+\def\etocifunknownlevelTF#1{\@ifundefined{Etoc@#1@@}}
+\@ifclassloaded{memoir}{\etocsetlevel{book}{-2}}{}
+\etocsetlevel{part}{-1}
+\etocsetlevel{chapter}{0}
+\etocsetlevel{section}{1}
+\etocsetlevel{subsection}{2}
+\etocsetlevel{subsubsection}{3}
+\etocsetlevel{paragraph}{4}
+\etocsetlevel{subparagraph}{5}
+\ifdefined\c@chapter
+  \etocsetlevel{appendix}{0}
+\else
+  \etocsetlevel{appendix}{1}
+\fi
+\def\Etoc@do#1{\@namedef{l@@#1}{\csname l@#1\endcsname}}
+\Etoc@dolevels
+\let\Etoc@figure@@\Etoc@maxlevel
+\let\Etoc@table@@ \Etoc@maxlevel
+\let\Etoc@gobblethreeorfour\@gobblefour
+\ifdefined\@gobblethree
+  \let\Etoc@gobblethree\@gobblethree
+\else
+  \long\def\Etoc@gobblethree#1#2#3{}%
+\fi
+\AtBeginDocument{%
+\@ifpackageloaded{parskip}{\Etoc@parskiptrue}{}%
+\@ifpackageloaded{hyperref}
+    {\Etoc@hyperreftrue}
+    {\ifEtoc@oldLaTeX
+        \let\Etoc@gobblethreeorfour\Etoc@gobblethree
+        \let\Etoc@etoccontentsline@fourargs\Etoc@etoccontentsline@
+        \long\def\Etoc@etoccontentsline@#1#2#3{%
+            \Etoc@etoccontentsline@fourargs{#1}{#2}{#3}{}%
+        }%
+     \fi
+    }%
+}
+\def\etocskipfirstprefix {\global\Etoc@skipprefixtrue }
+\def\Etoc@updatestackofends#1\etoc@{\gdef\Etoc@stackofends{#1}}
+\def\Etoc@stackofends{{-3}{}}
+\def\Etoc@doendsandbegin{%
+    \expandafter\Etoc@traversestackofends\Etoc@stackofends\etoc@
+}
+\def\Etoc@traversestackofends#1{%
+  \ifnum#1>\Etoc@level
+    \csname Etoc@end@#1\endcsname
+    \expandafter\Etoc@traversestackofends
+  \else
+    \Etoc@traversestackofends@done{#1}%
+  \fi
+}
+\def\Etoc@traversestackofends@done#1#2{#2%
+  \ifnum#1<\Etoc@level
+    \csname Etoc@begin@\the\numexpr\Etoc@level\endcsname
+    \Etoc@global\Etoc@isfirsttrue
+    \edef\Etoc@tmp{{\the\numexpr\Etoc@level}}%
+  \else
+    \Etoc@global\Etoc@isfirstfalse
+    \let\Etoc@tmp\@empty
+  \fi
+  \expandafter\Etoc@updatestackofends\Etoc@tmp{#1}%
+}
+\def\Etoc@etoccontentsline #1{%
+  \let\Etoc@next\Etoc@gobblethreeorfour
+  \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel
+  \else
+   \Etoc@skipthisonefalse
+   \global\expandafter\let\expandafter\Etoc@level\csname Etoc@#1@@\endcsname
+   \if @\@car#1\@nil\else\global\let\Etoc@virtualtop\Etoc@level\fi
+   \ifEtoc@localtoc
+    \ifEtoc@stoptoc
+      \Etoc@skipthisonetrue
+    \else
+     \ifEtoc@notactive
+       \Etoc@skipthisonetrue
+     \else
+      \unless\ifnum\Etoc@level>\etoclocaltop
+        \Etoc@skipthisonetrue
+        \global\Etoc@stoptoctrue
+      \fi
+     \fi
+    \fi
+   \fi
+   \ifEtoc@skipthisone
+   \else
+    \unless\ifnum\Etoc@level>\c@tocdepth
+     \ifEtoc@standardlines
+         \let\Etoc@next\Etoc@savedcontentsline
+     \else
+         \let\Etoc@next\Etoc@etoccontentsline@
+     \fi
+    \fi
+   \fi
+  \fi
+  \Etoc@next{#1}%
+}
+\def\Etoc@etoccontentsline@ #1#2#3#4{%
+    \Etoc@doendsandbegin
+    \Etoc@global\edef\Etoc@prefix  {\expandafter\noexpand
+         \csname Etoc@prefix@\the\numexpr\Etoc@level\endcsname }%
+    \Etoc@global\edef\Etoc@contents{\expandafter\noexpand
+         \csname Etoc@contents@\the\numexpr\Etoc@level\endcsname }%
+    \ifEtoc@skipprefix \Etoc@global\def\Etoc@prefix{\@empty}\fi
+    \global\Etoc@skipprefixfalse
+    \Etoc@lxyz{#2}{#3}{#4}%
+    \Etoc@prefix
+    \Etoc@contents
+}
+\def\Etoc@lxyz #1#2#3{%
+    \ifEtoc@hyperref
+       \Etoc@global\def\etocthelink##1{\hyperlink{#3}{##1}}%
+    \else
+       \Etoc@global\let\etocthelink\@firstofone
+    \fi
+    \Etoc@global\def\etocthepage {#2}%
+    \ifEtoc@hyperref
+       \ifx\etocthepage\@empty
+         \Etoc@global\let\etocthelinkedpage\@empty
+       \else
+         \Etoc@global\def\etocthelinkedpage{\hyperlink {#3}{#2}}%
+       \fi
+    \else
+       \Etoc@global\let\etocthelinkedpage\etocthepage
+    \fi
+    \Etoc@global\def\etocthename{#1}%
+    \futurelet\Etoc@getnb@token\Etoc@@getnb #1\hspace\etoc@
+    \ifEtoc@hyperref
+      \def\Etoc@tmp##1##2{\Etoc@global\def##2{\hyperlink{#3}{##1}}}%
+      \expandafter\Etoc@tmp\expandafter{\etocthename}\etocthelinkedname
+      \ifEtoc@numbered
+         \expandafter\Etoc@tmp\expandafter{\etocthenumber}\etocthelinkednumber
+      \else
+         \Etoc@global\let\etocthelinkednumber\@empty
+      \fi
+    \else
+      \Etoc@global\let\etocthelinkedname  \etocthename
+      \Etoc@global\let\etocthelinkednumber\etocthenumber
+    \fi
+    \Etoc@global\expandafter\let\csname etoclink \endcsname  \etocthelink
+    \Etoc@global\expandafter\let\csname etocname \endcsname  \etocthename
+    \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthenumber
+    \Etoc@global\expandafter\let\csname etocpage \endcsname  \etocthepage
+    \ifEtoc@hyperref
+      \Etoc@lxyz@linktoc
+    \fi
+}
+\def\Etoc@lxyz@linktoc{%
+    \ifcase\Hy@linktoc
+    \or
+      \Etoc@global\expandafter\let\csname etocname   \endcsname\etocthelinkedname
+      \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthelinkednumber
+    \or % page
+      \Etoc@global\expandafter\let\csname etocpage   \endcsname\etocthelinkedpage
+    \else % all
+      \Etoc@global\expandafter\let\csname etocname   \endcsname\etocthelinkedname
+      \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthelinkednumber
+      \Etoc@global\expandafter\let\csname etocpage   \endcsname\etocthelinkedpage
+    \fi
+}
+\def\Etoc@@getnb {%
+    \let\Etoc@next\Etoc@getnb
+    \ifx\Etoc@getnb@token\@sptoken\let\Etoc@next\Etoc@getnb@nonbr\fi
+    \ifx\Etoc@getnb@token\bgroup  \let\Etoc@next\Etoc@getnb@nonbr\fi
+    \Etoc@next
+}
+\def\Etoc@getnb #1{%
+    \in@{#1}{\numberline\chapternumberline\partnumberline\booknumberline}%
+    \ifin@
+       \let\Etoc@next\Etoc@getnb@nmbrd
+    \else
+       \ifnum\Etoc@level=\m@ne
+           \let\Etoc@next\Etoc@@getit
+       \else
+           \let\Etoc@next\Etoc@getnb@nonbr
+       \fi
+       \in@{#1}{\nonumberline}%
+       \ifin@
+         \let\Etoc@next\Etoc@getnb@nonumberline
+       \fi
+    \fi
+    \Etoc@next #1%
+}
+\def\Etoc@getnb@nmbrd #1#2{%
+    \Etoc@global\Etoc@numberedtrue
+    \Etoc@global\def\etocthenumber {#2}%
+    \Etoc@getnb@nmbrd@getname\@empty
+}%
+\def\Etoc@getnb@nmbrd@getname #1\hspace\etoc@ {%
+    \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{#1}%
+}
+\def\Etoc@getnb@nonbr #1\etoc@ {%
+    \Etoc@global\Etoc@numberedfalse
+    \Etoc@global\let\etocthenumber \@empty
+}
+\def\Etoc@getnb@nonumberline #1\hspace\etoc@ {%
+    \Etoc@global\Etoc@numberedfalse
+    \Etoc@global\let\etocthenumber \@empty
+    \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{\@gobble#1}%
+}
+\def\Etoc@@getit #1\hspace#2{%
+    \ifx\etoc@#2%
+      \Etoc@global\Etoc@numberedfalse
+      \Etoc@global\let\etocthenumber \@empty
+    \else
+      \Etoc@global\Etoc@numberedtrue
+      \Etoc@global\def\etocthenumber {#1}%
+      \expandafter\Etoc@getit@getname \expandafter\@empty
+    \fi
+}
+\def\Etoc@getit@getname #1\hspace\etoc@ {%
+    \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{#1}%
+}
+\let\etocthename   \@empty
+\let\etocthenumber \@empty
+\let\etocthepage   \@empty
+\let\etocthelinkedname   \@empty
+\let\etocthelinkednumber \@empty
+\let\etocthelinkedpage   \@empty
+\let\etocthelink   \@firstofone
+\DeclareRobustCommand*{\etocname}  {}
+\DeclareRobustCommand*{\etocnumber}{}
+\DeclareRobustCommand*{\etocpage}  {}
+\DeclareRobustCommand*{\etoclink}  {\@firstofone}
+\DeclareRobustCommand*{\etocifnumbered}
+   {\ifEtoc@numbered\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
+\expandafter\let\expandafter\etocxifnumbered\csname etocifnumbered \endcsname
+\DeclareRobustCommand*{\etociffirst}
+   {\ifEtoc@isfirst\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
+\expandafter\let\expandafter\etocxiffirst\csname etociffirst \endcsname
+\def\Etoc@readtoc {%
+  \ifeof \Etoc@tf
+  \else
+     \read \Etoc@tf to \Etoc@buffer
+     \Etoc@toctoks=\expandafter\expandafter\expandafter
+       {\expandafter\the\expandafter\Etoc@toctoks\Etoc@buffer}%
+     \expandafter\Etoc@readtoc
+  \fi
+}
+\Etoc@toctoks {}% (superfluous, but for clarity)
+\AtBeginDocument{\IfFileExists{\jobname.toc}
+    {{\endlinechar=\m@ne
+      \makeatletter
+      \newread\Etoc@tf
+      \openin\Etoc@tf\@filef@und
+      \Etoc@readtoc
+      \global\Etoc@toctoks=\expandafter{\the\Etoc@toctoks}%
+      \closein\Etoc@tf}}
+    {\typeout{No file \jobname.toc.}}}
+\def\Etoc@openouttoc{%
+  \ifEtoc@hyperref
+   \ifx\hyper@last\@undefined
+    \IfFileExists{\jobname .toc}
+      {\Hy@WarningNoLine
+         {old toc file detected; run LaTeX again (cheers from `etoc')}%
+       \global\Etoc@toctoks={}%
+      }
+      {}%
+   \fi
+  \fi
+  \if@filesw
+   \newwrite \tf@toc
+   \immediate \openout \tf@toc \jobname .toc\relax
+  \fi
+  \global\let\Etoc@openouttoc\empty
+}
+\def\Etoc@toctoc{%
+  \gdef\Etoc@stackofends{{-3}{}}%
+  \global\let\Etoc@level\Etoc@minf
+  \global\let\Etoc@virtualtop\Etoc@minf
+  \the\Etoc@toctoks
+  \ifEtoc@notactive
+  \else
+   \gdef\Etoc@level{-\thr@@}%
+   \Etoc@doendsandbegin
+  \fi
+}
+\def\Etoc@@startlocaltoc#1#2{%
+    \ifEtoc@localtoc
+       \ifnum #1=#2\relax
+          \global\let\etoclocaltop\Etoc@virtualtop
+          \Etoc@@startlocaltochook
+          \etoclocaltableofcontentshook
+          \ifEtoc@etocstyle
+              \etocetoclocaltocmaketitle
+          \fi
+          \ifx\Etoc@aftertitlehook\@empty
+          \else
+            \ifEtoc@localtoctotoc
+              \ifEtoc@ouroboros
+              \else
+                \let\Etoc@tmp\contentsline
+                \def\contentsline{\let\contentsline\Etoc@tmp\Etoc@gobblethreeorfour}%
+              \fi
+            \fi
+          \fi
+          \global\Etoc@notactivefalse
+       \fi
+    \fi
+}
+\let\etoc@startlocaltoc\@gobble
+\let\Etoc@@startlocaltoc@toc\Etoc@@startlocaltoc
+\let\Etoc@@startlocaltochook\@empty
+\unless\ifEtoc@deeplevels
+  \def\etocdivisionnameatlevel#1{%
+    \ifcase\numexpr#1\relax
+             \ifdefined\c@chapter chapter\else section\fi%
+         \or section%
+         \or subsection%
+         \or subsubsection%
+         \or paragraph%
+         \or subparagraph%
+         \or empty%
+    \else\ifnum\numexpr#1<\m@ne
+             book%
+         \else
+             part%
+         \fi
+    \fi
+  }
+\else
+  \def\etocdivisionnameatlevel#1{%
+    \ifcase\numexpr#1\relax
+             \ifdefined\c@chapter chapter\else section\fi%
+         \or section%
+         \or subsection%
+         \or subsubsection%
+         \or subsubsubsection%
+         \or subsubsubsubsection%
+         \or subsubsubsubsubsection%
+         \or subsubsubsubsubsubsection%
+         \or paragraph%
+         \or subparagraph%
+    \else\ifnum\numexpr#1>\z@
+             empty%
+         \else\ifnum\numexpr#1=\m@ne
+             part%
+         \else
+             book%
+         \fi\fi
+    \fi
+  }
+\fi
+\def\etoclocalheadtotoc#1#2{\addcontentsline{toc}{@#1}{#2}}
+\def\etocglobalheadtotoc{\addcontentsline{toc}}
+\providecommand*\UseName{\@nameuse}
+\def\etocetoclocaltocmaketitle{%
+    \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\localcontentsname}%
+    \if@noskipsec\leavevmode\par\fi
+    \etociflocaltoctotoc
+      {\etocifisstarred
+         {}% star variant, do not add to toc
+         {\etoclocalheadtotoc
+           {\etocdivisionnameatlevel{\etoclocaltop+1}}%
+           {\localcontentsname}%
+         }%
+      }%
+      {}%
+}%
+\def\localcontentsname  {\contentsname}%
+\let\etoclocaltableofcontentshook\@empty
+\if1\ifEtoc@lof0\fi\ifEtoc@lot0\fi1%
+\else
+\AtBeginDocument{%
+  \let\Etoc@originaladdcontentsline\addcontentsline
+  \def\addcontentsline{\Etoc@hackedaddcontentsline}%
+}%
+\fi
+\ifEtoc@lof
+  \ifEtoc@lot
+    \def\Etoc@hackedaddcontentsline#1{%
+      \expanded{\noexpand\in@{.#1,}}{.lof,.lot,}%
+      \ifin@\expandafter\Etoc@hackedaddcontentsline@i
+      \else\expandafter\Etoc@originaladdcontentsline
+      \fi {#1}}
+  \else
+    \def\Etoc@hackedaddcontentsline#1{%
+      \expanded{\noexpand\in@{.#1,}}{.lof,}%
+      \ifin@\expandafter\Etoc@hackedaddcontentsline@i
+      \else\expandafter\Etoc@originaladdcontentsline
+      \fi {#1}}
+  \fi
+\else
+  \def\Etoc@hackedaddcontentsline#1{%
+    \expanded{\noexpand\in@{.#1,}}{.lot,}%
+    \ifin@\expandafter\Etoc@hackedaddcontentsline@i
+    \else\expandafter\Etoc@originaladdcontentsline
+    \fi {#1}}
+\fi
+\def\Etoc@hackedaddcontentsline@i#1#2#3{%
+    \expanded{\noexpand\in@{.#1;#2,}}{.lof;figure,.lot;table,}%
+    \ifin@
+    \addtocontents {toc}{%
+      \protect\contentsline{#2}{#3}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}%
+      \ifdefined\protected@file@percent\protected@file@percent\fi
+    }%
+    \fi
+    \Etoc@originaladdcontentsline{#1}{#2}{#3}%
+}
+\unless\ifdefined\expanded
+  \def\Etoc@hackedaddcontentsline#1{%
+    {\edef\Etoc@tmp{\noexpand\in@{.#1,}{\ifEtoc@lof.lof,\fi\ifEtoc@lot.lot,\fi}}\expandafter}%
+    \Etoc@tmp
+    \ifin@\expandafter\Etoc@hackedaddcontentsline@i
+    \else\expandafter\Etoc@originaladdcontentsline
+    \fi {#1}%
+  }
+  \def\Etoc@hackedaddcontentsline@i#1#2#3{%
+    {\edef\Etoc@tmp{\noexpand\in@{.#1;#2,}}\expandafter}%
+    \Etoc@tmp{.lof;figure,.lot;table,}%
+    \ifin@
+    \addtocontents {toc}{%
+      \protect\contentsline{#2}{#3}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}%
+      \ifdefined\protected@file@percent\protected@file@percent\fi
+    }%
+    \fi
+    \Etoc@originaladdcontentsline{#1}{#2}{#3}%
+  }
+\fi
+\def\Etoc@@startlocallistof#1#2#3{%
+    \ifEtoc@localtoc
+       \ifnum #2=#3\relax
+          \global\let\etoclocaltop\Etoc@virtualtop
+          \global\Etoc@notactivefalse
+          \Etoc@@startlocaltochook
+          \csname etoclocallistof#1shook\endcsname
+          \ifEtoc@etocstyle
+              \csname etocetoclistof#1smaketitle\endcsname
+          \fi
+       \fi
+    \fi
+}
+\def\Etoc@@startlocallistof@setlevels#1{%
+          \ifnum\etoclocaltop<\z@
+              \expandafter\let\csname Etoc@#1@@\endcsname\@ne
+          \else
+              \expandafter\let\csname Etoc@#1@@\expandafter\endcsname
+                              \csname Etoc@\the\numexpr\etoclocaltop+\@ne @@\endcsname
+          \fi
+          \def\Etoc@do##1{%
+              \ifnum\etoclevel{##1}>\etoclocaltop
+                     \expandafter\let\csname Etoc@##1@@\endcsname\Etoc@maxlevel
+              \fi}%
+          \Etoc@dolevels
+}
+\def\etoclocallistoffigureshook{\etocstandardlines}
+\def\etoclocallistoftableshook {\etocstandardlines}
+\def\locallistfigurename{\listfigurename}
+\def\locallisttablename {\listtablename}
+\def\etocetoclistoffiguresmaketitle{%
+    \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\locallistfigurename}%
+    \ifnum\etoclocaltop>\tw@\mbox{}\par\fi
+    \etociflocalloftotoc
+      {\etocifisstarred
+         {}% star variant, do not add to toc
+         {\etoclocalheadtotoc
+           {\etocdivisionnameatlevel{\etoclocaltop+1}}%
+           {\locallistfigurename}%
+         }%
+      }%
+      {}%
+}%
+\def\etocetoclistoftablesmaketitle{%
+    \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\locallisttablename}%
+    \ifnum\etoclocaltop>\tw@\mbox{}\par\fi
+    \etociflocallottotoc
+      {\etocifisstarred
+         {}% star variant, do not add to toc
+         {\etoclocalheadtotoc
+           {\etocdivisionnameatlevel{\etoclocaltop+1}}%
+           {\locallisttablename}%
+         }%
+      }%
+      {}%
+}%
+\let\Etoc@listofreset\@empty
+\ifEtoc@lof
+  \def\locallistoffigures{%
+      \def\Etoc@listofreset{%
+          \let\Etoc@currext\Etoc@tocext
+          \let\Etoc@@startlocaltoc\Etoc@@startlocaltoc@toc
+          \let\Etoc@@startlocaltochook\@empty
+          \let\Etoc@listofreset\@empty
+          \let\Etoc@listofhook\@empty
+          }%
+      \let\Etoc@currext\Etoc@lofext
+      \def\Etoc@@startlocaltoc{\Etoc@@startlocallistof{figure}}%
+      \def\Etoc@@startlocaltochook{\Etoc@@startlocallistof@setlevels{figure}}%
+      \def\Etoc@listofhook{%
+        \def\Etoc@do####1{%
+          \expandafter\let\csname Etoc@@####1@@\endcsname\Etoc@maxlevel
+        }%
+        \Etoc@dolevels
+      }%
+      \localtableofcontents
+  }
+\else
+  \def\locallistoffigures{%
+      \PackageError{etoc}{%
+        \string\locallistoffigures \on@line\space but\MessageBreak
+        package was loaded without `lof' option}%
+        {Try again with \string\usepackage[lof]{etoc}}%
+      }
+\fi
+\ifEtoc@lot
+  \def\locallistoftables{%
+      \def\Etoc@listofreset{%
+          \let\Etoc@currext\Etoc@tocext
+          \let\Etoc@@startlocaltoc\Etoc@@startlocaltoc@toc
+          \let\Etoc@@startlocaltochook\@empty
+          \let\Etoc@listofreset\@empty
+          \let\Etoc@listofhook\@empty
+          }%
+      \let\Etoc@currext\Etoc@lotext
+      \def\Etoc@@startlocaltoc{\Etoc@@startlocallistof{table}}%
+      \def\Etoc@@startlocaltochook{\Etoc@@startlocallistof@setlevels{table}}%
+      \def\Etoc@listofhook{%
+        \def\Etoc@do####1{%
+          \expandafter\let\csname Etoc@@####1@@\endcsname\Etoc@maxlevel
+        }%
+        \Etoc@dolevels
+      }%
+      \localtableofcontents
+  }
+\else
+  \def\locallistoftables{%
+      \PackageError{etoc}{%
+        \string\locallistoftable \on@line\space but\MessageBreak
+        package was loaded without `lot' option}%
+        {Try again with \string\usepackage[lot]{etoc}}%
+      }
+\fi
+\def\Etoc@checkifempty {%
+    \global\Etoc@isemptytoctrue
+    \global\Etoc@stoptocfalse
+    \global\let\Etoc@level\Etoc@minf
+    \global\let\Etoc@virtualtop\Etoc@minf
+    \gdef\Etoc@stackofends{{-3}{}}%
+    \begingroup
+      \ifEtoc@localtoc
+        \def\etoc@startlocaltoc##1{%
+          \ifnum##1=\Etoc@tocid\relax
+              \global\let\etoclocaltop\Etoc@virtualtop
+              \Etoc@@startlocaltochook
+              \global\Etoc@notactivefalse
+          \fi
+        }%
+        \let\contentsline\Etoc@testingcontentslinelocal
+      \else
+        \let\contentsline\Etoc@testingcontentsline
+      \fi
+      \Etoc@storetocdepth
+        \let\Etoc@setlocaltop@doendsandbegin\@empty
+        \the\Etoc@toctoks
+      \Etoc@restoretocdepth
+    \endgroup
+}
+\DeclareRobustCommand*\etocifwasempty
+  {\ifEtoc@isemptytoc\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi }
+\expandafter\let\expandafter\etocxifwasempty\csname etocifwasempty \endcsname
+\def\Etoc@testingcontentslinelocal #1{%
+  \ifEtoc@stoptoc
+  \else
+   \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel
+   \else
+    \global\expandafter\let\expandafter\Etoc@level\csname Etoc@#1@@\endcsname
+    \if @\@car#1\@nil\else\global\let\Etoc@virtualtop\Etoc@level\fi
+    \ifEtoc@notactive
+    \else
+     \ifnum\Etoc@level>\etoclocaltop
+      \unless\ifnum\Etoc@level>\c@tocdepth
+       \global\Etoc@isemptytocfalse
+       \global\Etoc@stoptoctrue
+      \fi
+     \else
+      \global\Etoc@stoptoctrue
+     \fi
+    \fi
+   \fi
+  \fi
+  \Etoc@gobblethreeorfour{}%
+}
+\def\Etoc@testingcontentsline #1{%
+  \ifEtoc@stoptoc
+  \else
+   \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel
+   \else
+    \unless\ifnum\csname Etoc@#1@@\endcsname>\c@tocdepth
+     \global\Etoc@isemptytocfalse
+     \global\Etoc@stoptoctrue
+    \fi
+   \fi
+  \fi
+  \Etoc@gobblethreeorfour{}%
+}
+\def\Etoc@localtableofcontents#1{%
+    \gdef\etoclocaltop{-\@m}%
+    \Etoc@localtoctrue
+    \global\Etoc@isemptytocfalse
+    \edef\Etoc@tocid{#1}%
+    \ifnum\Etoc@tocid<\@ne
+      \setbox0\hbox{\ref{Unknown toc ref \@secondoftwo#1. \space Rerun LaTeX}}%
+      \global\Etoc@stoptoctrue
+      \gdef\etoclocaltop{-\thr@@}%
+      \Etoc@tableofcontents
+      \expandafter\Etoc@gobtoetoc@
+    \fi
+    \global\Etoc@notactivetrue
+    \ifEtoc@checksemptiness
+       \Etoc@checkifempty
+    \fi
+    \ifEtoc@isemptytoc
+       \ifEtoc@notactive
+         \setbox0\hbox{\ref{Unknown toc ID \number\Etoc@tocid. \space Rerun LaTeX}}%
+         \global\Etoc@isemptytocfalse
+         \global\Etoc@stoptoctrue
+         \gdef\etoclocaltop{-\thr@@}%
+         \Etoc@tableofcontents
+         \expandafter\expandafter\expandafter\Etoc@gobtoetoc@
+       \fi
+    \else
+       \global\Etoc@stoptocfalse
+       \global\Etoc@notactivetrue
+       \edef\etoc@startlocaltoc##1%
+           {\noexpand\Etoc@@startlocaltoc{##1}{\Etoc@tocid}}%
+       \Etoc@tableofcontents
+    \fi
+    \@gobble\etoc@
+    \endgroup\ifEtoc@mustclosegroup\endgroup\fi
+    \Etoc@tocdepthreset
+    \Etoc@listofreset
+    \etocaftertochook
+}% \Etoc@localtableofcontents
+\def\Etoc@getref #1{%
+    \@ifundefined{r@#1}
+         {0}
+         {\expandafter\Etoc@getref@i\romannumeral-`0%
+          \expandafter\expandafter\expandafter
+          \@car\csname r@#1\endcsname0\@nil\@etoc
+         }%
+}
+\def\Etoc@getref@i#1#2\@etoc{\ifnum9<1\string#1 #1#2\else 0\fi}
+\def\Etoc@ref#1{\Etoc@localtableofcontents{\Etoc@getref{#1}}}
+\def\Etoc@label#1{\label{#1}\futurelet\Etoc@nexttoken\Etoc@t@bleofcontents}
+\@firstofone{\def\Etoc@again} {\futurelet\Etoc@nexttoken\Etoc@t@bleofcontents}
+\def\Etoc@dothis #1#2\etoc@ {\fi #1}
+\def\Etoc@t@bleofcontents{%
+    \gdef\etoclocaltop{-\@M}%
+    \ifx\Etoc@nexttoken\label\Etoc@dothis{\expandafter\Etoc@label\@gobble}\fi
+    \ifx\Etoc@nexttoken\@sptoken\Etoc@dothis{\Etoc@again}\fi
+    \ifx\Etoc@nexttoken\ref\Etoc@dothis{\expandafter\Etoc@ref\@gobble}\fi
+    \ifEtoc@tocwithid\Etoc@dothis{\Etoc@localtableofcontents{\c@etoc@tocid}}\fi
+    \global\Etoc@isemptytocfalse
+    \ifEtoc@checksemptiness\Etoc@checkifempty\fi
+    \ifEtoc@isemptytoc
+     \ifEtoc@notocifnotoc
+      \expandafter\expandafter\expandafter\@gobble
+     \fi
+    \fi
+    \Etoc@tableofcontents
+    \endgroup
+    \ifEtoc@mustclosegroup\endgroup\fi
+    \Etoc@tocdepthreset
+    \Etoc@listofreset
+    \etocaftertochook
+    \@gobble\etoc@
+    }% \Etoc@t@bleofcontents
+\def\Etoc@table@fcontents{%
+    \refstepcounter{etoc@tocid}%
+    \Etoc@tocwithidfalse
+    \futurelet\Etoc@nexttoken\Etoc@t@bleofcontents
+}
+\def\Etoc@localtable@fcontents{%
+    \refstepcounter{etoc@tocid}%
+    \addtocontents{toc}{\string\etoc@startlocaltoc{\the\c@etoc@tocid}}%
+    \Etoc@tocwithidtrue
+    \futurelet\Etoc@nexttoken\Etoc@t@bleofcontents
+}
+\def\etoctableofcontents{%
+   \Etoc@openouttoc
+   \Etoc@tocdepthset
+   \begingroup
+      \@ifstar
+      {\let\Etoc@aftertitlehook\@empty\Etoc@table@fcontents}
+      {\def\Etoc@aftertitlehook{\etocaftertitlehook}\Etoc@table@fcontents}%
+}% \etoctableofcontents
+\def\etocifisstarred{\ifx\Etoc@aftertitlehook\@empty
+                         \expandafter\@firstoftwo\else
+                         \expandafter\@secondoftwo
+                     \fi}
+\let\etocoriginaltableofcontents\tableofcontents
+\let\tableofcontents\etoctableofcontents
+\let\Etoc@listofhook\@empty
+\newcommand*\localtableofcontents{%
+   \Etoc@openouttoc
+   \Etoc@tocdepthset
+   \begingroup
+      \Etoc@listofhook
+      \@ifstar
+      {\let\Etoc@aftertitlehook\@empty\Etoc@localtable@fcontents}
+      {\def\Etoc@aftertitlehook{\etocaftertitlehook}\Etoc@localtable@fcontents}%
+}% \localtableofcontents
+\newcommand*\localtableofcontentswithrelativedepth[1]{%
+   \def\Etoc@@startlocaltochook{%
+       \global\c@tocdepth\numexpr\etoclocaltop+#1\relax
+   }%
+   \def\Etoc@listofreset{\let\Etoc@@startlocaltochook\@empty
+                         \let\Etoc@listofreset\@empty}%
+   \localtableofcontents
+}% \localtableofcontentswithrelativedepth
+\newcommand\etocsettocstyle[2]{%
+   \Etoc@etocstylefalse
+   \Etoc@classstylefalse
+   \def\Etoc@tableofcontents@user@before{#1}%
+   \def\Etoc@tableofcontents@user@after {#2}%
+}%
+\def\etocstoretocstyleinto#1{%
+%%    \@ifdefinable#1{%
+      \edef#1{\noexpand\Etoc@etocstylefalse\noexpand\Etoc@classstylefalse
+              \def\noexpand\Etoc@tableofcontents@user@before{%
+                  \unexpanded\expandafter{\Etoc@tableofcontents@user@before}%
+                }%
+              \def\noexpand\Etoc@tableofcontents@user@after{%
+                  \unexpanded\expandafter{\Etoc@tableofcontents@user@after}%
+                }%
+             }%
+%%    }%
+}%
+\def\Etoc@tableofcontents {%
+    \Etoc@tableofcontents@etoc@before
+    \ifEtoc@localtoc\ifEtoc@etocstyle\expandafter\expandafter\expandafter\@gobble\fi\fi
+    \Etoc@tableofcontents@user@before
+    \Etoc@tableofcontents@contents
+    \ifEtoc@localtoc\ifEtoc@etocstyle\expandafter\expandafter\expandafter\@gobble\fi\fi
+    \Etoc@tableofcontents@user@after
+    \Etoc@tableofcontents@etoc@after
+    \@gobble\etoc@
+}
+\def\Etoc@tableofcontents@etoc@before{%
+    \ifnum\c@tocdepth>\Etoc@minf
+    \else
+     \expandafter\Etoc@gobtoetoc@
+    \fi
+    \Etoc@par
+    \Etoc@beforetitlehook
+    \etocbeforetitlehook
+    \Etoc@storetocdepth
+    \let\Etoc@savedcontentsline\contentsline
+    \let\contentsline\Etoc@etoccontentsline
+    \ifEtoc@standardlines
+    \else
+        \def\Etoc@do##1{%
+            \expandafter\def\csname etocsaved##1tocline\endcsname
+             {\PackageError{etoc}{%
+              \expandafter\string\csname etocsaved##1tocline\endcsname\space
+              has been deprecated\MessageBreak
+              at 1.1a and is removed at 1.2.\MessageBreak
+              Use \expandafter\string\csname l@##1\endcsname\space directly.\MessageBreak
+              Reported \on@line}%
+                                {I will use \expandafter\string
+              \csname l@##1\endcsname\space myself for this time.%
+                               }%
+              \csname l@##1\endcsname
+            }%
+        }%
+        \Etoc@dolevels
+    \fi
+}%
+\def\Etoc@tableofcontents@contents{%
+    \Etoc@tocdepthset
+    \ifEtoc@parskip\parskip\z@skip\fi
+    \Etoc@aftertitlehook
+    \gdef\etoclocaltop{-\thr@@}%
+    \Etoc@toctoc
+    \etocaftercontentshook
+}%
+\def\Etoc@tableofcontents@etoc@after{%
+    \@nobreakfalse
+    \Etoc@restoretocdepth
+    \ifx\Etoc@global\global
+     \@ifundefined{tof@finish}
+     {}
+     {\ifx\tof@finish\@empty
+      \else
+       \global\let\contentsline\Etoc@savedcontentsline
+      \fi
+     }%
+    \fi
+}
+\def\etocsetstyle#1{\ifcsname Etoc@#1@@\endcsname
+                      \expandafter\Etoc@setstyle@a
+                    \else
+                      \expandafter\Etoc@setstyle@error
+                    \fi {#1}%
+}
+\def\Etoc@setstyle@error #1{%
+    \PackageWarning{etoc}{`#1' is unknown to etoc. \space Did you\MessageBreak
+                    forget some \string\etocsetlevel{#1}{<level>}?\MessageBreak
+                    Reported}%
+    \@gobblefour
+}
+\def\Etoc@setstyle@a #1{%
+    \edef\Etoc@tmp{\the\numexpr\csname Etoc@#1@@\endcsname}%
+    \if1\unless\ifnum\Etoc@tmp<\Etoc@maxlevel 0\fi
+        \unless\ifnum\Etoc@tmp>\Etoc@minf 0\fi1%
+      \Etoc@standardlinesfalse
+      \expandafter\Etoc@setstyle@b\expandafter\Etoc@tmp
+    \else
+      \ifnum\Etoc@tmp=\Etoc@maxlevel
+        \in@{.#1,}{.figure,.table,}%
+        \ifin@
+           \PackageWarning{etoc}
+              {You can not use \string\etocsetstyle\space with `#1'.\MessageBreak
+               Check the package documentation (in particular about\MessageBreak
+               \string\etoclocallistoffigureshook/\string\etoclocallistoftableshook)%
+               \MessageBreak on how to customize
+               figure and table entries in local\MessageBreak lists. Reported}%
+        \else
+           \PackageInfo{etoc}
+              {Attempt to set the style of `#1',\MessageBreak
+               whose level is currently the maximal one \etocthemaxlevel,\MessageBreak
+               which is never displayed. \space This will be ignored\MessageBreak
+               but note that we do quit compatibility mode.\MessageBreak
+               Reported}%
+           \Etoc@standardlinesfalse
+        \fi
+      \else
+        \PackageWarning{etoc}{This should not happen.  Reported}%
+      \fi
+      \expandafter\@gobblefour
+    \fi
+}
+\long\def\Etoc@setstyle@b#1#2#3#4#5{%
+     \expandafter\def\csname Etoc@begin@#1\endcsname    {#2}%
+     \expandafter\def\csname Etoc@prefix@#1\endcsname   {#3}%
+     \expandafter\def\csname Etoc@contents@#1\endcsname {#4}%
+     \expandafter\def\csname Etoc@end@#1\endcsname      {#5}%
+}
+\def\Etoc@setstyle@e#1{%
+     \expandafter\let\csname Etoc@begin@#1\endcsname    \@empty
+     \expandafter\let\csname Etoc@prefix@#1\endcsname   \@empty
+     \expandafter\let\csname Etoc@contents@#1\endcsname \@empty
+     \expandafter\let\csname Etoc@end@#1\endcsname      \@empty
+}
+\def\Etoc@storelines@a#1{%
+   \noexpand\Etoc@setstyle@b{#1}%
+     {\expandafter\Etoc@expandonce\csname Etoc@begin@#1\endcsname}%
+     {\expandafter\Etoc@expandonce\csname Etoc@prefix@#1\endcsname}%
+     {\expandafter\Etoc@expandonce\csname Etoc@contents@#1\endcsname}%
+     {\expandafter\Etoc@expandonce\csname Etoc@end@#1\endcsname}%
+}
+\def\Etoc@expandonce#1{\unexpanded\expandafter{#1}}
+\def\etocstorelinestylesinto#1{%
+    \edef#1{\Etoc@storelines@a{-2}\Etoc@storelines@a{-1}\Etoc@storelines@a{0}%
+            \Etoc@storelines@a {1}\Etoc@storelines@a {2}\Etoc@storelines@a{3}%
+            \Etoc@storelines@a {4}\Etoc@storelines@a {5}%
+            \ifEtoc@deeplevels
+              \Etoc@storelines@a{6}\Etoc@storelines@a{7}\Etoc@storelines@a{8}%
+              \Etoc@storelines@a{9}\Etoc@storelines@a{10}\Etoc@storelines@a{11}%
+            \fi
+    }%
+}
+\def\etocstorethislinestyleinto#1#2{%
+    \edef#2{\expandafter\Etoc@storelines@a\expandafter{\number\etoclevel{#1}}}%
+}%
+\def\etocfontminustwo {\normalfont \LARGE \bfseries}
+\def\etocfontminusone {\normalfont \large \bfseries}
+\def\etocfontzero     {\normalfont \large \bfseries}
+\def\etocfontone      {\normalfont \normalsize \bfseries}
+\def\etocfonttwo      {\normalfont \normalsize}
+\def\etocfontthree    {\normalfont \footnotesize}
+\def\etocsepminustwo  {4ex \@plus .5ex \@minus .5ex}
+\def\etocsepminusone  {4ex \@plus .5ex \@minus .5ex}
+\def\etocsepzero      {2.5ex \@plus .4ex \@minus .4ex}
+\def\etocsepone       {1.5ex \@plus .3ex \@minus .3ex}
+\def\etocseptwo       {.5ex \@plus .1ex \@minus .1ex}
+\def\etocsepthree     {.25ex \@plus .05ex \@minus .05ex}
+\def\etocbaselinespreadminustwo {1}
+\def\etocbaselinespreadminusone {1}
+\def\etocbaselinespreadzero     {1}
+\def\etocbaselinespreadone      {1}
+\def\etocbaselinespreadtwo      {1}
+\def\etocbaselinespreadthree    {.9}
+\def\etocminustwoleftmargin  {1.5em plus 0.5fil}
+\def\etocminustworightmargin {1.5em plus -0.5fil}
+\def\etocminusoneleftmargin  {1em}
+\def\etocminusonerightmargin {1em}
+\def\etoctoclineleaders
+        {\hbox{\normalfont\normalsize\hb@xt@2ex {\hss.\hss}}}
+\def\etocabbrevpagename {p.~}
+\def\etocpartname       {Part}
+\def\etocbookname       {Book}
+\def\etocdefaultlines{%
+    \Etoc@standardlinesfalse
+    \etocdefaultlines@setbook
+    \etocdefaultlines@setpart
+    \etocdefaultlines@setchapter
+    \etocdefaultlines@setsection
+    \etocdefaultlines@setsubsection
+    \etocdefaultlines@setsubsubsection
+    \etocdefaultlines@setdeeperones
+}
+\def\etocnoprotrusion{\leavevmode\kern-\p@\kern\p@}
+\@ifclassloaded{memoir}{%
+ \def\etocdefaultlines@setbook{%
+ \Etoc@setstyle@b
+  {-2}%
+  {\addpenalty\@M\etocskipfirstprefix}
+  {\addpenalty\@secpenalty}
+  {\begingroup
+   \etocfontminustwo
+   \addvspace{\etocsepminustwo}%
+   \parindent \z@
+   \leftskip  \etocminustwoleftmargin
+   \rightskip \etocminustworightmargin
+   \parfillskip \@flushglue
+   \vbox{\etocifnumbered{\etoclink{\etocbookname\enspace\etocthenumber:\quad}}{}%
+         \etocname
+         \baselineskip\etocbaselinespreadminustwo\baselineskip
+         \par}%
+   \addpenalty\@M\addvspace{\etocsepminusone}%
+   \endgroup}
+  {}%
+ }
+ }{\let\etocdefaultlines@setbook\@empty}
+\def\etocdefaultlines@setpart{%
+\Etoc@setstyle@b
+  {-1}%
+  {\addpenalty\@M\etocskipfirstprefix}
+  {\addpenalty\@secpenalty}
+  {\begingroup
+   \etocfontminusone
+   \addvspace{\etocsepminusone}%
+   \parindent \z@
+   \leftskip  \etocminusoneleftmargin
+   \rightskip \etocminusonerightmargin
+   \parfillskip \@flushglue
+   \vbox{\etocifnumbered{\etoclink{\etocpartname\enspace\etocthenumber.\quad}}{}%
+         \etocname
+         \baselineskip\etocbaselinespreadminusone\baselineskip
+         \par}%
+   \addpenalty\@M\addvspace{\etocsepzero}%
+   \endgroup}
+  {}%
+}
+\def\etocdefaultlines@setchapter{%
+\Etoc@setstyle@b
+  {0}%
+  {\addpenalty\@M\etocskipfirstprefix}
+  {\addpenalty\@itempenalty}
+  {\begingroup
+   \etocfontzero
+   \addvspace{\etocsepzero}%
+   \parindent \z@ \parfillskip \@flushglue
+   \vbox{\etocifnumbered{\etocnumber.\enspace}{}\etocname
+         \baselineskip\etocbaselinespreadzero\baselineskip
+         \par}%
+   \endgroup}
+  {\addpenalty{-\@highpenalty}\addvspace{\etocsepminusone}}%
+}
+\def\etocdefaultlines@setsection{%
+\Etoc@setstyle@b
+  {1}%
+  {\addpenalty\@M\etocskipfirstprefix}
+  {\addpenalty\@itempenalty}
+  {\begingroup
+   \etocfontone
+   \addvspace{\etocsepone}%
+   \parindent \z@ \parfillskip \z@
+   \setbox\z@\vbox{\parfillskip\@flushglue
+                   \etocname\par
+                   \setbox\tw@\lastbox
+                   \global\setbox\@ne\hbox{\unhbox\tw@\ }}%
+   \dimen\z@=\wd\@ne
+   \setbox\z@=\etoctoclineleaders
+   \advance\dimen\z@\wd\z@
+   \etocifnumbered
+     {\setbox\tw@\hbox{\etocnumber, \etocabbrevpagename\etocpage\etocnoprotrusion}}
+     {\setbox\tw@\hbox{\etocabbrevpagename\etocpage\etocnoprotrusion}}%
+   \advance\dimen\z@\wd\tw@
+   \ifdim\dimen\z@ < \linewidth
+       \vbox{\etocname~%
+             \leaders\box\z@\hfil\box\tw@
+             \baselineskip\etocbaselinespreadone\baselineskip
+             \par}%
+   \else
+       \vbox{\etocname~%
+             \leaders\copy\z@\hfil\break
+             \hbox{}\leaders\box\z@\hfil\box\tw@
+             \baselineskip\etocbaselinespreadone\baselineskip
+             \par}%
+   \fi
+   \endgroup}
+  {\addpenalty\@secpenalty\addvspace{\etocsepzero}}%
+}
+\def\etocdefaultlines@setsubsection{%
+\Etoc@setstyle@b
+  {2}%
+  {\addpenalty\@medpenalty\etocskipfirstprefix}
+  {\addpenalty\@itempenalty}
+  {\begingroup
+   \etocfonttwo
+   \addvspace{\etocseptwo}%
+   \parindent \z@ \parfillskip \z@
+   \setbox\z@\vbox{\parfillskip\@flushglue
+                   \etocname\par\setbox\tw@\lastbox
+                   \global\setbox\@ne\hbox{\unhbox\tw@}}%
+   \dimen\z@=\wd\@ne
+   \setbox\z@=\etoctoclineleaders
+   \advance\dimen\z@\wd\z@
+   \etocifnumbered
+     {\setbox\tw@\hbox{\etocnumber, \etocabbrevpagename\etocpage\etocnoprotrusion}}
+     {\setbox\tw@\hbox{\etocabbrevpagename\etocpage\etocnoprotrusion}}%
+   \advance\dimen\z@\wd\tw@
+   \ifdim\dimen\z@ < \linewidth
+       \vbox{\etocname~%
+             \leaders\box\z@\hfil\box\tw@
+             \baselineskip\etocbaselinespreadtwo\baselineskip
+             \par}%
+   \else
+       \vbox{\etocname~%
+             \leaders\copy\z@\hfil\break
+             \hbox{}\leaders\box\z@\hfil\box\tw@
+             \baselineskip\etocbaselinespreadtwo\baselineskip
+             \par}%
+   \fi
+   \endgroup}
+  {\addpenalty\@secpenalty\addvspace{\etocsepone}}%
+}
+\def\etocdefaultlines@setsubsubsection{%
+\Etoc@setstyle@b
+  {3}%
+  {\addpenalty\@M
+   \etocfontthree
+   \vspace{\etocsepthree}%
+   \noindent
+   \etocskipfirstprefix}
+  {\allowbreak\,--\,}
+  {\etocname}
+  {.\hfil
+    \begingroup
+     \baselineskip\etocbaselinespreadthree\baselineskip
+     \par
+    \endgroup
+   \addpenalty{-\@highpenalty}}
+}
+\def\etocdefaultlines@setdeeperones{%
+\Etoc@setstyle@e{4}%
+\Etoc@setstyle@e{5}%
+\ifEtoc@deeplevels
+  \Etoc@setstyle@e{6}%
+  \Etoc@setstyle@e{7}%
+  \Etoc@setstyle@e{8}%
+  \Etoc@setstyle@e{9}%
+  \Etoc@setstyle@e{10}%
+  \Etoc@setstyle@e{11}%
+\fi
+}
+\def\etocabovetocskip{3.5ex \@plus 1ex \@minus .2ex}
+\def\etocbelowtocskip{3.5ex \@plus 1ex \@minus .2ex}
+\def\etoccolumnsep{2em}
+\def\etocmulticolsep{0ex}
+\def\etocmulticolpretolerance{-1}
+\def\etocmulticoltolerance{200}
+\def\etocdefaultnbcol{2}
+\def\etocinnertopsep{2ex}
+\newcommand\etocmulticolstyle[2][\etocdefaultnbcol]{%
+\etocsettocstyle
+   {\let\etocoldpar\par
+    \addvspace{\etocabovetocskip}%
+    \ifnum #1>\@ne
+          \expandafter\@firstoftwo
+    \else \expandafter\@secondoftwo
+    \fi
+    {\multicolpretolerance\etocmulticolpretolerance
+    \multicoltolerance\etocmulticoltolerance
+    \setlength{\columnsep}{\etoccolumnsep}%
+    \setlength{\multicolsep}{\etocmulticolsep}%
+    \begin{multicols}{#1}[#2\etocoldpar\addvspace{\etocinnertopsep}]}
+    {#2\ifvmode\else\begingroup\interlinepenalty\@M\parskip\z@skip
+                    \@@par\endgroup
+       \fi
+       \nobreak\addvspace{\etocinnertopsep}%
+       \pretolerance\etocmulticolpretolerance
+       \tolerance\etocmulticoltolerance}%
+   }%
+   {\ifnum #1>\@ne
+          \expandafter\@firstofone
+    \else \expandafter\@gobble
+    \fi
+    {\end{multicols}}%
+    \addvspace{\etocbelowtocskip}}%
+}
+\def\etocinnerbottomsep{3.5ex}
+\def\etocinnerleftsep{2em}
+\def\etocinnerrightsep{2em}
+\def\etoctoprule{\hrule}
+\def\etocleftrule{\vrule}
+\def\etocrightrule{\vrule}
+\def\etocbottomrule{\hrule}
+\def\etoctoprulecolorcmd{\relax}
+\def\etocbottomrulecolorcmd{\relax}
+\def\etocleftrulecolorcmd{\relax}
+\def\etocrightrulecolorcmd{\relax}
+\def\etoc@ruledheading #1{%
+   \hb@xt@\linewidth{\color@begingroup
+          \hss #1\hss\hskip-\linewidth
+          \etoctoprulecolorcmd\leaders\etoctoprule\hss
+          \phantom{#1}%
+          \leaders\etoctoprule\hss\color@endgroup}%
+          \nointerlineskip\nobreak\vskip\etocinnertopsep}
+\newcommand*\etocruledstyle[2][\etocdefaultnbcol]{%
+\etocsettocstyle
+   {\addvspace{\etocabovetocskip}%
+    \ifnum #1>\@ne
+          \expandafter\@firstoftwo
+    \else \expandafter\@secondoftwo
+    \fi
+       {\multicolpretolerance\etocmulticolpretolerance
+        \multicoltolerance\etocmulticoltolerance
+        \setlength{\columnsep}{\etoccolumnsep}%
+        \setlength{\multicolsep}{\etocmulticolsep}%
+        \begin{multicols}{#1}[\etoc@ruledheading{#2}]}
+       {\etoc@ruledheading{#2}%
+         \pretolerance\etocmulticolpretolerance
+         \tolerance\etocmulticoltolerance}}
+   {\ifnum #1>\@ne\expandafter\@firstofone
+         \else \expandafter\@gobble
+    \fi
+    {\end{multicols}}%
+    \addvspace{\etocbelowtocskip}}}
+\def\etocframedmphook{\relax}
+\long\def\etocbkgcolorcmd{\relax}
+\long\def\Etoc@relax{\relax}
+\newbox\etoc@framed@titlebox
+\newbox\etoc@framed@contentsbox
+\newcommand*\etocframedstyle[2][\etocdefaultnbcol]{%
+\etocsettocstyle{%
+    \addvspace{\etocabovetocskip}%
+    \sbox\z@{#2}%
+    \dimen\z@\dp\z@
+    \ifdim\wd\z@<\linewidth \dp\z@\z@ \else \dimen\z@\z@ \fi
+    \setbox\etoc@framed@titlebox=\hb@xt@\linewidth{\color@begingroup
+        \hss
+        \ifx\etocbkgcolorcmd\Etoc@relax
+        \else
+            \sbox\tw@{\color{white}%
+            \vrule\@width\wd\z@\@height\ht\z@\@depth\dimen\z@}%
+            \ifdim\wd\z@<\linewidth \dp\tw@\z@\fi
+            \box\tw@
+            \hskip-\wd\z@
+        \fi
+        \copy\z@
+        \hss
+        \hskip-\linewidth
+        \etoctoprulecolorcmd\leaders\etoctoprule\hss
+        \hskip\wd\z@
+        \etoctoprulecolorcmd\leaders\etoctoprule\hss\color@endgroup}%
+    \setbox\z@\hbox{\etocleftrule\etocrightrule}%
+    \dimen\tw@\linewidth\advance\dimen\tw@-\wd\z@
+        \advance\dimen\tw@-\etocinnerleftsep
+        \advance\dimen\tw@-\etocinnerrightsep
+    \setbox\etoc@framed@contentsbox=\vbox\bgroup
+        \hsize\dimen\tw@
+        \kern\dimen\z@
+        \vskip\etocinnertopsep
+        \hbox\bgroup
+        \begin{minipage}{\hsize}%
+        \etocframedmphook
+    \ifnum #1>\@ne
+          \expandafter\@firstoftwo
+    \else \expandafter\@secondoftwo
+    \fi
+        {\multicolpretolerance\etocmulticolpretolerance
+        \multicoltolerance\etocmulticoltolerance
+        \setlength{\columnsep}{\etoccolumnsep}%
+        \setlength{\multicolsep}{\etocmulticolsep}%
+        \begin{multicols}{#1}}
+        {\pretolerance\etocmulticolpretolerance
+         \tolerance\etocmulticoltolerance}}
+    {\ifnum #1>\@ne\expandafter\@firstofone
+         \else \expandafter\@gobble
+     \fi
+      {\end{multicols}\unskip }%
+    \end{minipage}%
+    \egroup
+    \vskip\etocinnerbottomsep
+    \egroup
+    \vbox{\hsize\linewidth
+        \ifx\etocbkgcolorcmd\Etoc@relax
+        \else
+            \kern\ht\etoc@framed@titlebox
+            \kern\dp\etoc@framed@titlebox
+            \hb@xt@\linewidth{\color@begingroup
+            \etocleftrulecolorcmd\etocleftrule
+            \etocbkgcolorcmd
+            \leaders\vrule
+                   \@height\ht\etoc@framed@contentsbox
+                   \@depth\dp\etoc@framed@contentsbox
+            \hss
+            \etocrightrulecolorcmd\etocrightrule
+            \color@endgroup}\nointerlineskip
+            \vskip-\dp\etoc@framed@contentsbox
+            \vskip-\ht\etoc@framed@contentsbox
+            \vskip-\dp\etoc@framed@titlebox
+            \vskip-\ht\etoc@framed@titlebox
+        \fi
+    \box\etoc@framed@titlebox\nointerlineskip
+    \hb@xt@\linewidth{\color@begingroup
+    {\etocleftrulecolorcmd\etocleftrule}%
+    \hss\box\etoc@framed@contentsbox\hss
+    \etocrightrulecolorcmd\etocrightrule\color@endgroup}
+    \nointerlineskip
+    \vskip\ht\etoc@framed@contentsbox
+    \vskip\dp\etoc@framed@contentsbox
+    \hb@xt@\linewidth{\color@begingroup\etocbottomrulecolorcmd
+          \leaders\etocbottomrule\hss\color@endgroup}}
+    \addvspace{\etocbelowtocskip}}}
+\newcommand\etoc@multicoltoc[2][\etocdefaultnbcol]{%
+    \etocmulticolstyle[#1]{#2}%
+    \tableofcontents}
+\newcommand\etoc@multicoltoci[2][\etocdefaultnbcol]{%
+    \etocmulticolstyle[#1]{#2}%
+    \tableofcontents*}
+\newcommand\etoc@local@multicoltoc[2][\etocdefaultnbcol]{%
+    \etocmulticolstyle[#1]{#2}%
+    \localtableofcontents}
+\newcommand\etoc@local@multicoltoci[2][\etocdefaultnbcol]{%
+    \etocmulticolstyle[#1]{#2}%
+    \localtableofcontents*}
+\newcommand*\etoc@ruledtoc[2][\etocdefaultnbcol]{%
+    \etocruledstyle[#1]{#2}%
+    \tableofcontents}
+\newcommand*\etoc@ruledtoci[2][\etocdefaultnbcol]{%
+    \etocruledstyle[#1]{#2}%
+    \tableofcontents*}
+\newcommand*\etoc@local@ruledtoc[2][\etocdefaultnbcol]{%
+    \etocruledstyle[#1]{#2}%
+    \localtableofcontents}
+\newcommand*\etoc@local@ruledtoci[2][\etocdefaultnbcol]{%
+    \etocruledstyle[#1]{#2}%
+    \localtableofcontents*}
+\newcommand*\etoc@framedtoc[2][\etocdefaultnbcol]{%
+    \etocframedstyle[#1]{#2}%
+    \tableofcontents}
+\newcommand*\etoc@framedtoci[2][\etocdefaultnbcol]{%
+    \etocframedstyle[#1]{#2}%
+    \tableofcontents*}
+\newcommand*\etoc@local@framedtoc[2][\etocdefaultnbcol]{%
+    \etocframedstyle[#1]{#2}%
+    \localtableofcontents}
+\newcommand*\etoc@local@framedtoci[2][\etocdefaultnbcol]{%
+    \etocframedstyle[#1]{#2}%
+    \localtableofcontents*}
+\def\etocmulticol{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@multicoltoci}
+    {\etoc@multicoltoc}}
+\def\etocruled{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@ruledtoci}
+    {\etoc@ruledtoc}}
+\def\etocframed{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@framedtoci}
+    {\etoc@framedtoc}}
+\def\etoclocalmulticol{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@local@multicoltoci}
+    {\etoc@local@multicoltoc}}
+\def\etoclocalruled{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@local@ruledtoci}
+    {\etoc@local@ruledtoc}}
+\def\etoclocalframed{\begingroup
+    \Etoc@mustclosegrouptrue
+    \@ifstar
+    {\etoc@local@framedtoci}
+    {\etoc@local@framedtoc}}
+\def\etocmemoirtoctotocfmt #1#2{%
+    \PackageWarning{etoc}
+        {\string\etocmemoirtoctotocfmt\space is deprecated.\MessageBreak
+         Use in its place \string\etocsettoclineforclasstoc,\MessageBreak
+         and \string\etocsettoclineforclasslistof{toc} (or {lof}, {lot}).
+         I will do this now.\MessageBreak
+         Reported}%
+    \etocsettoclineforclasstoc{#1}{#2}%
+    \etocsettoclineforclasslistof{toc}{#1}{#2}%
+}
+\def\etocsettoclineforclasstoc #1#2{%
+    \def\etocclassmaintocaddtotoc{\etocglobalheadtotoc{#1}{#2}}%
+}
+\def\etocsettoclineforclasslistof #1#2#3{%
+    \@namedef{etocclasslocal#1addtotoc}{\etoclocalheadtotoc{#2}{#3}}%
+}
+\let\etocclasslocaltocaddtotoc\@empty
+\let\etocclasslocallofaddtotoc\@empty
+\let\etocclasslocallotaddtotoc\@empty
+\ifdefined\c@chapter
+  \def\etocclasslocaltocmaketitle{\section*{\localcontentsname}}
+  \def\etocclasslocallofmaketitle{\section*{\locallistfigurename}}
+  \def\etocclasslocallotmaketitle{\section*{\locallisttablename}}
+  \etocsettoclineforclasstoc        {chapter}{\contentsname}
+  \etocsettoclineforclasslistof{toc}{section}{\localcontentsname}
+  \etocsettoclineforclasslistof{lof}{section}{\locallistfigurename}
+  \etocsettoclineforclasslistof{lot}{section}{\locallisttablename}
+\else
+  \def\etocclasslocaltocmaketitle{\subsection*{\localcontentsname}}%
+  \def\etocclasslocallofmaketitle{\subsection*{\locallistfigurename}}%
+  \def\etocclasslocallotmaketitle{\subsection*{\locallisttablename}}%
+  \etocsettoclineforclasstoc        {section}{\contentsname}
+  \etocsettoclineforclasslistof{toc}{subsection}{\localcontentsname}
+  \etocsettoclineforclasslistof{lof}{subsection}{\locallistfigurename}
+  \etocsettoclineforclasslistof{lot}{subsection}{\locallisttablename}
+\fi
+\def\etocclasslocalperhapsaddtotoc #1{%
+    \etocifisstarred
+      {}
+      {\csname ifEtoc@local#1totoc\endcsname
+         \csname etocclasslocal#1addtotoc\endcsname
+       \fi
+      }%
+}
+\def\etocarticlestyle{%
+    \etocsettocstyle
+    {\ifEtoc@localtoc
+       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+       \etocclasslocalperhapsaddtotoc\Etoc@currext
+     \else
+       \section *{\contentsname
+                  \@mkboth {\MakeUppercase \contentsname}
+                           {\MakeUppercase \contentsname}}%
+       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
+     \fi
+    }
+    {}%
+}
+\def\etocarticlestylenomarks{%
+    \etocsettocstyle
+    {\ifEtoc@localtoc
+       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+       \etocclasslocalperhapsaddtotoc\Etoc@currext
+     \else
+       \section *{\contentsname}%
+       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
+     \fi
+    }
+    {}%
+}
+\def\etocbookstyle{%
+    \etocsettocstyle
+    {\if@twocolumn \@restonecoltrue \onecolumn \else \@restonecolfalse \fi
+     \ifEtoc@localtoc
+       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+       \etocclasslocalperhapsaddtotoc\Etoc@currext
+     \else
+       \chapter *{\contentsname
+                  \@mkboth {\MakeUppercase \contentsname}
+                           {\MakeUppercase \contentsname}}%
+       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
+     \fi
+    }%
+    {\if@restonecol \twocolumn \fi}%
+}
+\def\etocbookstylenomarks{%
+    \etocsettocstyle
+    {\if@twocolumn \@restonecoltrue \onecolumn \else \@restonecolfalse \fi
+     \ifEtoc@localtoc
+       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+       \etocclasslocalperhapsaddtotoc\Etoc@currext
+     \else
+       \chapter *{\contentsname}%
+       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
+     \fi
+    }%
+    {\if@restonecol \twocolumn \fi}%
+}
+\let\etocreportstyle\etocbookstyle
+\let\etocreportstylenomarks\etocbookstylenomarks
+\def\etocmemoirstyle{%
+    \etocsettocstyle
+        {\ensureonecol \par \begingroup \phantomsection
+         \ifx\Etoc@aftertitlehook\@empty
+         \else
+           \ifmem@em@starred@listof
+           \else
+             \ifEtoc@localtoc
+                  \etocclasslocalperhapsaddtotoc\Etoc@currext
+             \else
+               \ifEtoc@maintoctotoc
+                  \etocclassmaintocaddtotoc
+               \fi
+             \fi
+           \fi
+         \fi
+         \ifEtoc@localtoc
+            \@namedef{@\Etoc@currext maketitle}{%
+               \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+            }%
+         \fi
+         \@nameuse {@\Etoc@currext maketitle} %<< space token here from memoir code
+         \ifx\Etoc@aftertitlehook\@empty
+          \else
+          \Etoc@aftertitlehook \let \Etoc@aftertitlehook \relax
+         \fi
+         \parskip \cftparskip \@nameuse {cft\Etoc@currext beforelisthook}%
+        }%
+        {\@nameuse {cft\Etoc@currext afterlisthook}%
+         \endgroup\restorefromonecol
+        }%
+}
+\let\Etoc@beforetitlehook\@empty
+\if1\@ifclassloaded{scrartcl}0{\@ifclassloaded{scrbook}0{\@ifclassloaded{scrreprt}01}}%
+\expandafter\@gobble
+\else
+   \ifdefined\setuptoc
+     \def\Etoc@beforetitlehook{%
+         \ifEtoc@localtoc
+            \etocclasslocalperhapsaddtotoc\Etoc@currext
+            \setuptoc{\Etoc@currext}{leveldown}%
+         \else
+            \etocifisstarred{}{\etocifmaintoctotoc{\setuptoc{toc}{totoc}}}%
+         \fi
+     }%
+   \fi
+\expandafter\@firstofone
+\fi
+{\def\etocclasslocalperhapsaddtotoc #1{%
+    \etocifisstarred
+    {}%
+    {\csname ifEtoc@local#1totoc\endcsname
+      \setuptoc{\Etoc@currext}{totoc}%
+     \fi
+    }%
+  }%
+}
+\ifdefined\Iftocfeature
+  \def\etoc@Iftocfeature{\Iftocfeature}%
+\else
+  \def\etoc@Iftocfeature{\iftocfeature}%
+\fi
+\def\etocscrartclstyle{%
+    \etocsettocstyle
+        {\ifx\Etoc@currext\Etoc@tocext
+             \expandafter\@firstofone
+         \else
+             \expandafter\@gobble
+         \fi
+         {\let\if@dynlist\if@tocleft}%
+         \edef\@currext{\Etoc@currext}%
+         \@ifundefined{listof\@currext name}%
+            {\def\list@fname{\listofname~\@currext}}%
+            {\expandafter\let\expandafter\list@fname
+                         \csname listof\@currext name\endcsname}%
+         \etoc@Iftocfeature {\@currext}{onecolumn}
+             {\etoc@Iftocfeature {\@currext}{leveldown}
+              {}
+              {\if@twocolumn \aftergroup \twocolumn \onecolumn \fi }}
+             {}%
+         \etoc@Iftocfeature {\@currext}{numberline}%
+                            {\def \nonumberline {\numberline {}}}{}%
+         \expandafter\tocbasic@listhead\expandafter {\list@fname}%
+         \begingroup \expandafter \expandafter \expandafter
+         \endgroup \expandafter
+         \ifx
+             \csname microtypesetup\endcsname \relax
+         \else
+             \etoc@Iftocfeature {\@currext}{noprotrusion}{}
+                 {\microtypesetup {protrusion=false}%
+                  \PackageInfo {tocbasic}%
+                  {character protrusion at \@currext\space deactivated}}%
+         \fi
+         \etoc@Iftocfeature{\@currext}{noparskipfake}{}{%
+               \ifvmode \@tempskipa\lastskip \vskip-\lastskip
+               \addtolength{\@tempskipa}{\parskip}\vskip\@tempskipa\fi
+               }%
+         \setlength {\parskip }{\z@ }%
+         \setlength {\parindent }{\z@ }%
+         \setlength {\parfillskip }{\z@ \@plus 1fil}%
+         \csname tocbasic@@before@hook\endcsname
+         \csname tb@\@currext @before@hook\endcsname
+      }% end of before_toc
+      {% start of after_toc
+         \providecommand\tocbasic@end@toc@file{}\tocbasic@end@toc@file
+         \edef\@currext{\Etoc@currext}%
+         \csname tb@\@currext @after@hook\endcsname
+         \csname tocbasic@@after@hook\endcsname
+     }% end of after_toc
+}
+\let\etocscrbookstyle\etocscrartclstyle
+\let\etocscrreprtstyle\etocscrartclstyle
+\def\etocclasstocstyle{\etocarticlestyle}
+\newcommand*\etocmarkboth[1]{%
+    \@mkboth{\MakeUppercase{#1}}{\MakeUppercase{#1}}}
+\newcommand*\etocmarkbothnouc[1]{\@mkboth{#1}{#1}}
+\newcommand\etoctocstyle[3][section]{\etocmulticolstyle[#2]%
+    {\csname #1\endcsname *{#3}}}
+\newcommand\etoctocstylewithmarks[4][section]{\etocmulticolstyle[#2]%
+    {\csname #1\endcsname *{#3\etocmarkboth{#4}}}}
+\newcommand\etoctocstylewithmarksnouc[4][section]{\etocmulticolstyle[#2]%
+    {\csname #1\endcsname *{#3\etocmarkbothnouc{#4}}}}
+\def\Etoc@redefetocstylesforchapters{%
+    \renewcommand\etoctocstylewithmarks[4][chapter]{%
+          \etocmulticolstyle[##2]{\csname ##1\endcsname *{##3\etocmarkboth{##4}}}%
+    }
+    \renewcommand\etoctocstylewithmarksnouc[4][chapter]{%
+          \etocmulticolstyle[##2]{\csname ##1\endcsname *{##3\etocmarkbothnouc{##4}}}%
+    }
+    \renewcommand\etoctocstyle[3][chapter]{%
+          \etocmulticolstyle[##2]{\csname ##1\endcsname *{##3}}
+    }
+}
+\@ifclassloaded{scrartcl}
+    {\renewcommand*\etocclasstocstyle{\etocscrartclstyle}}{}
+\@ifclassloaded{book}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocbookstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\@ifclassloaded{report}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocreportstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\@ifclassloaded{scrbook}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocscrbookstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\@ifclassloaded{scrreprt}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocscrreprtstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\@ifclassloaded{memoir}
+    {\renewcommand*\etocfontone{\normalfont\normalsize}
+     \renewcommand*\etocclasstocstyle{\etocmemoirstyle}
+     \Etoc@redefetocstylesforchapters}{}
+\def\etoctocloftstyle {%
+    \etocsettocstyle{%
+      \@cfttocstart
+      \par
+      \begingroup
+        \parindent\z@ \parskip\cftparskip
+        \@nameuse{@cftmake\Etoc@currext title}%
+        \ifEtoc@localtoc
+           \etoctocloftlocalperhapsaddtotoc\Etoc@currext
+        \else
+           \etocifisstarred {}{\ifEtoc@maintoctotoc\@cftdobibtoc\fi}%
+        \fi
+    }%
+    {%
+      \endgroup
+      \@cfttocfinish
+    }%
+}
+\def\etoctocloftlocalperhapsaddtotoc#1{%
+    \etocifisstarred
+      {}%
+      {\csname ifEtoc@local#1totoc\endcsname
+        \ifdefined\c@chapter\def\@tocextra{@section}\else\def\@tocextra{@subsection}\fi
+        \csname @cftdobib#1\endcsname
+       \fi
+      }%
+}
+\def\etoctocbibindstyle {%
+    \etocsettocstyle {%
+      \toc@start
+      \ifEtoc@localtoc
+          \@nameuse{etocclasslocal\Etoc@currext maketitle}%
+          \etocclasslocalperhapsaddtotoc\Etoc@currext
+      \else
+          \etoc@tocbibind@dotoctitle
+      \fi
+      }%
+    {\toc@finish}%
+}
+\def\etoc@tocbibind@dotoctitle {%
+       \if@bibchapter
+        \etocifisstarred
+          {\chapter*{\contentsname}\prw@mkboth{\contentsname} % id.
+          }%
+          {\ifEtoc@maintoctotoc
+             \toc@chapter{\contentsname} %<-space from original
+           \else
+             \chapter*{\contentsname}\prw@mkboth{\contentsname} % id.
+           \fi
+           }%
+       \else
+        \etocifisstarred
+          {\@nameuse{\@tocextra}*{\contentsname\prw@mkboth{\contentsname}} %<-space
+          }
+          {\ifEtoc@maintoctotoc
+             \toc@section{\@tocextra}{\contentsname} %<-space from original
+           \else
+             \@nameuse{\@tocextra}*{\contentsname\prw@mkboth{\contentsname}} % id.
+          \fi
+          }%
+       \fi
+}%
+\@ifclassloaded{memoir}
+{}
+{% memoir not loaded
+ \@ifpackageloaded{tocloft}
+    {\if@cftnctoc\else
+                 \ifEtoc@keeporiginaltoc
+                   \else
+                   \AtBeginDocument{\let\tableofcontents\etoctableofcontents}%
+                 \fi
+     \fi }
+    {\AtBeginDocument
+      {\@ifpackageloaded{tocloft}
+       {\if@cftnctoc\else
+         \PackageWarningNoLine {etoc}
+         {Package `tocloft' was loaded after `etoc'.\MessageBreak
+          To prevent it from overwriting \protect\tableofcontents, it will\MessageBreak
+          be tricked into believing to have been loaded with its\MessageBreak
+          option `titles'. \space But this will cause the `tocloft'\MessageBreak
+          customization of the titles of the main list of figures\MessageBreak
+          and list of tables to not apply either.\MessageBreak
+          You should load `tocloft' before `etoc'.}%
+        \AtEndDocument{\PackageWarning{etoc}
+                       {Please load `tocloft' before `etoc'!\@gobbletwo}}%
+        \fi
+        \@cftnctoctrue }%
+       {}%
+      }%
+     }%
+}
+\@ifclassloaded{memoir}
+{}
+{% memoir not loaded
+  \AtBeginDocument{%
+  \@ifpackageloaded{tocloft}
+   {%
+     \def\etocclasstocstyle{%
+       \etoctocloftstyle
+       \Etoc@classstyletrue
+     }%
+     \ifEtoc@etocstyle
+        \ifEtoc@classstyle
+          \etocclasstocstyle
+          \Etoc@etocstyletrue
+        \fi
+     \else
+        \ifEtoc@classstyle
+          \etocclasstocstyle
+        \fi
+     \fi
+   }%
+   {% no tocloft
+    \@ifpackageloaded {tocbibind}
+     {\if@dotoctoc
+        \def\etocclasstocstyle{%
+          \etoctocbibindstyle
+          \Etoc@classstyletrue
+         }%
+        \ifEtoc@etocstyle
+           \ifEtoc@classstyle
+             \etocclasstocstyle
+             \Etoc@etocstyletrue
+           \fi
+        \else
+           \ifEtoc@classstyle
+             \etocclasstocstyle
+           \fi
+        \fi
+        \ifEtoc@keeporiginaltoc
+        \else
+           \let\tableofcontents\etoctableofcontents
+        \fi
+     }%
+     {}%
+   }%
+   \@ifpackageloaded{tocbibind}
+   {% tocbibind, perhaps with tocloft
+      \if@dotoctoc
+                 \ifEtoc@keeporiginaltoc
+                   \else
+                   \let\tableofcontents\etoctableofcontents
+                 \fi
+        \etocsetup{maintoctotoc,localtoctotoc}%
+         \PackageInfo{etoc}{%
+            Setting (or re-setting) the options `maintoctotoc' and\MessageBreak
+            `localtoctotoc' to true as tocbibind was detected and\MessageBreak
+            found to be configured for `TOC to toc'.\MessageBreak
+            Reported at begin document}%
+      \fi
+      \if@dotoclof
+       \ifEtoc@lof
+        \etocsetup{localloftotoc}%
+        \PackageInfo{etoc}{%
+            Setting (or re-setting) `localloftotoc=true' as the\MessageBreak
+            package tocbibind was detected and is configured for\MessageBreak
+            `LOF to toc'. Reported at begin document}%
+       \fi
+      \fi
+      \if@dotoclot
+       \ifEtoc@lot
+        \etocsetup{locallottotoc}%
+        \PackageInfo{etoc}{%
+            Setting (or re-setting) `locallottotoc=true' as the\MessageBreak
+            package tocbibind was detected and is configured for\MessageBreak
+            `LOT to toc'. Reported at begin document}%
+       \fi
+      \fi
+   }% end of tocbibind branch
+   {}%
+  }% end of at begin document
+}% end of not with memoir branch
+\def\Etoc@addtocontents #1#2{%
+    \addtocontents {toc}{%
+      \protect\contentsline{#1}{#2}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}%
+      \ifdefined\protected@file@percent\protected@file@percent\fi
+    }%
+}
+\def\Etoc@addcontentsline@ #1#2#3{%
+    \@namedef{toclevel@#1}{#3}\addcontentsline {toc}{#1}{#2}%
+}
+\DeclareRobustCommand*{\etoctoccontentsline}
+    {\@ifstar{\Etoc@addcontentsline@}{\Etoc@addtocontents}}
+\def\Etoc@addtocontents@immediately#1#2{%
+    \begingroup
+       \let\Etoc@originalwrite\write
+       \def\write{\immediate\Etoc@originalwrite}%
+       \Etoc@addtocontents{#1}{#2}%
+    \endgroup
+}
+\def\Etoc@addcontentsline@@immediately#1#2#3{%
+    \begingroup
+       \let\Etoc@originalwrite\write
+       \def\write{\immediate\Etoc@originalwrite}%
+       \Etoc@addcontentsline@{#1}{#2}{#3}%
+    \endgoroup
+}
+\DeclareRobustCommand*{\etocimmediatetoccontentsline}
+    {\@ifstar{\Etoc@addcontentsline@@immediately}{\Etoc@addtocontents@immediately}}
+\def\Etoc@storetocdepth   {\xdef\Etoc@savedtocdepth{\number\c@tocdepth}}
+\def\Etoc@restoretocdepth {\global\c@tocdepth\Etoc@savedtocdepth\relax}
+\def\etocobeytoctocdepth {\def\etoc@settocdepth
+                          {\afterassignment\Etoc@@nottoodeep \global\c@tocdepth}}
+\def\Etoc@@nottoodeep {\ifnum\Etoc@savedtocdepth<\c@tocdepth
+                          \global\c@tocdepth\Etoc@savedtocdepth\relax\fi }
+\def\etocignoretoctocdepth {\let\etoc@settocdepth\@gobble }
+\def\etocsettocdepth   {\futurelet\Etoc@nexttoken\Etoc@set@tocdepth }
+\def\Etoc@set@tocdepth {\ifx\Etoc@nexttoken\bgroup
+                            \expandafter\Etoc@set@tocdepth@
+                       \else\expandafter\Etoc@set@toctocdepth
+                       \fi }
+\def\Etoc@set@tocdepth@ #1{\@ifundefined {Etoc@#1@@}
+      {\PackageWarning{etoc}
+          {Unknown sectioning unit #1, \protect\etocsettocdepth\space ignored}}
+      {\global\c@tocdepth\csname Etoc@#1@@\endcsname}%
+}
+\def\Etoc@set@toctocdepth  #1#{\Etoc@set@toctocdepth@ }
+\def\Etoc@set@toctocdepth@ #1{%
+  \@ifundefined{Etoc@#1@@}%
+   {\PackageWarning{etoc}
+        {Unknown sectioning depth #1, \protect\etocsettocdepth.toc ignored}}%
+   {\addtocontents {toc}
+   {\protect\etoc@settocdepth\expandafter\protect\csname Etoc@#1@@\endcsname}}%
+}
+\def\etocimmediatesettocdepth #1#{\Etoc@set@toctocdepth@immediately}
+\def\Etoc@set@toctocdepth@immediately #1{%
+  \@ifundefined{Etoc@#1@@}%
+   {\PackageWarning{etoc}
+        {Unknown sectioning depth #1, \protect\etocimmediatesettocdepth.toc ignored}}%
+   {\begingroup
+      \let\Etoc@originalwrite\write
+      \def\write{\immediate\Etoc@originalwrite}%
+      \addtocontents {toc}
+      {\protect\etoc@settocdepth\expandafter\protect
+       \csname Etoc@#1@@\endcsname}%
+    \endgroup
+   }%
+}
+\def\etocdepthtag   #1#{\Etoc@depthtag }
+\def\Etoc@depthtag  #1{\addtocontents {toc}{\protect\etoc@depthtag {#1}}}
+\def\etocimmediatedepthtag   #1#{\Etoc@depthtag@immediately }
+\def\Etoc@depthtag@immediately #1{%
+  \begingroup
+    \let\Etoc@originalwrite\write
+    \def\write{\immediate\Etoc@originalwrite}%
+    \addtocontents {toc}{\protect\etoc@depthtag {#1}}%
+  \endgroup
+}
+\def\etocignoredepthtags {\let\etoc@depthtag \@gobble }
+\def\etocobeydepthtags   {\let\etoc@depthtag \Etoc@depthtag@ }
+\def\Etoc@depthtag@ #1{\@ifundefined{Etoc@depthof@#1}%
+       {}% ignore in silence if tag has no associated depth
+       {\afterassignment\Etoc@@nottoodeep
+                 \global\c@tocdepth\csname Etoc@depthof@#1\endcsname}%
+}
+\def\etocsettagdepth #1#2{\@ifundefined{Etoc@#2@@}%
+       {\PackageWarning{etoc}
+         {Unknown sectioning depth #2, \protect\etocsettagdepth\space ignored}}%
+       {\@namedef{Etoc@depthof@#1}{\@nameuse{Etoc@#2@@}}}%
+}
+\def\Etoc@tocvsec@err #1{\PackageError {etoc}
+        {The command \protect#1\space is incompatible with `etoc'}
+        {Use \protect\etocsettocdepth.toc as replacement}%
+}%
+\AtBeginDocument {%
+  \@ifclassloaded{memoir}
+    {\PackageInfo {etoc}
+     {Regarding `memoir' class command \protect\settocdepth, consider\MessageBreak
+     \protect\etocsettocdepth.toc as a drop-in replacement with more\MessageBreak
+     capabilities (see `etoc' manual). \space
+     Also, \protect\etocsettocdepth\MessageBreak
+     and \protect\etocsetnexttocdepth\space should be used in place of\MessageBreak
+     `memoir' command \protect\maxtocdepth\@gobble}%
+    }%
+    {\@ifpackageloaded {tocvsec2}{%
+      \def\maxtocdepth  #1{\Etoc@tocvsec@err \maxtocdepth   }%
+      \def\settocdepth  #1{\Etoc@tocvsec@err \settocdepth   }%
+      \def\resettocdepth  {\@ifstar {\Etoc@tocvsec@err \resettocdepth }%
+                                    {\Etoc@tocvsec@err \resettocdepth }%
+                          }%
+      \def\save@tocdepth #1#2#3{}%
+      \let\reset@tocdepth\relax
+      \let\remax@tocdepth\relax
+      \let\tableofcontents\etoctableofcontents
+      \PackageWarningNoLine {etoc}
+      {Package `tocvsec2' detected and its modification of\MessageBreak
+       \protect\tableofcontents\space reverted. \space Use
+       \protect\etocsettocdepth.toc\MessageBreak as a replacement
+       for `tocvsec2' toc-related commands}%
+     }% tocvsec2 loaded
+     {}% tocvsec2 not loaded
+    }%
+}%
+\def\invisibletableofcontents {\etocsetnexttocdepth {-3}\tableofcontents }%
+\def\invisiblelocaltableofcontents
+                         {\etocsetnexttocdepth {-3}\localtableofcontents }%
+\def\etocsetnexttocdepth #1{%
+    \@ifundefined{Etoc@#1@@}
+     {\PackageWarning{etoc}
+       {Unknown sectioning unit #1, \protect\etocsetnextocdepth\space ignored}}
+     {\Etoc@setnexttocdepth{\csname Etoc@#1@@\endcsname}}%
+}%
+\def\Etoc@setnexttocdepth#1{%
+    \def\Etoc@tocdepthset{%
+        \Etoc@tocdepthreset
+        \edef\Etoc@tocdepthreset {%
+               \global\c@tocdepth\the\c@tocdepth\space
+               \global\let\noexpand\Etoc@tocdepthreset\noexpand\@empty
+         }%
+        \global\c@tocdepth#1%
+        \global\let\Etoc@tocdepthset\@empty
+    }%
+}%
+\let\Etoc@tocdepthreset\@empty
+\let\Etoc@tocdepthset  \@empty
+\def\etocsetlocaltop #1#{\Etoc@set@localtop}%
+\def\Etoc@set@localtop #1{%
+  \@ifundefined{Etoc@#1@@}%
+   {\PackageWarning{etoc}
+        {Unknown sectioning depth #1, \protect\etocsetlocaltop.toc ignored}}%
+   {\addtocontents {toc}
+   {\protect\etoc@setlocaltop\expandafter\protect\csname Etoc@#1@@\endcsname}}%
+}%
+\def\etocimmediatesetlocaltop #1#{\Etoc@set@localtop@immediately}%
+\def\Etoc@set@localtop@immediately #1{%
+  \@ifundefined{Etoc@#1@@}%
+   {\PackageWarning{etoc}
+        {Unknown sectioning depth #1, \protect\etocimmediatesetlocaltop.toc ignored}}%
+   {\begingroup
+       \let\Etoc@originalwrite\write
+       \def\write{\immediate\Etoc@originalwrite}%
+       \addtocontents {toc}
+           {\protect\etoc@setlocaltop\expandafter\protect
+                                     \csname Etoc@#1@@\endcsname}%
+    \endgroup
+   }%
+}%
+\def\etoc@setlocaltop #1{%
+  \ifnum#1=\Etoc@maxlevel
+   \Etoc@skipthisonetrue
+  \else
+   \Etoc@skipthisonefalse
+   \global\let\Etoc@level #1%
+   \global\let\Etoc@virtualtop #1%
+   \ifEtoc@localtoc
+    \ifEtoc@stoptoc
+     \Etoc@skipthisonetrue
+    \else
+     \ifEtoc@notactive
+      \Etoc@skipthisonetrue
+     \else
+      \unless\ifnum\Etoc@level>\etoclocaltop
+       \Etoc@skipthisonetrue
+       \global\Etoc@stoptoctrue
+      \fi
+     \fi
+    \fi
+   \fi
+  \fi
+  \let\Etoc@next\@empty
+  \ifEtoc@skipthisone
+  \else
+   \ifnum\Etoc@level>\c@tocdepth
+   \else
+    \ifEtoc@standardlines
+    \else
+     \let\Etoc@next\Etoc@setlocaltop@doendsandbegin
+    \fi
+   \fi
+  \fi
+  \Etoc@next
+}%
+\def\Etoc@setlocaltop@doendsandbegin{%
+    \Etoc@doendsandbegin
+    \global\Etoc@skipprefixfalse
+}
+\addtocontents {toc}{\protect\@ifundefined{etoctocstyle}%
+           {\let\protect\etoc@startlocaltoc\protect\@gobble
+            \let\protect\etoc@settocdepth\protect\@gobble
+            \let\protect\etoc@depthtag\protect\@gobble
+            \let\protect\etoc@setlocaltop\protect\@gobble}{}}%
+\def\etocstandardlines {\Etoc@standardlinestrue}
+\def\etoctoclines      {\Etoc@standardlinesfalse}
+\etocdefaultlines
+\etocstandardlines
+\def\etocstandarddisplaystyle{%
+    \PackageWarningNoLine{etoc}{%
+      \string\etocstandarddisplaystyle \on@line\MessageBreak
+      is deprecated. \space Please use \string\etocclasstocstyle}%
+}
+\expandafter\def\expandafter\etocclasstocstyle\expandafter{%
+    \etocclasstocstyle
+    \Etoc@classstyletrue
+}
+\def\etocetoclocaltocstyle{\Etoc@etocstyletrue}
+\def\etocusertocstyle{\Etoc@etocstylefalse}
+\etocclasstocstyle
+\etocetoclocaltocstyle
+\etocobeytoctocdepth
+\etocobeydepthtags
+\let\etocbeforetitlehook   \@empty
+\let\etocaftertitlehook    \@empty
+\let\etocaftercontentshook \@empty
+\let\etocaftertochook      \@empty
+\def\etockeeporiginaltableofcontents
+   {\Etoc@keeporiginaltoctrue\let\tableofcontents\etocoriginaltableofcontents}%
+\endinput
+%%
+%% End of file `etoc.sty'.
diff --git a/docs/latex/event__base_8hpp.tex b/docs/latex/event__base_8hpp.tex
new file mode 100644
index 0000000..3988b45
--- /dev/null
+++ b/docs/latex/event__base_8hpp.tex
@@ -0,0 +1,36 @@
+\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/event\+\_\+base.hpp File Reference}
+\hypertarget{event__base_8hpp}{}\label{event__base_8hpp}\index{capabilities2\_events/include/capabilities2\_events/event\_base.hpp@{capabilities2\_events/include/capabilities2\_events/event\_base.hpp}}
+{\ttfamily \#include $<$stdexcept$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$functional$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+parameters.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+code.\+hpp$>$}\newline
+Include dependency graph for event\+\_\+base.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{event__base_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{event__base_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{capabilities2\+\_\+events\+::event\+\_\+exception}}
+\begin{DoxyCompactList}\small\item\em event exception \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}}
+\begin{DoxyCompactList}\small\item\em event base class \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/event__base_8hpp__dep__incl.md5 b/docs/latex/event__base_8hpp__dep__incl.md5
new file mode 100644
index 0000000..25037ad
--- /dev/null
+++ b/docs/latex/event__base_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+d7be9864d399fd1a69f55ec5d7cd1408
\ No newline at end of file
diff --git a/docs/latex/event__base_8hpp__dep__incl.pdf b/docs/latex/event__base_8hpp__dep__incl.pdf
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diff --git a/docs/latex/event__base_8hpp_source.tex b/docs/latex/event__base_8hpp_source.tex
new file mode 100644
index 0000000..7c006da
--- /dev/null
+++ b/docs/latex/event__base_8hpp_source.tex
@@ -0,0 +1,80 @@
+\doxysection{event\+\_\+base.\+hpp}
+\hypertarget{event__base_8hpp_source}{}\label{event__base_8hpp_source}\index{capabilities2\_events/include/capabilities2\_events/event\_base.hpp@{capabilities2\_events/include/capabilities2\_events/event\_base.hpp}}
+\mbox{\hyperlink{event__base_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <stdexcept>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <functional>}}
+\DoxyCodeLine{00006\ }
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__parameters_8hpp}{capabilities2\_events/event\_parameters.hpp}}>}}
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability.hpp>}}
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event.hpp>}}
+\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_code.hpp>}}
+\DoxyCodeLine{00012\ }
+\DoxyCodeLine{00013\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\_events}}}
+\DoxyCodeLine{00014\ \{}
+\DoxyCodeLine{00021\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{event\_exception}}\ :\ \textcolor{keyword}{public}\ std::runtime\_error}
+\DoxyCodeLine{00022\ \{}
+\DoxyCodeLine{00023\ \ \ \textcolor{keyword}{using\ }std::runtime\_error::runtime\_error;}
+\DoxyCodeLine{00024\ }
+\DoxyCodeLine{00025\ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception_ad7d805afcac28ab78f9323bd6a740962}{event\_exception}}(\textcolor{keyword}{const}\ std::string\&\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}})\ :\ std::runtime\_error(\mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}})}
+\DoxyCodeLine{00026\ \ \ \{}
+\DoxyCodeLine{00027\ \ \ \}}
+\DoxyCodeLine{00028\ }
+\DoxyCodeLine{00029\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keyword}{const}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}}()\ const\ noexcept\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00030\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00031\ \ \ \ \ \textcolor{keywordflow}{return}\ std::runtime\_error::what();}
+\DoxyCodeLine{00032\ \ \ \}}
+\DoxyCodeLine{00033\ \};}
+\DoxyCodeLine{00034\ }
+\DoxyCodeLine{00042\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{EventBase}}}
+\DoxyCodeLine{00043\ \{}
+\DoxyCodeLine{00044\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00045\ \ \ \textcolor{keyword}{typedef}\ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\_str\_t}};}
+\DoxyCodeLine{00046\ \ \ \textcolor{keyword}{typedef}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\_t}};}
+\DoxyCodeLine{00047\ \ \ \textcolor{keyword}{typedef}\ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\_id\_t}};}
+\DoxyCodeLine{00048\ \ \ \textcolor{keyword}{typedef}\ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\_instance\_id\_t}};}
+\DoxyCodeLine{00049\ \ \ \textcolor{keyword}{typedef}\ std::function<void(\textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\_id\_t}}\&,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\_str\_t}}\&,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\_instance\_id\_t}}\&,\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{parameter\_t}})>\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\_callback\_t}};}
+\DoxyCodeLine{00050\ }
+\DoxyCodeLine{00051\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00052\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef}{EventBase}}()}
+\DoxyCodeLine{00053\ \ \ \{}
+\DoxyCodeLine{00054\ \ \ \}}
+\DoxyCodeLine{00055\ }
+\DoxyCodeLine{00056\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7}{\string~EventBase}}()\ =\ \textcolor{keywordflow}{default};}
+\DoxyCodeLine{00057\ }
+\DoxyCodeLine{00071\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{emit}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id,\ \textcolor{keyword}{const}\ uint8\_t\&\ event\_code,}
+\DoxyCodeLine{00072\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ source,}
+\DoxyCodeLine{00073\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ target,\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\_callback\_t}}\ callback)}
+\DoxyCodeLine{00074\ \ \ \{}
+\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ extract\ bond\_id\ from\ connection\_id\ (format:\ "{}bond\_id/instance\_id/target\_instance\_id"{})}}
+\DoxyCodeLine{00076\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ first\_pos\ =\ connection\_id.find(\textcolor{charliteral}{'/'});}
+\DoxyCodeLine{00077\ }
+\DoxyCodeLine{00078\ \ \ \ \ std::string\ bond\_id\ =\ (first\_pos\ !=\ std::string::npos)\ ?\ connection\_id.substr(0,\ first\_pos)\ :\ connection\_id;}
+\DoxyCodeLine{00079\ }
+\DoxyCodeLine{00080\ \ \ \ \ \textcolor{comment}{//\ do\ callback\ with\ bond\_id\ for\ access\ control}}
+\DoxyCodeLine{00081\ \ \ \ \ \textcolor{keywordflow}{if}\ (callback)}
+\DoxyCodeLine{00082\ \ \ \ \ \{}
+\DoxyCodeLine{00083\ \ \ \ \ \ \ callback(bond\_id,\ target.capability,\ target.instance\_id,\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}(target));}
+\DoxyCodeLine{00084\ \ \ \ \ \}}
+\DoxyCodeLine{00085\ \ \ \}}
+\DoxyCodeLine{00086\ }
+\DoxyCodeLine{00092\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f}{on\_server\_ready}}(\textcolor{keyword}{const}\ std::string\&\ msg)\ =\ 0;}
+\DoxyCodeLine{00093\ }
+\DoxyCodeLine{00099\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb}{on\_process\_launched}}(\textcolor{keyword}{const}\ std::string\&\ pid)\ =\ 0;}
+\DoxyCodeLine{00100\ }
+\DoxyCodeLine{00106\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97}{on\_process\_terminated}}(\textcolor{keyword}{const}\ std::string\&\ pid)\ =\ 0;}
+\DoxyCodeLine{00107\ }
+\DoxyCodeLine{00113\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0}{on\_triggered}}(\textcolor{keyword}{const}\ std::string\&\ trigger\_id)\ =\ 0;}
+\DoxyCodeLine{00114\ }
+\DoxyCodeLine{00121\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900}{on\_connected}}(\textcolor{keyword}{const}\ std::string\&\ source,\ \textcolor{keyword}{const}\ std::string\&\ target)\ =\ 0;}
+\DoxyCodeLine{00122\ }
+\DoxyCodeLine{00129\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528}{on\_disconnected}}(\textcolor{keyword}{const}\ std::string\&\ source,\ \textcolor{keyword}{const}\ std::string\&\ target)\ =\ 0;}
+\DoxyCodeLine{00130\ \};}
+\DoxyCodeLine{00131\ }
+\DoxyCodeLine{00132\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
+
+\end{DoxyCode}
diff --git a/docs/latex/event__node_8hpp.tex b/docs/latex/event__node_8hpp.tex
new file mode 100644
index 0000000..a4e0b31
--- /dev/null
+++ b/docs/latex/event__node_8hpp.tex
@@ -0,0 +1,38 @@
+\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/event\+\_\+node.hpp File Reference}
+\hypertarget{event__node_8hpp}{}\label{event__node_8hpp}\index{capabilities2\_events/include/capabilities2\_events/event\_node.hpp@{capabilities2\_events/include/capabilities2\_events/event\_node.hpp}}
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$memory$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/uuid\+\_\+generator.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+code.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+connection.\+hpp$>$}\newline
+Include dependency graph for event\+\_\+node.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{event__node_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{event__node_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}
+\begin{DoxyCompactList}\small\item\em an event node is a source of an event \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe}}
+\begin{DoxyCompactList}\small\item\em event pipe structure \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/event__node_8hpp__dep__incl.md5 b/docs/latex/event__node_8hpp__dep__incl.md5
new file mode 100644
index 0000000..6b4e6b6
--- /dev/null
+++ b/docs/latex/event__node_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+4ed1fc63af533dfd1c600a101975f20c
\ No newline at end of file
diff --git a/docs/latex/event__node_8hpp__dep__incl.pdf b/docs/latex/event__node_8hpp__dep__incl.pdf
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diff --git a/docs/latex/event__node_8hpp_source.tex b/docs/latex/event__node_8hpp_source.tex
new file mode 100644
index 0000000..42ce0f3
--- /dev/null
+++ b/docs/latex/event__node_8hpp_source.tex
@@ -0,0 +1,220 @@
+\doxysection{event\+\_\+node.\+hpp}
+\hypertarget{event__node_8hpp_source}{}\label{event__node_8hpp_source}\index{capabilities2\_events/include/capabilities2\_events/event\_node.hpp@{capabilities2\_events/include/capabilities2\_events/event\_node.hpp}}
+\mbox{\hyperlink{event__node_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <memory>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00007\ }
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
+\DoxyCodeLine{00009\ }
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{uuid__generator_8hpp}{capabilities2\_events/uuid\_generator.hpp}}>}}
+\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__base_8hpp}{capabilities2\_events/event\_base.hpp}}>}}
+\DoxyCodeLine{00012\ }
+\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability.hpp>}}
+\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_code.hpp>}}
+\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_connection.hpp>}}
+\DoxyCodeLine{00016\ }
+\DoxyCodeLine{00017\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\_events}}}
+\DoxyCodeLine{00018\ \{}
+\DoxyCodeLine{00025\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{EventNode}}}
+\DoxyCodeLine{00026\ \{}
+\DoxyCodeLine{00027\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00035\ \ \ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{EventPipe}}}
+\DoxyCodeLine{00036\ \ \ \{}
+\DoxyCodeLine{00037\ \ \ \ \ \textcolor{comment}{//\ connection\ type}}
+\DoxyCodeLine{00038\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventCode\ \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b}{type}};}
+\DoxyCodeLine{00039\ }
+\DoxyCodeLine{00040\ \ \ \ \ \textcolor{comment}{//\ connection\ target}}
+\DoxyCodeLine{00041\ \ \ \ \ capabilities2\_msgs::msg::Capability\ \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33}{target}};}
+\DoxyCodeLine{00042\ }
+\DoxyCodeLine{00043\ \ \ \ \ \textcolor{comment}{//\ event\ callback\ with\ signature:\ (capability,\ parameters,\ bond\_id)}}
+\DoxyCodeLine{00044\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{EventBase::event\_callback\_t}}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40}{callback}};}
+\DoxyCodeLine{00045\ \ \ \};}
+\DoxyCodeLine{00046\ }
+\DoxyCodeLine{00047\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00048\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{EventNode}}(std::shared\_ptr<EventBase>\ event\_emitter\ =\ \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{00049\ \ \ \ \ :\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}{id\_}}(\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}::gen\_uuid\_str()),\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}}(),\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}(event\_emitter),\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}()}
+\DoxyCodeLine{00050\ \ \ \{}
+\DoxyCodeLine{00051\ \ \ \}}
+\DoxyCodeLine{00052\ }
+\DoxyCodeLine{00053\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\string~EventNode}}()\ =\ \textcolor{keywordflow}{default};}
+\DoxyCodeLine{00054\ }
+\DoxyCodeLine{00064\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,\ \textcolor{keyword}{const}\ uint8\_t\&\ event\_type,}
+\DoxyCodeLine{00065\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}())}
+\DoxyCodeLine{00066\ \ \ \{}
+\DoxyCodeLine{00067\ \ \ \ \ \textcolor{comment}{//\ check\ if\ event\ emitter\ is\ set}}
+\DoxyCodeLine{00068\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}})}
+\DoxyCodeLine{00069\ \ \ \ \ \{}
+\DoxyCodeLine{00070\ \ \ \ \ \ \ \textcolor{comment}{//\ No\ event\ emitter\ configured\ -\/\ silently\ skip}}
+\DoxyCodeLine{00071\ \ \ \ \ \ \ \textcolor{comment}{//\ This\ allows\ runners\ to\ work\ without\ event\ system\ if\ needed}}
+\DoxyCodeLine{00072\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00073\ \ \ \ \ \}}
+\DoxyCodeLine{00074\ }
+\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ check\ each\ connection}}
+\DoxyCodeLine{00076\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ [conn\_id,\ connection]\ :\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}})}
+\DoxyCodeLine{00077\ \ \ \ \ \{}
+\DoxyCodeLine{00078\ \ \ \ \ \ \ \textcolor{comment}{//\ extract\ bond\_id\ from\ connection\_id\ (format:\ "{}bond\_id/instance\_id/target\_instance\_id"{})}}
+\DoxyCodeLine{00079\ \ \ \ \ \ \ \textcolor{keywordtype}{size\_t}\ first\_pos\ =\ conn\_id.find(\textcolor{charliteral}{'/'});}
+\DoxyCodeLine{00080\ \ \ \ \ \ \ \textcolor{keywordtype}{size\_t}\ second\_pos\ =\ conn\_id.find(\textcolor{charliteral}{'/'},\ first\_pos\ +\ 1);}
+\DoxyCodeLine{00081\ }
+\DoxyCodeLine{00082\ \ \ \ \ \ \ std::string\ conn\_bond\_id\ =\ (first\_pos\ !=\ std::string::npos)\ ?\ conn\_id.substr(0,\ first\_pos)\ :\ conn\_id;}
+\DoxyCodeLine{00083\ \ \ \ \ \ \ std::string\ conn\_instance\_id\ =}
+\DoxyCodeLine{00084\ \ \ \ \ \ \ \ \ \ \ (second\_pos\ !=\ std::string::npos)\ ?\ conn\_id.substr(first\_pos\ +\ 1,\ second\_pos\ -\/\ first\_pos\ -\/\ 1)\ :\ \textcolor{stringliteral}{"{}"{}};}
+\DoxyCodeLine{00085\ }
+\DoxyCodeLine{00086\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ targets\ for\ this\ event\ type\ and\ id\ namespace}}
+\DoxyCodeLine{00087\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (connection.type.code\ ==\ event\_type\ \&\&\ bond\_id\ ==\ conn\_bond\_id\ \&\&\ instance\_id\ ==\ conn\_instance\_id)}
+\DoxyCodeLine{00088\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00089\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ parameterise\ target\ capability\ with\ parameters\ from\ the\ trigger}}
+\DoxyCodeLine{00090\ \ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ old\_parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}(connection.target);}
+\DoxyCodeLine{00091\ }
+\DoxyCodeLine{00092\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ extend\ or\ replace\ parameters\ of\ the\ target\ capability\ if\ any\ non\ empty\ parameters\ are\ provided}}
+\DoxyCodeLine{00093\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (!parameters.is\_empty())}
+\DoxyCodeLine{00094\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ option\ :\ parameters.options)}
+\DoxyCodeLine{00095\ \ \ \ \ \ \ \ \ \ \ \ \ old\_parameters.set\_value(option.key,\ option.get\_value(),\ option.type);}
+\DoxyCodeLine{00096\ }
+\DoxyCodeLine{00097\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ target\ capability\ message\ with\ updated\ parameters\ to\ emit\ with\ the\ event}}
+\DoxyCodeLine{00098\ \ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ target\_with\_params\ =\ old\_parameters.toMsg();}
+\DoxyCodeLine{00099\ }
+\DoxyCodeLine{00100\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ copy\ capability\ and\ provider\ from\ original\ target\ as\ parameters\ only\ contains\ the\ options}}
+\DoxyCodeLine{00101\ \ \ \ \ \ \ \ \ target\_with\_params.capability\ =\ connection.target.capability;}
+\DoxyCodeLine{00102\ \ \ \ \ \ \ \ \ target\_with\_params.provider\ =\ connection.target.provider;}
+\DoxyCodeLine{00103\ \ \ \ \ \ \ \ \ target\_with\_params.instance\_id\ =\ connection.target.instance\_id;}
+\DoxyCodeLine{00104\ }
+\DoxyCodeLine{00105\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ event\ via\ event\ api}}
+\DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ NOTE:\ callback\ invocation\ is\ handled\ by\ event\ api}}
+\DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ this\ allows\ the\ nodes\ to\ be\ decoupled}}
+\DoxyCodeLine{00108\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ nodes\ just\ keep\ track\ of\ connections}}
+\DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ modifying\ execution\ of\ other\ nodes\ is\ not\ owned\ by\ this\ class}}
+\DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ this\ lets\ the\ execution\ flow\ be\ made\ thread-\/safe}}
+\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ in\ the\ scope\ where\ the\ thread\ is\ owned}}
+\DoxyCodeLine{00112\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}-\/>emit(conn\_id,\ event\_type,\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}},\ target\_with\_params,\ connection.callback);}
+\DoxyCodeLine{00113\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00114\ \ \ \ \ \}}
+\DoxyCodeLine{00115\ \ \ \}}
+\DoxyCodeLine{00116\ }
+\DoxyCodeLine{00117\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00123\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\_source}}(\textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ src)}
+\DoxyCodeLine{00124\ \ \ \{}
+\DoxyCodeLine{00125\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}}\ =\ src;}
+\DoxyCodeLine{00126\ \ \ \}}
+\DoxyCodeLine{00127\ }
+\DoxyCodeLine{00135\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\_event\_emitter}}(std::shared\_ptr<EventBase>\ event\_emitter)}
+\DoxyCodeLine{00136\ \ \ \{}
+\DoxyCodeLine{00137\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}\ =\ event\_emitter;}
+\DoxyCodeLine{00138\ \ \ \}}
+\DoxyCodeLine{00139\ }
+\DoxyCodeLine{00154\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\_connection}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id,\ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilityEventCode\&\ type,}
+\DoxyCodeLine{00155\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ target,\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{EventBase::event\_callback\_t}}\ event\_cb)}
+\DoxyCodeLine{00156\ \ \ \{}
+\DoxyCodeLine{00157\ \ \ \ \ \textcolor{comment}{//\ validate\ connection\ id}}
+\DoxyCodeLine{00158\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.find(connection\_id)\ !=\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.end())}
+\DoxyCodeLine{00159\ \ \ \ \ \{}
+\DoxyCodeLine{00160\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{event\_exception}}(\textcolor{stringliteral}{"{}connection\ with\ id:\ "{}}\ +\ connection\_id\ +\ \textcolor{stringliteral}{"{}\ already\ exists"{}});}
+\DoxyCodeLine{00161\ \ \ \ \ \}}
+\DoxyCodeLine{00162\ }
+\DoxyCodeLine{00163\ \ \ \ \ \textcolor{comment}{//\ set\ up\ an\ event\ pipe}}
+\DoxyCodeLine{00164\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{EventPipe}}\ conn;}
+\DoxyCodeLine{00165\ \ \ \ \ conn.\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b}{type}}\ =\ type;}
+\DoxyCodeLine{00166\ \ \ \ \ conn.\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33}{target}}\ =\ target;}
+\DoxyCodeLine{00167\ \ \ \ \ conn.\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40}{callback}}\ =\ event\_cb;}
+\DoxyCodeLine{00168\ }
+\DoxyCodeLine{00169\ \ \ \ \ \textcolor{comment}{//\ add\ connection}}
+\DoxyCodeLine{00170\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}[connection\_id]\ =\ conn;}
+\DoxyCodeLine{00171\ }
+\DoxyCodeLine{00172\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}})}
+\DoxyCodeLine{00173\ \ \ \ \ \{}
+\DoxyCodeLine{00174\ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ connected\ event}}
+\DoxyCodeLine{00175\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}-\/>on\_connected(\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}}.capability,\ target.capability);}
+\DoxyCodeLine{00176\ \ \ \ \ \}}
+\DoxyCodeLine{00177\ \ \ \}}
+\DoxyCodeLine{00178\ }
+\DoxyCodeLine{00184\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\_connection}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id)}
+\DoxyCodeLine{00185\ \ \ \{}
+\DoxyCodeLine{00186\ \ \ \ \ \textcolor{comment}{//\ remove\ connection}}
+\DoxyCodeLine{00187\ \ \ \ \ \textcolor{keyword}{auto}\ it\ =\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.find(connection\_id);}
+\DoxyCodeLine{00188\ \ \ \ \ \textcolor{keywordflow}{if}\ (it\ ==\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.end())}
+\DoxyCodeLine{00189\ \ \ \ \ \{}
+\DoxyCodeLine{00190\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{event\_exception}}(\textcolor{stringliteral}{"{}connection\ with\ id:\ "{}}\ +\ connection\_id\ +\ \textcolor{stringliteral}{"{}\ does\ not\ exist"{}});}
+\DoxyCodeLine{00191\ \ \ \ \ \}}
+\DoxyCodeLine{00192\ \ \ \ \ \textcolor{keyword}{auto}\ target\ =\ it-\/>second.target;}
+\DoxyCodeLine{00193\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.erase(connection\_id);}
+\DoxyCodeLine{00194\ }
+\DoxyCodeLine{00195\ \ \ \ \ \textcolor{comment}{//\ emit\ disconnected\ event}}
+\DoxyCodeLine{00196\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}})}
+\DoxyCodeLine{00197\ \ \ \ \ \{}
+\DoxyCodeLine{00198\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}-\/>on\_disconnected(\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}}.capability,\ target.capability);}
+\DoxyCodeLine{00199\ \ \ \ \ \}}
+\DoxyCodeLine{00200\ \ \ \}}
+\DoxyCodeLine{00201\ }
+\DoxyCodeLine{00202\ \ \ \textcolor{comment}{//\ helper\ members}}
+\DoxyCodeLine{00203\ }
+\DoxyCodeLine{00207\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\_connections}}()}
+\DoxyCodeLine{00208\ \ \ \{}
+\DoxyCodeLine{00209\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.clear();}
+\DoxyCodeLine{00210\ \ \ \}}
+\DoxyCodeLine{00211\ }
+\DoxyCodeLine{00217\ \ \ std::vector<capabilities2\_msgs::msg::CapabilityConnection>\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\_connections}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00218\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00219\ \ \ \ \ std::vector<capabilities2\_msgs::msg::CapabilityConnection>\ conns;}
+\DoxyCodeLine{00220\ }
+\DoxyCodeLine{00221\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ [conn\_id,\ connection]\ :\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}})}
+\DoxyCodeLine{00222\ \ \ \ \ \{}
+\DoxyCodeLine{00223\ \ \ \ \ \ \ capabilities2\_msgs::msg::CapabilityConnection\ c;}
+\DoxyCodeLine{00224\ \ \ \ \ \ \ c.type\ =\ connection.type;}
+\DoxyCodeLine{00225\ \ \ \ \ \ \ c.source\ =\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}};}
+\DoxyCodeLine{00226\ \ \ \ \ \ \ c.target\ =\ connection.target;}
+\DoxyCodeLine{00227\ \ \ \ \ \ \ conns.push\_back(c);}
+\DoxyCodeLine{00228\ \ \ \ \ \}}
+\DoxyCodeLine{00229\ }
+\DoxyCodeLine{00230\ \ \ \ \ \textcolor{keywordflow}{return}\ conns;}
+\DoxyCodeLine{00231\ \ \ \}}
+\DoxyCodeLine{00232\ }
+\DoxyCodeLine{00240\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\_connection}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id)\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00241\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00242\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.find(connection\_id)\ !=\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.end();}
+\DoxyCodeLine{00243\ \ \ \}}
+\DoxyCodeLine{00244\ }
+\DoxyCodeLine{00250\ \ \ \textcolor{keywordtype}{size\_t}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\_count}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00251\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00252\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.size();}
+\DoxyCodeLine{00253\ \ \ \}}
+\DoxyCodeLine{00254\ }
+\DoxyCodeLine{00260\ \ \ \textcolor{keyword}{const}\ std::string\&\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\_id}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00261\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00262\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}{id\_}};}
+\DoxyCodeLine{00263\ \ \ \}}
+\DoxyCodeLine{00264\ }
+\DoxyCodeLine{00270\ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\_source}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00271\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00272\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}};}
+\DoxyCodeLine{00273\ \ \ \}}
+\DoxyCodeLine{00274\ }
+\DoxyCodeLine{00278\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\_event\_emitter\_set}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00279\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00280\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}\ !=\ \textcolor{keyword}{nullptr};}
+\DoxyCodeLine{00281\ \ \ \}}
+\DoxyCodeLine{00282\ }
+\DoxyCodeLine{00283\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00284\ \ \ \textcolor{comment}{//\ unique\ id\ of\ the\ event\ node}}
+\DoxyCodeLine{00285\ \ \ \textcolor{comment}{//\ using\ uuid\ string}}
+\DoxyCodeLine{00286\ \ \ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}{id\_}};}
+\DoxyCodeLine{00287\ }
+\DoxyCodeLine{00288\ \ \ \textcolor{comment}{//\ source\ capability\ of\ this\ event\ node}}
+\DoxyCodeLine{00289\ \ \ capabilities2\_msgs::msg::Capability\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}};}
+\DoxyCodeLine{00290\ }
+\DoxyCodeLine{00291\ \ \ \textcolor{comment}{//\ event\ emitter\ used\ to\ emit\ events}}
+\DoxyCodeLine{00292\ \ \ \textcolor{comment}{//\ store\ as\ member\ to\ avoid\ passing\ around}}
+\DoxyCodeLine{00293\ \ \ std::shared\_ptr<EventBase>\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}};}
+\DoxyCodeLine{00294\ }
+\DoxyCodeLine{00295\ \ \ \textcolor{comment}{//\ connections\ from\ this\ event\ node\ to\ target\ capabilities}}
+\DoxyCodeLine{00296\ \ \ \textcolor{comment}{//\ Key:\ connection\_id\ (format:\ "{}bond\_id/trigger\_id"{})}}
+\DoxyCodeLine{00297\ \ \ \textcolor{comment}{//\ Value:\ EventPipe\ with\ type,\ target,\ callback}}
+\DoxyCodeLine{00298\ \ \ std::map<std::string,\ EventPipe>\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}};}
+\DoxyCodeLine{00299\ \};}
+\DoxyCodeLine{00300\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
+
+\end{DoxyCode}
diff --git a/docs/latex/event__parameters_8hpp.tex b/docs/latex/event__parameters_8hpp.tex
new file mode 100644
index 0000000..982f267
--- /dev/null
+++ b/docs/latex/event__parameters_8hpp.tex
@@ -0,0 +1,53 @@
+\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/event\+\_\+parameters.hpp File Reference}
+\hypertarget{event__parameters_8hpp}{}\label{event__parameters_8hpp}\index{capabilities2\_events/include/capabilities2\_events/event\_parameters.hpp@{capabilities2\_events/include/capabilities2\_events/event\_parameters.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$any$>$}\newline
+{\ttfamily \#include $<$stdexcept$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+parameter.\+hpp$>$}\newline
+Include dependency graph for event\+\_\+parameters.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{event__parameters_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{event__parameters_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{capabilities2\+\_\+events\+::options\+\_\+exception}}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{capabilities2\+\_\+events\+::\+Parameter}}
+\begin{DoxyCompactList}\small\item\em Key value pair for capability options. \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}
+\begin{DoxyCompactList}\small\item\em capability options for a capability runner given by interface and provider \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum class \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{capabilities2\+\_\+events\+::\+Option\+Type}} \{ \newline
+\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5}{capabilities2\+\_\+events\+::\+BOOL}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229}{capabilities2\+\_\+events\+::\+DOUBLE}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92}{capabilities2\+\_\+events\+::\+INT}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949}{capabilities2\+\_\+events\+::\+STRING}}
+, \newline
+\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2}{capabilities2\+\_\+events\+::\+UNCONVERTED}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424}{capabilities2\+\_\+events\+::\+VECTOR\+\_\+\+BOOL}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe}{capabilities2\+\_\+events\+::\+VECTOR\+\_\+\+DOUBLE}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8}{capabilities2\+\_\+events\+::\+VECTOR\+\_\+\+INT}}
+, \newline
+\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20}{capabilities2\+\_\+events\+::\+VECTOR\+\_\+\+STRING}}
+ \}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/event__parameters_8hpp__dep__incl.md5 b/docs/latex/event__parameters_8hpp__dep__incl.md5
new file mode 100644
index 0000000..59230cd
--- /dev/null
+++ b/docs/latex/event__parameters_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+e8d93c36bfea6e3aa55fd2b62a92927f
\ No newline at end of file
diff --git a/docs/latex/event__parameters_8hpp__dep__incl.pdf b/docs/latex/event__parameters_8hpp__dep__incl.pdf
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diff --git a/docs/latex/event__parameters_8hpp_source.tex b/docs/latex/event__parameters_8hpp_source.tex
new file mode 100644
index 0000000..f5e0b59
--- /dev/null
+++ b/docs/latex/event__parameters_8hpp_source.tex
@@ -0,0 +1,240 @@
+\doxysection{event\+\_\+parameters.\+hpp}
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+\DoxyCodeLine{00141\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a5cd5fb07b1a96468bdbed99bd904a234}{value}}\ =\ std::any\_cast<std::vector<std::string>>(new\_value);}
+\DoxyCodeLine{00142\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00143\ }
+\DoxyCodeLine{00144\ \ \ \ \ \ \ \textcolor{keywordflow}{default}:}
+\DoxyCodeLine{00145\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{options\_exception}}(\textcolor{stringliteral}{"{}Unsupported\ OptionType"{}});}
+\DoxyCodeLine{00146\ \ \ \ \ \}}
+\DoxyCodeLine{00147\ \ \ \}}
+\DoxyCodeLine{00148\ }
+\DoxyCodeLine{00149\ \ \ capabilities2\_msgs::msg::CapabilityParameter\ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a40731837f170a632f96e0187c8138e7a}{toMsg}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00150\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00151\ \ \ \ \ capabilities2\_msgs::msg::CapabilityParameter\ msg;}
+\DoxyCodeLine{00152\ \ \ \ \ msg.key\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a57b71a8358c3a4af184b1713a772474a}{key}};}
+\DoxyCodeLine{00153\ \ \ \ \ msg.value\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a5cd5fb07b1a96468bdbed99bd904a234}{value}};}
+\DoxyCodeLine{00154\ \ \ \ \ msg.type\ =\ \textcolor{keyword}{static\_cast<}\textcolor{keywordtype}{int}\textcolor{keyword}{>}(\mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a63eaf7bcb8ab3f2a3839c9963563b546}{type}});}
+\DoxyCodeLine{00155\ \ \ \ \ \textcolor{keywordflow}{return}\ msg;}
+\DoxyCodeLine{00156\ \ \ \}}
+\DoxyCodeLine{00157\ \};}
+\DoxyCodeLine{00158\ }
+\DoxyCodeLine{00166\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{EventParameters}}}
+\DoxyCodeLine{00167\ \{}
+\DoxyCodeLine{00168\ \ \ std::vector<Parameter>\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}}\ =\ \{\};}
+\DoxyCodeLine{00169\ }
+\DoxyCodeLine{00170\ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a57fdeb9d660eee744ef4bcd58e96339e}{EventParameters}}()\ =\ \textcolor{keywordflow}{default};}
+\DoxyCodeLine{00171\ }
+\DoxyCodeLine{00172\ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a124050d50c5d5870b1e85697c33ba759}{EventParameters}}(\textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ msg)}
+\DoxyCodeLine{00173\ \ \ \{}
+\DoxyCodeLine{00174\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}}.clear();}
+\DoxyCodeLine{00175\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ option\_msg\ :\ msg.parameters)}
+\DoxyCodeLine{00176\ \ \ \ \ \{}
+\DoxyCodeLine{00177\ \ \ \ \ \ \ \textcolor{keyword}{auto}\ option\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{Parameter}}(option\_msg);}
+\DoxyCodeLine{00178\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}}.push\_back(option);}
+\DoxyCodeLine{00179\ \ \ \ \ \}}
+\DoxyCodeLine{00180\ \ \ \}}
+\DoxyCodeLine{00181\ }
+\DoxyCodeLine{00182\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ac26732100aab80ff256b54636c57b85c}{is\_empty}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00183\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00184\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}}.empty();}
+\DoxyCodeLine{00185\ \ \ \}}
+\DoxyCodeLine{00186\ }
+\DoxyCodeLine{00193\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_af3f6a280eb464e33f4f4ba7092a70cac}{has\_value}}(\textcolor{keyword}{const}\ std::string\&\ key)\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00194\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00195\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ option\ :\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}})}
+\DoxyCodeLine{00196\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (option.key\ ==\ key)}
+\DoxyCodeLine{00197\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00198\ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{keyword}{false};}
+\DoxyCodeLine{00199\ \ \ \}}
+\DoxyCodeLine{00200\ }
+\DoxyCodeLine{00208\ \ \ std::any\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a06e1a6f60cb6c8830d6769532b1f3cdb}{get\_value}}(\textcolor{keyword}{const}\ std::string\&\ key,\ std::any\ default\_value)}
+\DoxyCodeLine{00209\ \ \ \{}
+\DoxyCodeLine{00210\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_af3f6a280eb464e33f4f4ba7092a70cac}{has\_value}}(key))}
+\DoxyCodeLine{00211\ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ option\ :\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}})}
+\DoxyCodeLine{00212\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00213\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (option.key\ ==\ key)}
+\DoxyCodeLine{00214\ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00215\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00216\ \ \ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00217\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ option.get\_value();}
+\DoxyCodeLine{00218\ \ \ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00219\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ std::exception\&\ e)}
+\DoxyCodeLine{00220\ \ \ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00221\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{options\_exception}}(\textcolor{stringliteral}{"{}Failed\ to\ convert\ option\ '"{}}\ +\ option.key\ +\ \textcolor{stringliteral}{"{}':\ "{}}\ +\ e.what());}
+\DoxyCodeLine{00222\ \ \ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00223\ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00224\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00225\ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00226\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ default\_value;}
+\DoxyCodeLine{00227\ \ \ \}}
+\DoxyCodeLine{00228\ }
+\DoxyCodeLine{00237\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_abc8bda9430434f26bb4db99e17455e5a}{set\_value}}(\textcolor{keyword}{const}\ std::string\&\ key,\ \textcolor{keyword}{const}\ std::any\&\ value,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{OptionType}}\&\ type)}
+\DoxyCodeLine{00238\ \ \ \{}
+\DoxyCodeLine{00239\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ option\ :\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}})}
+\DoxyCodeLine{00240\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (option.key\ ==\ key)}
+\DoxyCodeLine{00241\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00242\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00243\ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00244\ \ \ \ \ \ \ \ \ \ \ option.set\_value(key,\ value,\ type);}
+\DoxyCodeLine{00245\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00246\ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00247\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ std::exception\&\ e)}
+\DoxyCodeLine{00248\ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{options\_exception}}(\textcolor{stringliteral}{"{}Failed\ to\ set\ option\ '"{}}\ +\ option.key\ +\ \textcolor{stringliteral}{"{}':\ "{}}\ +\ e.what());}
+\DoxyCodeLine{00250\ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00251\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00252\ }
+\DoxyCodeLine{00253\ \ \ \ \ \textcolor{comment}{//\ Parameter\ not\ found,\ add\ new\ one}}
+\DoxyCodeLine{00254\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{Parameter}}\ new\_option;}
+\DoxyCodeLine{00255\ \ \ \ \ new\_option.\mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a7e297cd1d51c0c23a56146275f41c431}{set\_value}}(key,\ value,\ type);}
+\DoxyCodeLine{00256\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}}.push\_back(new\_option);}
+\DoxyCodeLine{00257\ \ \ \}}
+\DoxyCodeLine{00258\ }
+\DoxyCodeLine{00259\ \ \ capabilities2\_msgs::msg::Capability\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_af4cb9521061d29b8e77d19cd7b13cfdd}{toMsg}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00260\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00261\ \ \ \ \ capabilities2\_msgs::msg::Capability\ msg;}
+\DoxyCodeLine{00262\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ option\ :\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}})}
+\DoxyCodeLine{00263\ \ \ \ \ \ \ msg.parameters.push\_back(option.toMsg());}
+\DoxyCodeLine{00264\ \ \ \ \ \textcolor{keywordflow}{return}\ msg;}
+\DoxyCodeLine{00265\ \ \ \}}
+\DoxyCodeLine{00266\ \};}
+\DoxyCodeLine{00267\ }
+\DoxyCodeLine{00268\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
+
+\end{DoxyCode}
diff --git a/docs/latex/files.tex b/docs/latex/files.tex
new file mode 100644
index 0000000..3f34ffc
--- /dev/null
+++ b/docs/latex/files.tex
@@ -0,0 +1,54 @@
+\doxysection{File List}
+Here is a list of all files with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__base_8hpp}{event\+\_\+base.\+hpp}} }{\pageref{event__base_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__node_8hpp}{event\+\_\+node.\+hpp}} }{\pageref{event__node_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}} }{\pageref{event__parameters_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{published__event_8hpp}{published\+\_\+event.\+hpp}} }{\pageref{published__event_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{uuid__generator_8hpp}{uuid\+\_\+generator.\+hpp}} }{\pageref{uuid__generator_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+events/src/\mbox{\hyperlink{uuid__generator_8cpp}{uuid\+\_\+generator.\+cpp}} }{\pageref{uuid__generator_8cpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{action__runner_8hpp}{action\+\_\+runner.\+hpp}} }{\pageref{action__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{encap__runner_8hpp}{encap\+\_\+runner.\+hpp}} }{\pageref{encap__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{launch__runner_8hpp}{launch\+\_\+runner.\+hpp}} }{\pageref{launch__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{multiplex__base__runner_8hpp}{multiplex\+\_\+base\+\_\+runner.\+hpp}} }{\pageref{multiplex__base__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{notrigger__runner_8hpp}{notrigger\+\_\+runner.\+hpp}} }{\pageref{notrigger__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}} }{\pageref{runner__base_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{service__runner_8hpp}{service\+\_\+runner.\+hpp}} }{\pageref{service__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{threadtrigger__runner_8hpp}{threadtrigger\+\_\+runner.\+hpp}} }{\pageref{threadtrigger__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{topic__runner_8hpp}{topic\+\_\+runner.\+hpp}} }{\pageref{topic__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/\mbox{\hyperlink{get__capability__specs__runner_8hpp}{get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp}} }{\pageref{get__capability__specs__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/\mbox{\hyperlink{input__multiplex__runner_8hpp}{input\+\_\+multiplex\+\_\+runner.\+hpp}} }{\pageref{input__multiplex__runner_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/src/\mbox{\hyperlink{dummy__runner_8cpp}{dummy\+\_\+runner.\+cpp}} }{\pageref{dummy__runner_8cpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/src/\mbox{\hyperlink{launch__runner_8cpp}{launch\+\_\+runner.\+cpp}} }{\pageref{launch__runner_8cpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+runner/src/system/\mbox{\hyperlink{system__runners_8cpp}{system\+\_\+runners.\+cpp}} }{\pageref{system__runners_8cpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{bond__cache_8hpp}{bond\+\_\+cache.\+hpp}} }{\pageref{bond__cache_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__api_8hpp}{capabilities\+\_\+api.\+hpp}} }{\pageref{capabilities__api_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__db_8hpp}{capabilities\+\_\+db.\+hpp}} }{\pageref{capabilities__db_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__server_8hpp}{capabilities\+\_\+server.\+hpp}} }{\pageref{capabilities__server_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{db__base_8hpp}{db\+\_\+base.\+hpp}} }{\pageref{db__base_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{runner__cache_8hpp}{runner\+\_\+cache.\+hpp}} }{\pageref{runner__cache_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{defineable__base_8hpp}{defineable\+\_\+base.\+hpp}} }{\pageref{defineable__base_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}} }{\pageref{header_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{interface_8hpp}{interface.\+hpp}} }{\pageref{interface_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{predicate_8hpp}{predicate.\+hpp}} }{\pageref{predicate_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{predicateable__base_8hpp}{predicateable\+\_\+base.\+hpp}} }{\pageref{predicateable__base_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{provider_8hpp}{provider.\+hpp}} }{\pageref{provider_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remappable__base_8hpp}{remappable\+\_\+base.\+hpp}} }{\pageref{remappable__base_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remapping_8hpp}{remapping.\+hpp}} }{\pageref{remapping_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{resource_8hpp}{resource.\+hpp}} }{\pageref{resource_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{run__config_8hpp}{run\+\_\+config.\+hpp}} }{\pageref{run__config_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{running_8hpp}{running.\+hpp}} }{\pageref{running_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{semantic__interface_8hpp}{semantic\+\_\+interface.\+hpp}} }{\pageref{semantic__interface_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/utils/\mbox{\hyperlink{sql__safe_8hpp}{sql\+\_\+safe.\+hpp}} }{\pageref{sql__safe_8hpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/launch/\mbox{\hyperlink{capabilities2__server_8composed_8launch_8py}{capabilities2\+\_\+server.\+composed.\+launch.\+py}} }{\pageref{capabilities2__server_8composed_8launch_8py}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/launch/\mbox{\hyperlink{capabilities2__server_8launch_8py}{capabilities2\+\_\+server.\+launch.\+py}} }{\pageref{capabilities2__server_8launch_8py}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/scripts/\mbox{\hyperlink{capability__registrar_8py}{capability\+\_\+registrar.\+py}} }{\pageref{capability__registrar_8py}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/src/\mbox{\hyperlink{capabilities__server__component_8cpp}{capabilities\+\_\+server\+\_\+component.\+cpp}} }{\pageref{capabilities__server__component_8cpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/src/\mbox{\hyperlink{capabilities__server__node_8cpp}{capabilities\+\_\+server\+\_\+node.\+cpp}} }{\pageref{capabilities__server__node_8cpp}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__establish__bond_8py}{call\+\_\+establish\+\_\+bond.\+py}} }{\pageref{call__establish__bond_8py}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__get__interfaces_8py}{call\+\_\+get\+\_\+interfaces.\+py}} }{\pageref{call__get__interfaces_8py}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__get__providers_8py}{call\+\_\+get\+\_\+providers.\+py}} }{\pageref{call__get__providers_8py}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__get__semantic__interfaces_8py}{call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+py}} }{\pageref{call__get__semantic__interfaces_8py}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__get__specs_8py}{call\+\_\+get\+\_\+specs.\+py}} }{\pageref{call__get__specs_8py}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__register__cap_8py}{call\+\_\+register\+\_\+cap.\+py}} }{\pageref{call__register__cap_8py}}{}
+\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{test_8cpp}{test.\+cpp}} }{\pageref{test_8cpp}}{}
+\end{DoxyCompactList}
diff --git a/docs/latex/get__capability__specs__runner_8hpp.tex b/docs/latex/get__capability__specs__runner_8hpp.tex
new file mode 100644
index 0000000..de7c916
--- /dev/null
+++ b/docs/latex/get__capability__specs__runner_8hpp.tex
@@ -0,0 +1,28 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/get\+\_\+capability\+\_\+specs\+\_\+runner.hpp File Reference}
+\hypertarget{get__capability__specs__runner_8hpp}{}\label{get__capability__specs__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/system/get\_capability\_specs\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/system/get\_capability\_specs\_runner.hpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+runner/service\+\_\+runner.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+capability\+\_\+specs.\+hpp$>$}\newline
+Include dependency graph for get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{get__capability__specs__runner_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=254pt]{get__capability__specs__runner_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}
+\begin{DoxyCompactList}\small\item\em Executor runner class. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/get__capability__specs__runner_8hpp__dep__incl.md5 b/docs/latex/get__capability__specs__runner_8hpp__dep__incl.md5
new file mode 100644
index 0000000..80cc69a
--- /dev/null
+++ b/docs/latex/get__capability__specs__runner_8hpp__dep__incl.md5
@@ -0,0 +1 @@
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diff --git a/docs/latex/get__capability__specs__runner_8hpp_source.tex b/docs/latex/get__capability__specs__runner_8hpp_source.tex
new file mode 100644
index 0000000..80b65b4
--- /dev/null
+++ b/docs/latex/get__capability__specs__runner_8hpp_source.tex
@@ -0,0 +1,65 @@
+\doxysection{get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp}
+\hypertarget{get__capability__specs__runner_8hpp_source}{}\label{get__capability__specs__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/system/get\_capability\_specs\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/system/get\_capability\_specs\_runner.hpp}}
+\mbox{\hyperlink{get__capability__specs__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{service__runner_8hpp}{capabilities2\_runner/service\_runner.hpp}}>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_capability\_specs.hpp>}}
+\DoxyCodeLine{00005\ }
+\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00007\ \{}
+\DoxyCodeLine{00008\ }
+\DoxyCodeLine{00015\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{GetCapabilitySpecsRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{ServiceRunner}}<capabilities2\_msgs::srv::GetCapabilitySpecs>}
+\DoxyCodeLine{00016\ \{}
+\DoxyCodeLine{00017\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00018\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a848b090faf5103681df61bf494495966}{GetCapabilitySpecsRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{ServiceRunner}}()}
+\DoxyCodeLine{00019\ \ \ \{}
+\DoxyCodeLine{00020\ \ \ \}}
+\DoxyCodeLine{00021\ }
+\DoxyCodeLine{00029\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00030\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00031\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}{init\_service}}(node,\ run\_config,\ \textcolor{stringliteral}{"{}/capabilities/get\_capability\_specs"{}});}
+\DoxyCodeLine{00032\ }
+\DoxyCodeLine{00033\ \ \ \ \ \textcolor{comment}{//\ emit\ start\ event}}
+\DoxyCodeLine{00034\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\_started}}(bond\_id,\ \textcolor{stringliteral}{"{}"{}},\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\_on\_started}}());}
+\DoxyCodeLine{00035\ \ \ \}}
+\DoxyCodeLine{00036\ }
+\DoxyCodeLine{00037\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00044\ \ \ \textcolor{keyword}{virtual}\ capabilities2\_msgs::srv::GetCapabilitySpecs::Request}
+\DoxyCodeLine{00045\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b}{generate\_request}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00046\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00047\ \ \ \ \ capabilities2\_msgs::srv::GetCapabilitySpecs::Request\ request;}
+\DoxyCodeLine{00048\ \ \ \ \ \textcolor{keywordflow}{return}\ request;}
+\DoxyCodeLine{00049\ \ \ \}}
+\DoxyCodeLine{00050\ }
+\DoxyCodeLine{00057\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{param\_on\_success}}()\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00058\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00059\ \ \ \ \ \textcolor{comment}{//\ Create\ an\ Event\ Parameter\ with\ CapabilitySpecs\ content}}
+\DoxyCodeLine{00060\ \ \ \ \ std::vector<std::string>\ capability\_spec\_strings;}
+\DoxyCodeLine{00061\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ spec\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}{response\_}}-\/>capability\_specs)}
+\DoxyCodeLine{00062\ \ \ \ \ \{}
+\DoxyCodeLine{00063\ \ \ \ \ \ \ std::string\ spec\_string\ =\ \textcolor{stringliteral}{"{}package:\ "{}}\ +\ spec.package\ +\ \textcolor{stringliteral}{"{},\ type:\ "{}}\ +\ spec.type\ +}
+\DoxyCodeLine{00064\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{},\ default\_provider:\ "{}}\ +\ spec.default\_provider\ +\ \textcolor{stringliteral}{"{},\ content:\ "{}}\ +\ spec.content;}
+\DoxyCodeLine{00065\ \ \ \ \ \ \ capability\_spec\_strings.push\_back(spec\_string);}
+\DoxyCodeLine{00066\ \ \ \ \ \}}
+\DoxyCodeLine{00067\ }
+\DoxyCodeLine{00068\ \ \ \ \ \textcolor{comment}{//\ Create\ EventParameters\ and\ set\ the\ capability\ specs\ as\ a\ parameter\ for\ the\ on\_success\ event}}
+\DoxyCodeLine{00069\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters;}
+\DoxyCodeLine{00070\ \ \ \ \ parameters.\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_abc8bda9430434f26bb4db99e17455e5a}{set\_value}}(\textcolor{stringliteral}{"{}CapabilitySpecs"{}},\ capability\_spec\_strings,\ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20}{capabilities2\_events::OptionType::VECTOR\_STRING}});}
+\DoxyCodeLine{00071\ }
+\DoxyCodeLine{00072\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}GetCapabilitySpecsRunner\ creating\ param\_on\_success\ with\ \%zu\ capability\ specs"{}},\ capability\_spec\_strings.size());}
+\DoxyCodeLine{00073\ }
+\DoxyCodeLine{00074\ \ \ \ \ \textcolor{keywordflow}{return}\ parameters;}
+\DoxyCodeLine{00075\ \ \ \}}
+\DoxyCodeLine{00076\ }
+\DoxyCodeLine{00077\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a97bee7f3c56177c44026dcd20948329c}{process\_response}}(\textcolor{keyword}{typename}\ capabilities2\_msgs::srv::GetCapabilitySpecs::Response::SharedPtr\ response)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00078\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00079\ \ \ \ \ \textcolor{comment}{//\ This\ function\ can\ be\ used\ to\ log\ the\ response\ or\ perform\ any\ additional\ processing\ if\ needed}}
+\DoxyCodeLine{00080\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}GetCapabilitySpecsRunner\ received\ response\ with\ \%zu\ capability\ specs"{}},\ response-\/>capability\_specs.size());}
+\DoxyCodeLine{00081\ \ \ \}}
+\DoxyCodeLine{00082\ \};}
+\DoxyCodeLine{00083\ }
+\DoxyCodeLine{00084\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/header_8hpp.tex b/docs/latex/header_8hpp.tex
new file mode 100644
index 0000000..148b271
--- /dev/null
+++ b/docs/latex/header_8hpp.tex
@@ -0,0 +1,37 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/header.hpp File Reference}
+\hypertarget{header_8hpp}{}\label{header_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/header.hpp@{capabilities2\_server/include/capabilities2\_server/models/header.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
+Include dependency graph for header.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=337pt]{header_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{header_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em unique key for a row \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em base model for all models that can be modified \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em base model for all models that can be soft deleted \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/header_8hpp__dep__incl.md5 b/docs/latex/header_8hpp__dep__incl.md5
new file mode 100644
index 0000000..19e7263
--- /dev/null
+++ b/docs/latex/header_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+720270a26fa1201b314ab36b0b20aa8c
\ No newline at end of file
diff --git a/docs/latex/header_8hpp__dep__incl.pdf b/docs/latex/header_8hpp__dep__incl.pdf
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diff --git a/docs/latex/header_8hpp_source.tex b/docs/latex/header_8hpp_source.tex
new file mode 100644
index 0000000..230e4b5
--- /dev/null
+++ b/docs/latex/header_8hpp_source.tex
@@ -0,0 +1,77 @@
+\doxysection{header.\+hpp}
+\hypertarget{header_8hpp_source}{}\label{header_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/header.hpp@{capabilities2\_server/include/capabilities2\_server/models/header.hpp}}
+\mbox{\hyperlink{header_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{sql__safe_8hpp}{capabilities2\_server/utils/sql\_safe.hpp}}>}}
+\DoxyCodeLine{00006\ }
+\DoxyCodeLine{00007\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00008\ \{}
+\DoxyCodeLine{00009\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00010\ \{}
+\DoxyCodeLine{00011\ }
+\DoxyCodeLine{00013\ \textcolor{comment}{//\ implement\ hidden\ unique\ id}}
+\DoxyCodeLine{00014\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{identifiable\_base\_t}}}
+\DoxyCodeLine{00015\ \{}
+\DoxyCodeLine{00016\ \ \ \textcolor{comment}{//\ TODO:\ add\ autoincrementing\ col\ in\ DB}}
+\DoxyCodeLine{00017\ \ \ \textcolor{keywordtype}{int}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba}{id}};}
+\DoxyCodeLine{00018\ \};}
+\DoxyCodeLine{00019\ }
+\DoxyCodeLine{00021\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{modifiable\_base\_t}}}
+\DoxyCodeLine{00022\ \{}
+\DoxyCodeLine{00023\ \ \ \textcolor{comment}{//\ TODO:\ implement\ creation\ and\ modified\ logic\ in\ db\ handler}}
+\DoxyCodeLine{00024\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2}{date\_created}};}
+\DoxyCodeLine{00025\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e}{date\_modified}};}
+\DoxyCodeLine{00026\ \};}
+\DoxyCodeLine{00027\ }
+\DoxyCodeLine{00029\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{soft\_deleteable\_base\_t}}}
+\DoxyCodeLine{00030\ \{}
+\DoxyCodeLine{00031\ \ \ \textcolor{comment}{//\ TODO:\ implement\ soft\ delete\ logic\ in\ db\ handler}}
+\DoxyCodeLine{00032\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5}{is\_deleted}}\ =\ \textcolor{keyword}{false};}
+\DoxyCodeLine{00033\ \};}
+\DoxyCodeLine{00034\ }
+\DoxyCodeLine{00040\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\_model\_t}}\ :\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{identifiable\_base\_t}},\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{soft\_deleteable\_base\_t}},\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{modifiable\_base\_t}}}
+\DoxyCodeLine{00041\ \{}
+\DoxyCodeLine{00042\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
+\DoxyCodeLine{00043\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}};}
+\DoxyCodeLine{00044\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}};}
+\DoxyCodeLine{00045\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}};}
+\DoxyCodeLine{00046\ }
+\DoxyCodeLine{00047\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
+\DoxyCodeLine{00048\ \ \ \{}
+\DoxyCodeLine{00049\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ =\ node[\textcolor{stringliteral}{"{}name"{}}].as<std::string>();}
+\DoxyCodeLine{00050\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}\ =\ node[\textcolor{stringliteral}{"{}spec\_version"{}}].as<std::string>();}
+\DoxyCodeLine{00051\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}}\ =\ node[\textcolor{stringliteral}{"{}spec\_type"{}}].as<std::string>();}
+\DoxyCodeLine{00052\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}}\ =\ node[\textcolor{stringliteral}{"{}description"{}}].as<std::string>();}
+\DoxyCodeLine{00053\ \ \ \}}
+\DoxyCodeLine{00054\ }
+\DoxyCodeLine{00055\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}{to\_yaml}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00056\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00057\ \ \ \ \ YAML::Node\ node;}
+\DoxyCodeLine{00058\ \ \ \ \ node[\textcolor{stringliteral}{"{}name"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
+\DoxyCodeLine{00059\ \ \ \ \ node[\textcolor{stringliteral}{"{}spec\_version"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}};}
+\DoxyCodeLine{00060\ \ \ \ \ node[\textcolor{stringliteral}{"{}spec\_type"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}};}
+\DoxyCodeLine{00061\ \ \ \ \ node[\textcolor{stringliteral}{"{}description"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}};}
+\DoxyCodeLine{00062\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
+\DoxyCodeLine{00063\ \ \ \}}
+\DoxyCodeLine{00064\ }
+\DoxyCodeLine{00065\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}{to\_sql\_table}}()}
+\DoxyCodeLine{00066\ \ \ \{}
+\DoxyCodeLine{00067\ \ \ \ \ \textcolor{comment}{//\ name,\ version,\ type,\ description}}
+\DoxyCodeLine{00068\ \ \ \ \ \textcolor{comment}{//\ name\ is\ the\ primary\ key}}
+\DoxyCodeLine{00069\ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{stringliteral}{"{}name\ TEXT\ NOT\ NULL\ PRIMARY\ KEY,\ version\ TEXT\ NOT\ NULL,\ type\ TEXT\ NOT\ NULL,\ description\ TEXT"{}};}
+\DoxyCodeLine{00070\ \ \ \}}
+\DoxyCodeLine{00071\ }
+\DoxyCodeLine{00072\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}{to\_sql\_values}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00073\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00074\ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{stringliteral}{"{}'"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}})\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00075\ \ \ \}}
+\DoxyCodeLine{00076\ \};}
+\DoxyCodeLine{00077\ }
+\DoxyCodeLine{00078\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00079\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/hierarchy.tex b/docs/latex/hierarchy.tex
new file mode 100644
index 0000000..2bb6f08
--- /dev/null
+++ b/docs/latex/hierarchy.tex
@@ -0,0 +1,97 @@
+\doxysection{Class Hierarchy}
+This inheritance list is sorted roughly, but not completely, alphabetically\+:\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::Bond\+Cache}{\pageref{classcapabilities2__server_1_1BondCache}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::Capabilities\+API}{\pageref{classcapabilities2__server_1_1CapabilitiesAPI}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::Capabilities\+Server}{\pageref{classcapabilities2__server_1_1CapabilitiesServer}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1capability__model__t}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1running__model__t}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::DBBase}{\pageref{classcapabilities2__server_1_1DBBase}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::Capabilities\+DB}{\pageref{classcapabilities2__server_1_1CapabilitiesDB}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1defineable__base__t}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1provider__model__t}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1run__config__model__t}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+events\+::Event\+Base}{\pageref{classcapabilities2__events_1_1EventBase}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+events\+::Published\+Event}{\pageref{classcapabilities2__events_1_1PublishedEvent}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+events\+::Event\+Node}{\pageref{classcapabilities2__events_1_1EventNode}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Runner\+Base}{\pageref{classcapabilities2__runner_1_1RunnerBase}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Dummy\+Runner}{\pageref{classcapabilities2__runner_1_1DummyRunner}}{}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Multiplex\+Base\+Runner}{\pageref{classcapabilities2__runner_1_1MultiplexBaseRunner}}{}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::No\+Trigger\+Runner}{\pageref{classcapabilities2__runner_1_1NoTriggerRunner}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Launch\+Runner}{\pageref{classcapabilities2__runner_1_1LaunchRunner}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Thread\+Trigger\+Runner}{\pageref{classcapabilities2__runner_1_1ThreadTriggerRunner}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} capabilities2\+\_\+msgs\+::srv\+::Get\+Capability\+Specs \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1ServiceRunner}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Get\+Capability\+Specs\+Runner}{\pageref{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Action\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1ActionRunner}}{}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Input\+Multiplex\+Runner}{\pageref{classcapabilities2__runner_1_1InputMultiplexRunner}}{}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} ServiceT \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1ServiceRunner}}{}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::Topic\+Runner\texorpdfstring{$<$}{<} TopicT \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1TopicRunner}}{}
+\end{DoxyCompactList}
+\end{DoxyCompactList}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+events\+::Event\+Parameters}{\pageref{structcapabilities2__events_1_1EventParameters}}{}
+\item \contentsline{section}{capabilities2\+\_\+events\+::Event\+Node\+::Event\+Pipe}{\pageref{structcapabilities2__events_1_1EventNode_1_1EventPipe}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1identifiable__base__t}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1header__model__t}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1modifiable__base__t}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1header__model__t}}{}
+\end{DoxyCompactList}
+\item rclcpp\+::Node\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::Capabilities\+Server}{\pageref{classcapabilities2__server_1_1CapabilitiesServer}}{}
+\end{DoxyCompactList}
+\item No\+Trigger\+Action\+Runner\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::En\+Cap\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1EnCapRunner}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+events\+::Parameter}{\pageref{structcapabilities2__events_1_1Parameter}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1predicate__model__t}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1predicateable__base__t}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1interface__model__t}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1provider__model__t}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1remappable__base__t}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1provider__model__t}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1remapping__model__t}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1remappings__model__t}}{}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::resource}{\pageref{structcapabilities2__runner_1_1resource}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1resource__model__t}}{}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::runner\+\_\+opts}{\pageref{structcapabilities2__runner_1_1runner__opts}}{}
+\item \contentsline{section}{capabilities2\+\_\+server\+::Runner\+Cache}{\pageref{classcapabilities2__server_1_1RunnerCache}}{}
+\item std\+::runtime\+\_\+error\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+events\+::event\+\_\+exception}{\pageref{structcapabilities2__events_1_1event__exception}}{}
+\item \contentsline{section}{capabilities2\+\_\+events\+::options\+\_\+exception}{\pageref{structcapabilities2__events_1_1options__exception}}{}
+\item \contentsline{section}{capabilities2\+\_\+runner\+::runner\+\_\+exception}{\pageref{structcapabilities2__runner_1_1runner__exception}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}}{}
+\begin{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1header__model__t}}{}
+\end{DoxyCompactList}
+\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1specification__model__t}}{}
+\item \contentsline{section}{capabilities2\+\_\+events\+::UUIDGenerator}{\pageref{classcapabilities2__events_1_1UUIDGenerator}}{}
+\item Node\begin{DoxyCompactList}
+\item \contentsline{section}{capability\+\_\+registrar.\+Capability\+Registrar}{\pageref{classcapability__registrar_1_1CapabilityRegistrar}}{}
+\end{DoxyCompactList}
+\end{DoxyCompactList}
diff --git a/docs/latex/index.tex b/docs/latex/index.tex
new file mode 100644
index 0000000..6baecf1
--- /dev/null
+++ b/docs/latex/index.tex
@@ -0,0 +1,81 @@
+\chapter{Capabilities2}
+\hypertarget{index}{}\label{index}\index{Capabilities2@{Capabilities2}}
+\label{index_md_README}%
+\Hypertarget{index_md_README}%
+  \href{https://index.ros.org/doc/ros2/Releases/}{\texttt{ }}  \href{https://open.vscode.dev/collaborativeroboticslab/capabilities2}{\texttt{ }} \href{https://opensource.org/licenses/MIT}{\texttt{ }}
+
+A reimplementation of the \href{https://github.com/osrf/capabilities}{\texttt{ capabilities}} package. This package is implemented using {\ttfamily C++} and extends the capabilities package features.
+
+
+\begin{DoxyItemize}
+\item \doxysectlink{md_capabilities2__server_2readme}{capabilities2\+\_\+server}{0} package contains the core of the system.
+\item \doxysectlink{md_capabilities2__runner_2readme}{capabilities2\+\_\+runner}{0} package contains base and template classes for capability implementations.
+\end{DoxyItemize}\hypertarget{index_autotoc_md113}{}\doxysection{\texorpdfstring{System structure}{System structure}}\label{index_autotoc_md113}
+ 
+\begin{DoxyImage}
+\includegraphics[width=\textwidth,height=\textheight/2,keepaspectratio=true]{system-structure.png}
+\doxyfigcaption{System Structure}
+\end{DoxyImage}
+   \hypertarget{index_autotoc_md114}{}\doxysection{\texorpdfstring{Entities}{Entities}}\label{index_autotoc_md114}
+The main usage of {\ttfamily capabilities2} will typically involve creating or customizing capabilities through providers, interfaces and semantic interfaces. These are stored as YAML, and for more information about definitions and examples, click the links\+:
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Entity   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Entity   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+\doxysectlink{md_docs_2interfaces}{Interfaces}{0}   &The main capability specification file    \\\cline{1-2}
+\doxysectlink{md_docs_2providers}{Providers}{0}   &The capability provider specification file provides a mechanism to operate the capability    \\\cline{1-2}
+\doxysectlink{md_docs_2semantic__interfaces}{Semantic Interfaces}{0}   &The semantic interface specification file provides a mechanism to redefine a capability with semantic information   \\\cline{1-2}
+\end{longtabu}
+
+
+Runners can be created using the runner API parent classes \doxysectlink{md_capabilities2__runner_2readme}{here}{0}. The capabilities service can be started using the \doxysectlink{md_capabilities2__server_2readme}{capabilities2\+\_\+server}{0} package.\hypertarget{index_autotoc_md115}{}\doxysection{\texorpdfstring{Setup Information}{Setup Information}}\label{index_autotoc_md115}
+
+\begin{DoxyItemize}
+\item \doxysectlink{md_docs_2setup}{Installation}{0}
+\item \doxysectlink{md_docs_2setup__with__dev}{Setup Instructions with devcontainer}{0}
+\item Dependency installation for Foxglove-\/studio
+\end{DoxyItemize}\hypertarget{index_autotoc_md116}{}\doxysection{\texorpdfstring{Quick Startup information}{Quick Startup information}}\label{index_autotoc_md116}
+\hypertarget{index_autotoc_md117}{}\doxysubsection{\texorpdfstring{Starting the Capabilities2 server}{Starting the Capabilities2 server}}\label{index_autotoc_md117}
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{source\ install/setup.bash}
+\DoxyCodeLine{ros2\ launch\ capabilities2\_server\ capabilities2\_server.launch.py}
+
+\end{DoxyCode}
+\hypertarget{index_autotoc_md118}{}\doxysection{\texorpdfstring{Additional Information}{Additional Information}}\label{index_autotoc_md118}
+
+\begin{DoxyItemize}
+\item \doxysectlink{md_docs_2motivation__and__examples}{Motivation and Example Use Cases}{0}
+\item \doxysectlink{md_docs_2design}{Design Information}{0}
+\item \doxysectlink{md_docs_2readme}{Generated API and docs site}{0}
+\item \doxysectlink{md_capabilities2__server_2docs_2register}{Registering a capability}{0}
+\item \doxysectlink{md_capabilities2__server_2docs_2terminal__usage}{Terminal based capability usage}{0}
+\item \doxysectlink{md_docs_2run__test__scripts}{Running test scripts}{0}
+\end{DoxyItemize}\hypertarget{index_autotoc_md119}{}\doxysection{\texorpdfstring{Acknowledgements}{Acknowledgements}}\label{index_autotoc_md119}
+This work is based on the capabilities package developed by the Open Source Robotics Foundation. \href{https://github.com/osrf/capabilities}{\texttt{ github.\+com/osrf/capabilities}}.\hypertarget{index_autotoc_md120}{}\doxysection{\texorpdfstring{Citation}{Citation}}\label{index_autotoc_md120}
+If you use this work in an academic context, please cite the following publication(s)\+:
+
+\href{https://dl.acm.org/doi/10.5555/3721488.3721623}{\texttt{ Capabilities2 for ROS2\+: Advanced Skill-\/\+Based Control for Human-\/\+Robot Interaction}}
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{@inproceedings\{10.5555/3721488.3721623,}
+\DoxyCodeLine{\ \ \ \ author\ =\ \{Pritchard,\ Michael\ and\ Ratnayake,\ Kalana\ and\ Gamage,\ Buddhi\ and\ Jayasuriya,\ Maleen\ and\ Herath,\ Damith\},}
+\DoxyCodeLine{\ \ \ \ title\ =\ \{Capabilities2\ for\ ROS2:\ Advanced\ Skill-\/Based\ Control\ for\ Human-\/Robot\ Interaction\},}
+\DoxyCodeLine{\ \ \ \ year\ =\ \{2025\},}
+\DoxyCodeLine{\ \ \ \ publisher\ =\ \{IEEE\ Press\},}
+\DoxyCodeLine{\ \ \ \ booktitle\ =\ \{Proceedings\ of\ the\ 2025\ ACM/IEEE\ International\ Conference\ on\ Human-\/Robot\ Interaction\},}
+\DoxyCodeLine{\ \ \ \ pages\ =\ \{1067–1071\},}
+\DoxyCodeLine{\ \ \ \ location\ =\ \{Melbourne,\ Australia\},}
+\DoxyCodeLine{\ \ \ \ series\ =\ \{HRI\ '25\}}
+\DoxyCodeLine{\}}
+
+\end{DoxyCode}
+ 
\ No newline at end of file
diff --git a/docs/latex/input__multiplex__runner_8hpp.tex b/docs/latex/input__multiplex__runner_8hpp.tex
new file mode 100644
index 0000000..62237dc
--- /dev/null
+++ b/docs/latex/input__multiplex__runner_8hpp.tex
@@ -0,0 +1,27 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/input\+\_\+multiplex\+\_\+runner.hpp File Reference}
+\hypertarget{input__multiplex__runner_8hpp}{}\label{input__multiplex__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/system/input\_multiplex\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/system/input\_multiplex\_runner.hpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+runner/threadtrigger\+\_\+runner.\+hpp$>$}\newline
+Include dependency graph for input\+\_\+multiplex\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{input__multiplex__runner_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=254pt]{input__multiplex__runner_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/input__multiplex__runner_8hpp__dep__incl.md5 b/docs/latex/input__multiplex__runner_8hpp__dep__incl.md5
new file mode 100644
index 0000000..9a28c65
--- /dev/null
+++ b/docs/latex/input__multiplex__runner_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+2fd307d785de8ddd36544849766a5f53
\ No newline at end of file
diff --git a/docs/latex/input__multiplex__runner_8hpp__dep__incl.pdf b/docs/latex/input__multiplex__runner_8hpp__dep__incl.pdf
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diff --git a/docs/latex/input__multiplex__runner_8hpp_source.tex b/docs/latex/input__multiplex__runner_8hpp_source.tex
new file mode 100644
index 0000000..aa4eeb3
--- /dev/null
+++ b/docs/latex/input__multiplex__runner_8hpp_source.tex
@@ -0,0 +1,95 @@
+\doxysection{input\+\_\+multiplex\+\_\+runner.\+hpp}
+\hypertarget{input__multiplex__runner_8hpp_source}{}\label{input__multiplex__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/system/input\_multiplex\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/system/input\_multiplex\_runner.hpp}}
+\mbox{\hyperlink{input__multiplex__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{threadtrigger__runner_8hpp}{capabilities2\_runner/threadtrigger\_runner.hpp}}>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00006\ \{}
+\DoxyCodeLine{00007\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{InputMultiplexRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}}
+\DoxyCodeLine{00008\ \{}
+\DoxyCodeLine{00009\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00013\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a921185df695a0c589c3f76534622c973}{InputMultiplexRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}()}
+\DoxyCodeLine{00014\ \ \ \{}
+\DoxyCodeLine{00015\ \ \ \}}
+\DoxyCodeLine{00016\ }
+\DoxyCodeLine{00023\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00024\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00025\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
+\DoxyCodeLine{00026\ }
+\DoxyCodeLine{00027\ \ \ \ \ \textcolor{comment}{//\ emit\ started\ event}}
+\DoxyCodeLine{00028\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\_started}}(bond\_id,\ \textcolor{stringliteral}{"{}"{}},\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\_on\_started}}());}
+\DoxyCodeLine{00029\ \ \ \}}
+\DoxyCodeLine{00030\ }
+\DoxyCodeLine{00035\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00036\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00037\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
+\DoxyCodeLine{00038\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
+\DoxyCodeLine{00039\ }
+\DoxyCodeLine{00040\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
+\DoxyCodeLine{00041\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
+\DoxyCodeLine{00042\ }
+\DoxyCodeLine{00043\ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
+\DoxyCodeLine{00044\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
+\DoxyCodeLine{00045\ }
+\DoxyCodeLine{00046\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}stopping\ runner"{}});}
+\DoxyCodeLine{00047\ \ \ \}}
+\DoxyCodeLine{00048\ }
+\DoxyCodeLine{00049\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00056\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00057\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00058\ \ \ \ \ \textcolor{comment}{//\ split\ thread\_id\ to\ get\ bond\_id\ and\ instance\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
+\DoxyCodeLine{00059\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{ThreadTriggerRunner::bond\_from\_thread\_id}}(thread\_id);}
+\DoxyCodeLine{00060\ \ \ \ \ std::string\ instance\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{ThreadTriggerRunner::instance\_from\_thread\_id}}(thread\_id);}
+\DoxyCodeLine{00061\ }
+\DoxyCodeLine{00062\ \ \ \ \ \textcolor{keywordtype}{int}\ input\_count\ =\ std::any\_cast<int>(parameters.\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a06e1a6f60cb6c8830d6769532b1f3cdb}{get\_value}}(\textcolor{stringliteral}{"{}input\_count"{}},\ 1));}
+\DoxyCodeLine{00063\ }
+\DoxyCodeLine{00064\ \ \ \ \ \textcolor{comment}{//\ track\ the\ input\ count\ for\ the\ runner\_id}}
+\DoxyCodeLine{00065\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}.find(instance\_id)\ ==\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}.end())}
+\DoxyCodeLine{00066\ \ \ \ \ \{}
+\DoxyCodeLine{00067\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}[instance\_id]\ =\ 1;}
+\DoxyCodeLine{00068\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\_input\_count}}[instance\_id]\ =\ input\_count;}
+\DoxyCodeLine{00069\ \ \ \ \ \}}
+\DoxyCodeLine{00070\ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00071\ \ \ \ \ \{}
+\DoxyCodeLine{00072\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}[instance\_id]\ +=\ 1;}
+\DoxyCodeLine{00073\ \ \ \ \ \}}
+\DoxyCodeLine{00074\ }
+\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ check\ if\ the\ input\ count\ has\ reached\ the\ expected\ input\ count\ for\ the\ instance\_id\ and\ if\ so\ execute\ the\ process}}
+\DoxyCodeLine{00076\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}[instance\_id]\ ==\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\_input\_count}}[instance\_id])}
+\DoxyCodeLine{00077\ \ \ \ \ \{}
+\DoxyCodeLine{00078\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),}
+\DoxyCodeLine{00079\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}instance\_id:\ \%s\ has\ received\ all\ expected\ inputs.\ Executing\ process\ for\ instance\_id:\ \%s"{}},}
+\DoxyCodeLine{00080\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ instance\_id.c\_str(),\ instance\_id.c\_str());}
+\DoxyCodeLine{00081\ }
+\DoxyCodeLine{00082\ \ \ \ \ \ \ \textcolor{comment}{//\ If\ on\_success\ is\ defined,\ emit\ success\ event\ will\ trigger\ it.\ If\ not\ defined,\ it\ will\ be\ a\ no-\/op.}}
+\DoxyCodeLine{00083\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\_succeeded}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\_on\_success}}());}
+\DoxyCodeLine{00084\ }
+\DoxyCodeLine{00085\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}execution\ successful\ for\ instance\_id:\ \%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00086\ \ \ \ \ \}}
+\DoxyCodeLine{00087\ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00088\ \ \ \ \ \{}
+\DoxyCodeLine{00089\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),}
+\DoxyCodeLine{00090\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}instance\_id:\ \%s\ pending\ expected\ inputs.\ Current\ count:\ \%d/\%d\ for\ instance\_id:\ \%s"{}},\ instance\_id.c\_str(),}
+\DoxyCodeLine{00091\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}[instance\_id],\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\_input\_count}}[instance\_id],\ instance\_id.c\_str());}
+\DoxyCodeLine{00092\ \ \ \ \ \}}
+\DoxyCodeLine{00093\ }
+\DoxyCodeLine{00094\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}multiplexing\ complete.\ Thread\ closing\ for\ instance\_id:\ \%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00095\ \ \ \}}
+\DoxyCodeLine{00096\ }
+\DoxyCodeLine{00097\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00098\ \ \ \textcolor{comment}{//\ input\ count\ tracker}}
+\DoxyCodeLine{00099\ \ \ std::map<std::string,\ int>\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}};}
+\DoxyCodeLine{00100\ }
+\DoxyCodeLine{00101\ \ \ \textcolor{comment}{//\ expected\ input\ count}}
+\DoxyCodeLine{00102\ \ \ std::map<std::string,\ int>\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\_input\_count}};}
+\DoxyCodeLine{00103\ }
+\DoxyCodeLine{00104\ \ \ \textcolor{comment}{//\ completed\ executions}}
+\DoxyCodeLine{00105\ \ \ std::map<std::string,\ bool>\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_abdc2ea43099056447273e1f7ee1cc113}{completed\_executions}};}
+\DoxyCodeLine{00106\ \};}
+\DoxyCodeLine{00107\ }
+\DoxyCodeLine{00108\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/interface_8hpp.tex b/docs/latex/interface_8hpp.tex
new file mode 100644
index 0000000..0b2854b
--- /dev/null
+++ b/docs/latex/interface_8hpp.tex
@@ -0,0 +1,36 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/interface.hpp File Reference}
+\hypertarget{interface_8hpp}{}\label{interface_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/interface.hpp@{capabilities2\_server/include/capabilities2\_server/models/interface.hpp}}
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/header.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/resource.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/predicateable\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
+Include dependency graph for interface.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{interface_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{interface_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em interface specification type the specification model is the computation graph blueprint of a capability \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em interface model \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/interface_8hpp__dep__incl.md5 b/docs/latex/interface_8hpp__dep__incl.md5
new file mode 100644
index 0000000..d3ebf5a
--- /dev/null
+++ b/docs/latex/interface_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+a414231153696af0d174bb1d1da2773e
\ No newline at end of file
diff --git a/docs/latex/interface_8hpp__dep__incl.pdf b/docs/latex/interface_8hpp__dep__incl.pdf
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diff --git a/docs/latex/interface_8hpp_source.tex b/docs/latex/interface_8hpp_source.tex
new file mode 100644
index 0000000..188c8b3
--- /dev/null
+++ b/docs/latex/interface_8hpp_source.tex
@@ -0,0 +1,167 @@
+\doxysection{interface.\+hpp}
+\hypertarget{interface_8hpp_source}{}\label{interface_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/interface.hpp@{capabilities2\_server/include/capabilities2\_server/models/interface.hpp}}
+\mbox{\hyperlink{interface_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{header_8hpp}{capabilities2\_server/models/header.hpp}}>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{resource_8hpp}{capabilities2\_server/models/resource.hpp}}>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{predicateable__base_8hpp}{capabilities2\_server/models/predicateable\_base.hpp}}>}}
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{sql__safe_8hpp}{capabilities2\_server/utils/sql\_safe.hpp}}>}}
+\DoxyCodeLine{00009\ }
+\DoxyCodeLine{00010\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
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+\DoxyCodeLine{00013\ \{}
+\DoxyCodeLine{00014\ }
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+\DoxyCodeLine{00021\ \{}
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+\DoxyCodeLine{00109\ \ \ \ \ node[\textcolor{stringliteral}{"{}actions"{}}]\ =\ a;}
+\DoxyCodeLine{00110\ }
+\DoxyCodeLine{00111\ \ \ \ \ \textcolor{comment}{//\ return\ node}}
+\DoxyCodeLine{00112\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
+\DoxyCodeLine{00113\ \ \ \}}
+\DoxyCodeLine{00114\ \};}
+\DoxyCodeLine{00115\ }
+\DoxyCodeLine{00123\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{interface\_model\_t}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{predicateable\_base\_t}}}
+\DoxyCodeLine{00124\ \{}
+\DoxyCodeLine{00125\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}};}
+\DoxyCodeLine{00126\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{specification\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}};}
+\DoxyCodeLine{00127\ }
+\DoxyCodeLine{00128\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a379d6d70a00d7ed95c279bd2d38cd286}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
+\DoxyCodeLine{00129\ \ \ \{}
+\DoxyCodeLine{00130\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\_yaml}}(node);}
+\DoxyCodeLine{00131\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a62197b4cea21b4597d900f8a13f5f908}{from\_yaml}}(node[\textcolor{stringliteral}{"{}interface"{}}]);}
+\DoxyCodeLine{00132\ \ \ \ \ \textcolor{comment}{//\ if\ relations\ exist}}
+\DoxyCodeLine{00133\ \ \ \ \ \textcolor{keywordflow}{if}\ (node[\textcolor{stringliteral}{"{}relations"{}}])}
+\DoxyCodeLine{00134\ \ \ \ \ \{}
+\DoxyCodeLine{00135\ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ relation\ :\ node[\textcolor{stringliteral}{"{}relations"{}}])}
+\DoxyCodeLine{00136\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00137\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\_model\_t}}\ p;}
+\DoxyCodeLine{00138\ \ \ \ \ \ \ \ \ p.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a913e6b62b99887f12ba12debea26d5ac}{from\_yaml}}(relation);}
+\DoxyCodeLine{00139\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}.push\_back(p);}
+\DoxyCodeLine{00140\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00141\ \ \ \ \ \}}
+\DoxyCodeLine{00142\ \ \ \}}
+\DoxyCodeLine{00143\ }
+\DoxyCodeLine{00144\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ab4974dddde348826f754eeba41fab1d0}{to\_yaml}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00145\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00146\ \ \ \ \ YAML::Node\ node\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}{to\_yaml}}();}
+\DoxyCodeLine{00147\ \ \ \ \ node[\textcolor{stringliteral}{"{}interface"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_ad892ff5233a2990c8de643a8a18d4211}{to\_yaml}}();}
+\DoxyCodeLine{00148\ \ \ \ \ \textcolor{comment}{//\ if\ relations\ exist}}
+\DoxyCodeLine{00149\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}.size()\ >\ 0)}
+\DoxyCodeLine{00150\ \ \ \ \ \{}
+\DoxyCodeLine{00151\ \ \ \ \ \ \ YAML::Node\ r;}
+\DoxyCodeLine{00152\ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ relation\ :\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}})}
+\DoxyCodeLine{00153\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00154\ \ \ \ \ \ \ \ \ r.push\_back(relation.to\_yaml());}
+\DoxyCodeLine{00155\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00156\ \ \ \ \ \ \ node[\textcolor{stringliteral}{"{}relations"{}}]\ =\ r;}
+\DoxyCodeLine{00157\ \ \ \ \ \}}
+\DoxyCodeLine{00158\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
+\DoxyCodeLine{00159\ \ \ \}}
+\DoxyCodeLine{00160\ }
+\DoxyCodeLine{00161\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a3e1b6a0fbb148703a6a2bfab6a4f2003}{to\_sql\_table}}()}
+\DoxyCodeLine{00162\ \ \ \{}
+\DoxyCodeLine{00163\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}{header\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{},\ interface\ TEXT"{}};}
+\DoxyCodeLine{00164\ \ \ \}}
+\DoxyCodeLine{00165\ }
+\DoxyCodeLine{00166\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5}{to\_sql\_values}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00167\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00168\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{},\ '"{}}\ +\ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(YAML::Dump(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_ad892ff5233a2990c8de643a8a18d4211}{to\_yaml}}()))\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00169\ \ \ \}}
+\DoxyCodeLine{00170\ \};}
+\DoxyCodeLine{00171\ }
+\DoxyCodeLine{00172\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00173\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/interfaces_8md.tex b/docs/latex/interfaces_8md.tex
new file mode 100644
index 0000000..1bf2645
--- /dev/null
+++ b/docs/latex/interfaces_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/interfaces.md File Reference}
+\hypertarget{interfaces_8md}{}\label{interfaces_8md}\index{docs/interfaces.md@{docs/interfaces.md}}
diff --git a/docs/latex/launch__runner_8cpp.tex b/docs/latex/launch__runner_8cpp.tex
new file mode 100644
index 0000000..7008b9b
--- /dev/null
+++ b/docs/latex/launch__runner_8cpp.tex
@@ -0,0 +1,12 @@
+\doxysection{capabilities2\+\_\+runner/src/launch\+\_\+runner.cpp File Reference}
+\hypertarget{launch__runner_8cpp}{}\label{launch__runner_8cpp}\index{capabilities2\_runner/src/launch\_runner.cpp@{capabilities2\_runner/src/launch\_runner.cpp}}
+{\ttfamily \#include $<$pluginlib/class\+\_\+list\+\_\+macros.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/launch\+\_\+runner.\+hpp$>$}\newline
+Include dependency graph for launch\+\_\+runner.\+cpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{launch__runner_8cpp__incl}
+\end{center}
+\end{figure}
diff --git a/docs/latex/launch__runner_8cpp__incl.md5 b/docs/latex/launch__runner_8cpp__incl.md5
new file mode 100644
index 0000000..ef0042f
--- /dev/null
+++ b/docs/latex/launch__runner_8cpp__incl.md5
@@ -0,0 +1 @@
+74d3f8a17a4544d7b039c2712f9e46b6
\ No newline at end of file
diff --git a/docs/latex/launch__runner_8cpp__incl.pdf b/docs/latex/launch__runner_8cpp__incl.pdf
new file mode 100644
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diff --git a/docs/latex/launch__runner_8hpp.tex b/docs/latex/launch__runner_8hpp.tex
new file mode 100644
index 0000000..87f5687
--- /dev/null
+++ b/docs/latex/launch__runner_8hpp.tex
@@ -0,0 +1,27 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/launch\+\_\+runner.hpp File Reference}
+\hypertarget{launch__runner_8hpp}{}\label{launch__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/launch\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/launch\_runner.hpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+runner/notrigger\+\_\+runner.\+hpp$>$}\newline
+Include dependency graph for launch\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{launch__runner_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=226pt]{launch__runner_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner}{capabilities2\+\_\+runner\+::\+Launch\+Runner}}
+\begin{DoxyCompactList}\small\item\em launch runner base class \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/launch__runner_8hpp__dep__incl.md5 b/docs/latex/launch__runner_8hpp__dep__incl.md5
new file mode 100644
index 0000000..f7432f2
--- /dev/null
+++ b/docs/latex/launch__runner_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+2b208c3bcd1b50764ad40091d8d15471
\ No newline at end of file
diff --git a/docs/latex/launch__runner_8hpp__dep__incl.pdf b/docs/latex/launch__runner_8hpp__dep__incl.pdf
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diff --git a/docs/latex/launch__runner_8hpp_source.tex b/docs/latex/launch__runner_8hpp_source.tex
new file mode 100644
index 0000000..fda9bb9
--- /dev/null
+++ b/docs/latex/launch__runner_8hpp_source.tex
@@ -0,0 +1,55 @@
+\doxysection{launch\+\_\+runner.\+hpp}
+\hypertarget{launch__runner_8hpp_source}{}\label{launch__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/launch\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/launch\_runner.hpp}}
+\mbox{\hyperlink{launch__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{notrigger__runner_8hpp}{capabilities2\_runner/notrigger\_runner.hpp}}>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00006\ \{}
+\DoxyCodeLine{00007\ }
+\DoxyCodeLine{00014\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner}{LaunchRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{NoTriggerRunner}}}
+\DoxyCodeLine{00015\ \{}
+\DoxyCodeLine{00016\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00020\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ace430452667a2365c3555755643c4c4c}{LaunchRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{NoTriggerRunner}}()}
+\DoxyCodeLine{00021\ \ \ \{}
+\DoxyCodeLine{00022\ \ \ \}}
+\DoxyCodeLine{00023\ }
+\DoxyCodeLine{00031\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00032\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00033\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
+\DoxyCodeLine{00034\ }
+\DoxyCodeLine{00035\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d}{package\_name}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}.substr(0,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}.find(\textcolor{stringliteral}{"{}/"{}}));}
+\DoxyCodeLine{00036\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4}{launch\_name}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}.substr(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}.find(\textcolor{stringliteral}{"{}/"{}})\ +\ 1);}
+\DoxyCodeLine{00037\ }
+\DoxyCodeLine{00038\ \ \ \ \ \textcolor{comment}{//\ start\ launch\ process}}
+\DoxyCodeLine{00039\ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}launch\ runner\ not\ implemented\ yet"{}});}
+\DoxyCodeLine{00040\ }
+\DoxyCodeLine{00041\ \ \ \ \ \textcolor{comment}{//\ emit\ started\ event}}
+\DoxyCodeLine{00042\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\_started}}(bond\_id,\ \textcolor{stringliteral}{"{}"{}},\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\_on\_started}}());}
+\DoxyCodeLine{00043\ \ \ \}}
+\DoxyCodeLine{00044\ }
+\DoxyCodeLine{00049\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00050\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00051\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
+\DoxyCodeLine{00052\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
+\DoxyCodeLine{00053\ }
+\DoxyCodeLine{00054\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
+\DoxyCodeLine{00055\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
+\DoxyCodeLine{00056\ }
+\DoxyCodeLine{00057\ \ \ \ \ \textcolor{comment}{//\ stop\ the\ launch\ process}}
+\DoxyCodeLine{00058\ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}launch\ runner\ not\ implemented\ yet"{}});}
+\DoxyCodeLine{00059\ }
+\DoxyCodeLine{00060\ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
+\DoxyCodeLine{00061\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
+\DoxyCodeLine{00062\ \ \ \}}
+\DoxyCodeLine{00063\ }
+\DoxyCodeLine{00064\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00065\ \ \ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4}{launch\_name}};}
+\DoxyCodeLine{00066\ \ \ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d}{package\_name}};}
+\DoxyCodeLine{00067\ \};}
+\DoxyCodeLine{00068\ }
+\DoxyCodeLine{00069\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/longtable_doxygen.sty b/docs/latex/longtable_doxygen.sty
new file mode 100644
index 0000000..e94b78b
--- /dev/null
+++ b/docs/latex/longtable_doxygen.sty
@@ -0,0 +1,456 @@
+%%
+%% This is file `longtable.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% longtable.dtx  (with options: `package')
+%% 
+%% This is a generated file.
+%% 
+%% The source is maintained by the LaTeX Project team and bug
+%% reports for it can be opened at http://latex-project.org/bugs.html
+%% (but please observe conditions on bug reports sent to that address!)
+%% 
+%% Copyright 1993-2016
+%% The LaTeX3 Project and any individual authors listed elsewhere
+%% in this file.
+%% 
+%% This file was generated from file(s) of the Standard LaTeX `Tools Bundle'.
+%% --------------------------------------------------------------------------
+%% 
+%% It may be distributed and/or modified under the
+%% conditions of the LaTeX Project Public License, either version 1.3c
+%% of this license or (at your option) any later version.
+%% The latest version of this license is in
+%%    http://www.latex-project.org/lppl.txt
+%% and version 1.3c or later is part of all distributions of LaTeX
+%% version 2005/12/01 or later.
+%% 
+%% This file may only be distributed together with a copy of the LaTeX
+%% `Tools Bundle'. You may however distribute the LaTeX `Tools Bundle'
+%% without such generated files.
+%% 
+%% The list of all files belonging to the LaTeX `Tools Bundle' is
+%% given in the file `manifest.txt'.
+%% 
+%% File: longtable.dtx Copyright (C) 1990-2001 David Carlisle
+\NeedsTeXFormat{LaTeX2e}[1995/06/01]
+\ProvidesPackage{longtable_doxygen}
+          [2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen]
+\def\LT@err{\PackageError{longtable}}
+\def\LT@warn{\PackageWarning{longtable}}
+\def\LT@final@warn{%
+  \AtEndDocument{%
+    \LT@warn{Table \@width s have changed. Rerun LaTeX.\@gobbletwo}}%
+  \global\let\LT@final@warn\relax}
+\DeclareOption{errorshow}{%
+  \def\LT@warn{\PackageInfo{longtable}}}
+\DeclareOption{pausing}{%
+  \def\LT@warn#1{%
+    \LT@err{#1}{This is not really an error}}}
+\DeclareOption{set}{}
+\DeclareOption{final}{}
+\ProcessOptions
+\newskip\LTleft       \LTleft=\fill
+\newskip\LTright      \LTright=\fill
+\newskip\LTpre        \LTpre=\bigskipamount
+\newskip\LTpost       \LTpost=\bigskipamount
+\newcount\LTchunksize \LTchunksize=20
+\let\c@LTchunksize\LTchunksize
+\newdimen\LTcapwidth  \LTcapwidth=4in
+\newbox\LT@head
+\newbox\LT@firsthead
+\newbox\LT@foot
+\newbox\LT@lastfoot
+\newcount\LT@cols
+\newcount\LT@rows
+\newcounter{LT@tables}
+\newcounter{LT@chunks}[LT@tables]
+\ifx\c@table\undefined
+  \newcounter{table}
+  \def\fnum@table{\tablename~\thetable}
+\fi
+\ifx\tablename\undefined
+  \def\tablename{Table}
+\fi
+\newtoks\LT@p@ftn
+\mathchardef\LT@end@pen=30000
+\def\longtable{%
+  \par
+  \ifx\multicols\@undefined
+  \else
+     \ifnum\col@number>\@ne
+       \@twocolumntrue
+     \fi
+  \fi
+  \if@twocolumn
+    \LT@err{longtable not in 1-column mode}\@ehc
+  \fi
+  \begingroup
+  \@ifnextchar[\LT@array{\LT@array[x]}}
+\def\LT@array[#1]#2{%
+  \refstepcounter{table}\stepcounter{LT@tables}%
+  \if l#1%
+    \LTleft\z@ \LTright\fill
+  \else\if r#1%
+    \LTleft\fill \LTright\z@
+  \else\if c#1%
+    \LTleft\fill \LTright\fill
+  \fi\fi\fi
+  \let\LT@mcol\multicolumn
+  \let\LT@@tabarray\@tabarray
+  \let\LT@@hl\hline
+  \def\@tabarray{%
+    \let\hline\LT@@hl
+    \LT@@tabarray}%
+  \let\\\LT@tabularcr\let\tabularnewline\\%
+  \def\newpage{\noalign{\break}}%
+  \def\pagebreak{\noalign{\ifnum`}=0\fi\@testopt{\LT@no@pgbk-}4}%
+  \def\nopagebreak{\noalign{\ifnum`}=0\fi\@testopt\LT@no@pgbk4}%
+  \let\hline\LT@hline \let\kill\LT@kill\let\caption\LT@caption
+  \@tempdima\ht\strutbox
+  \let\@endpbox\LT@endpbox
+  \ifx\extrarowheight\@undefined
+    \let\@acol\@tabacol
+    \let\@classz\@tabclassz \let\@classiv\@tabclassiv
+    \def\@startpbox{\vtop\LT@startpbox}%
+    \let\@@startpbox\@startpbox
+    \let\@@endpbox\@endpbox
+    \let\LT@LL@FM@cr\@tabularcr
+  \else
+    \advance\@tempdima\extrarowheight
+    \col@sep\tabcolsep
+    \let\@startpbox\LT@startpbox\let\LT@LL@FM@cr\@arraycr
+  \fi
+  \setbox\@arstrutbox\hbox{\vrule
+    \@height \arraystretch \@tempdima
+    \@depth \arraystretch \dp \strutbox
+    \@width \z@}%
+  \let\@sharp##\let\protect\relax
+   \begingroup
+    \@mkpream{#2}%
+    \xdef\LT@bchunk{%
+       \global\advance\c@LT@chunks\@ne
+       \global\LT@rows\z@\setbox\z@\vbox\bgroup
+       \LT@setprevdepth
+       \tabskip\LTleft \noexpand\halign to\hsize\bgroup
+      \tabskip\z@ \@arstrut \@preamble \tabskip\LTright \cr}%
+  \endgroup
+  \expandafter\LT@nofcols\LT@bchunk&\LT@nofcols
+  \LT@make@row
+  \m@th\let\par\@empty
+  \everycr{}\lineskip\z@\baselineskip\z@
+  \LT@bchunk}
+\def\LT@no@pgbk#1[#2]{\penalty #1\@getpen{#2}\ifnum`{=0\fi}}
+\def\LT@start{%
+  \let\LT@start\endgraf
+  \endgraf\penalty\z@\vskip\LTpre
+  \dimen@\pagetotal
+  \advance\dimen@ \ht\ifvoid\LT@firsthead\LT@head\else\LT@firsthead\fi
+  \advance\dimen@ \dp\ifvoid\LT@firsthead\LT@head\else\LT@firsthead\fi
+  \advance\dimen@ \ht\LT@foot
+  \dimen@ii\vfuzz
+  \vfuzz\maxdimen
+    \setbox\tw@\copy\z@
+    \setbox\tw@\vsplit\tw@ to \ht\@arstrutbox
+    \setbox\tw@\vbox{\unvbox\tw@}%
+  \vfuzz\dimen@ii
+  \advance\dimen@ \ht
+        \ifdim\ht\@arstrutbox>\ht\tw@\@arstrutbox\else\tw@\fi
+  \advance\dimen@\dp
+        \ifdim\dp\@arstrutbox>\dp\tw@\@arstrutbox\else\tw@\fi
+  \advance\dimen@ -\pagegoal
+  \ifdim \dimen@>\z@\vfil\break\fi
+      \global\@colroom\@colht
+  \ifvoid\LT@foot\else
+    \advance\vsize-\ht\LT@foot
+    \global\advance\@colroom-\ht\LT@foot
+    \dimen@\pagegoal\advance\dimen@-\ht\LT@foot\pagegoal\dimen@
+    \maxdepth\z@
+  \fi
+  \ifvoid\LT@firsthead\copy\LT@head\else\box\LT@firsthead\fi\nobreak
+  \output{\LT@output}}
+\def\endlongtable{%
+  \crcr
+  \noalign{%
+    \let\LT@entry\LT@entry@chop
+    \xdef\LT@save@row{\LT@save@row}}%
+  \LT@echunk
+  \LT@start
+  \unvbox\z@
+  \LT@get@widths
+  \if@filesw
+    {\let\LT@entry\LT@entry@write\immediate\write\@auxout{%
+      \gdef\expandafter\noexpand
+        \csname LT@\romannumeral\c@LT@tables\endcsname
+          {\LT@save@row}}}%
+  \fi
+  \ifx\LT@save@row\LT@@save@row
+  \else
+    \LT@warn{Column \@width s have changed\MessageBreak
+             in table \thetable}%
+    \LT@final@warn
+  \fi
+  \endgraf\penalty -\LT@end@pen
+  \endgroup
+  \global\@mparbottom\z@
+  \pagegoal\vsize
+  \endgraf\penalty\z@\addvspace\LTpost
+  \ifvoid\footins\else\insert\footins{}\fi}
+\def\LT@nofcols#1&{%
+  \futurelet\@let@token\LT@n@fcols}
+\def\LT@n@fcols{%
+  \advance\LT@cols\@ne
+  \ifx\@let@token\LT@nofcols
+    \expandafter\@gobble
+  \else
+    \expandafter\LT@nofcols
+  \fi}
+\def\LT@tabularcr{%
+  \relax\iffalse{\fi\ifnum0=`}\fi
+  \@ifstar
+    {\def\crcr{\LT@crcr\noalign{\nobreak}}\let\cr\crcr
+     \LT@t@bularcr}%
+    {\LT@t@bularcr}}
+\let\LT@crcr\crcr
+\let\LT@setprevdepth\relax
+\def\LT@t@bularcr{%
+  \global\advance\LT@rows\@ne
+  \ifnum\LT@rows=\LTchunksize
+    \gdef\LT@setprevdepth{%
+      \prevdepth\z@\global
+      \global\let\LT@setprevdepth\relax}%
+    \expandafter\LT@xtabularcr
+  \else
+    \ifnum0=`{}\fi
+    \expandafter\LT@LL@FM@cr
+  \fi}
+\def\LT@xtabularcr{%
+  \@ifnextchar[\LT@argtabularcr\LT@ntabularcr}
+\def\LT@ntabularcr{%
+  \ifnum0=`{}\fi
+  \LT@echunk
+  \LT@start
+  \unvbox\z@
+  \LT@get@widths
+  \LT@bchunk}
+\def\LT@argtabularcr[#1]{%
+  \ifnum0=`{}\fi
+  \ifdim #1>\z@
+    \unskip\@xargarraycr{#1}%
+  \else
+    \@yargarraycr{#1}%
+  \fi
+  \LT@echunk
+  \LT@start
+  \unvbox\z@
+  \LT@get@widths
+  \LT@bchunk}
+\def\LT@echunk{%
+  \crcr\LT@save@row\cr\egroup
+  \global\setbox\@ne\lastbox
+    \unskip
+  \egroup}
+\def\LT@entry#1#2{%
+  \ifhmode\@firstofone{&}\fi\omit
+  \ifnum#1=\c@LT@chunks
+  \else
+    \kern#2\relax
+  \fi}
+\def\LT@entry@chop#1#2{%
+  \noexpand\LT@entry
+    {\ifnum#1>\c@LT@chunks
+       1}{0pt%
+     \else
+       #1}{#2%
+     \fi}}
+\def\LT@entry@write{%
+  \noexpand\LT@entry^^J%
+  \@spaces}
+\def\LT@kill{%
+  \LT@echunk
+  \LT@get@widths
+  \expandafter\LT@rebox\LT@bchunk}
+\def\LT@rebox#1\bgroup{%
+  #1\bgroup
+  \unvbox\z@
+  \unskip
+  \setbox\z@\lastbox}
+\def\LT@blank@row{%
+  \xdef\LT@save@row{\expandafter\LT@build@blank
+    \romannumeral\number\LT@cols 001 }}
+\def\LT@build@blank#1{%
+  \if#1m%
+    \noexpand\LT@entry{1}{0pt}%
+    \expandafter\LT@build@blank
+  \fi}
+\def\LT@make@row{%
+  \global\expandafter\let\expandafter\LT@save@row
+    \csname LT@\romannumeral\c@LT@tables\endcsname
+  \ifx\LT@save@row\relax
+    \LT@blank@row
+  \else
+    {\let\LT@entry\or
+     \if!%
+         \ifcase\expandafter\expandafter\expandafter\LT@cols
+         \expandafter\@gobble\LT@save@row
+         \or
+         \else
+           \relax
+         \fi
+        !%
+     \else
+       \aftergroup\LT@blank@row
+     \fi}%
+  \fi}
+\let\setlongtables\relax
+\def\LT@get@widths{%
+  \setbox\tw@\hbox{%
+    \unhbox\@ne
+    \let\LT@old@row\LT@save@row
+    \global\let\LT@save@row\@empty
+    \count@\LT@cols
+    \loop
+      \unskip
+      \setbox\tw@\lastbox
+    \ifhbox\tw@
+      \LT@def@row
+      \advance\count@\m@ne
+    \repeat}%
+  \ifx\LT@@save@row\@undefined
+    \let\LT@@save@row\LT@save@row
+  \fi}
+\def\LT@def@row{%
+  \let\LT@entry\or
+  \edef\@tempa{%
+    \ifcase\expandafter\count@\LT@old@row
+    \else
+      {1}{0pt}%
+    \fi}%
+  \let\LT@entry\relax
+  \xdef\LT@save@row{%
+    \LT@entry
+    \expandafter\LT@max@sel\@tempa
+    \LT@save@row}}
+\def\LT@max@sel#1#2{%
+  {\ifdim#2=\wd\tw@
+     #1%
+   \else
+     \number\c@LT@chunks
+   \fi}%
+  {\the\wd\tw@}}
+\def\LT@hline{%
+  \noalign{\ifnum0=`}\fi
+    \penalty\@M
+    \futurelet\@let@token\LT@@hline}
+\def\LT@@hline{%
+  \ifx\@let@token\hline
+    \global\let\@gtempa\@gobble
+    \gdef\LT@sep{\penalty-\@medpenalty\vskip\doublerulesep}%
+  \else
+    \global\let\@gtempa\@empty
+    \gdef\LT@sep{\penalty-\@lowpenalty\vskip-\arrayrulewidth}%
+  \fi
+  \ifnum0=`{\fi}%
+  \multispan\LT@cols
+     \unskip\leaders\hrule\@height\arrayrulewidth\hfill\cr
+  \noalign{\LT@sep}%
+  \multispan\LT@cols
+     \unskip\leaders\hrule\@height\arrayrulewidth\hfill\cr
+  \noalign{\penalty\@M}%
+  \@gtempa}
+\def\LT@caption{%
+  \noalign\bgroup
+    \@ifnextchar[{\egroup\LT@c@ption\@firstofone}\LT@capti@n}
+\def\LT@c@ption#1[#2]#3{%
+  \LT@makecaption#1\fnum@table{#3}%
+  \def\@tempa{#2}%
+  \ifx\@tempa\@empty\else
+     {\let\\\space
+     \addcontentsline{lot}{table}{\protect\numberline{\thetable}{#2}}}%
+  \fi}
+\def\LT@capti@n{%
+  \@ifstar
+    {\egroup\LT@c@ption\@gobble[]}%
+    {\egroup\@xdblarg{\LT@c@ption\@firstofone}}}
+\def\LT@makecaption#1#2#3{%
+  \LT@mcol\LT@cols c{\hbox to\z@{\hss\parbox[t]\LTcapwidth{%
+    \sbox\@tempboxa{#1{#2: }#3}%
+    \ifdim\wd\@tempboxa>\hsize
+      #1{#2: }#3%
+    \else
+      \hbox to\hsize{\hfil\box\@tempboxa\hfil}%
+    \fi
+    \endgraf\vskip\baselineskip}%
+  \hss}}}
+\def\LT@output{%
+  \ifnum\outputpenalty <-\@Mi
+    \ifnum\outputpenalty > -\LT@end@pen
+      \LT@err{floats and marginpars not allowed in a longtable}\@ehc
+    \else
+      \setbox\z@\vbox{\unvbox\@cclv}%
+      \ifdim \ht\LT@lastfoot>\ht\LT@foot
+        \dimen@\pagegoal
+        \advance\dimen@-\ht\LT@lastfoot
+        \ifdim\dimen@<\ht\z@
+          \setbox\@cclv\vbox{\unvbox\z@\copy\LT@foot\vss}%
+          \@makecol
+          \@outputpage
+          \setbox\z@\vbox{\box\LT@head}%
+        \fi
+      \fi
+      \global\@colroom\@colht
+      \global\vsize\@colht
+      \vbox
+        {\unvbox\z@\box\ifvoid\LT@lastfoot\LT@foot\else\LT@lastfoot\fi}%
+    \fi
+  \else
+    \setbox\@cclv\vbox{\unvbox\@cclv\copy\LT@foot\vss}%
+    \@makecol
+    \@outputpage
+      \global\vsize\@colroom
+    \copy\LT@head\nobreak
+  \fi}
+\def\LT@end@hd@ft#1{%
+  \LT@echunk
+  \ifx\LT@start\endgraf
+    \LT@err
+     {Longtable head or foot not at start of table}%
+     {Increase LTchunksize}%
+  \fi
+  \setbox#1\box\z@
+  \LT@get@widths
+  \LT@bchunk}
+\def\endfirsthead{\LT@end@hd@ft\LT@firsthead}
+\def\endhead{\LT@end@hd@ft\LT@head}
+\def\endfoot{\LT@end@hd@ft\LT@foot}
+\def\endlastfoot{\LT@end@hd@ft\LT@lastfoot}
+\def\LT@startpbox#1{%
+  \bgroup
+    \let\@footnotetext\LT@p@ftntext
+    \setlength\hsize{#1}%
+    \@arrayparboxrestore
+    \vrule \@height \ht\@arstrutbox \@width \z@}
+\def\LT@endpbox{%
+  \@finalstrut\@arstrutbox
+  \egroup
+  \the\LT@p@ftn
+  \global\LT@p@ftn{}%
+  \hfil}
+%% added \long to prevent:
+% LaTeX Warning: Command \LT@p@ftntext  has changed.
+%
+% from the original repository (https://github.com/latex3/latex2e/blob/develop/required/tools/longtable.dtx):
+% \changes{v4.15}{2021/03/28}
+%      {make long for gh/364}
+% Inside the `p' column, just save up the footnote text in a token
+% register.
+\long\def\LT@p@ftntext#1{%
+  \edef\@tempa{\the\LT@p@ftn\noexpand\footnotetext[\the\c@footnote]}%
+  \global\LT@p@ftn\expandafter{\@tempa{#1}}}%
+
+\@namedef{ver@longtable.sty}{2014/10/28 v4.11 Multi-page Table package (DPC) - frozen version for doxygen}
+\endinput
+%%
+%% End of file `longtable.sty'.
diff --git a/docs/latex/md_TODO.tex b/docs/latex/md_TODO.tex
new file mode 100644
index 0000000..2caa161
--- /dev/null
+++ b/docs/latex/md_TODO.tex
@@ -0,0 +1,38 @@
+\chapter{TODO list}
+\hypertarget{md_TODO}{}\label{md_TODO}\index{TODO list@{TODO list}}
+\label{md_TODO_autotoc_md121}%
+\Hypertarget{md_TODO_autotoc_md121}%
+ \hypertarget{md_TODO_autotoc_md122}{}\doxysection{\texorpdfstring{Problems}{Problems}}\label{md_TODO_autotoc_md122}
+
+\begin{DoxyItemize}
+\item \mbox{[}x\mbox{]} names need to be in package/name format everywhere
+\item \mbox{[}x\mbox{]} better docs
+\item \mbox{[}x\mbox{]} BUG\+: handle "{}\textquotesingle{}"{} in db queries
+\item \mbox{[}x\mbox{]} BUG\+: escape db function variables
+\item \mbox{[}x\mbox{]} document deferred launch-\/runner support and planned replacement for current ROS2 launch incompatibilities
+\item \mbox{[} \mbox{]} restore launch-\/runner support once the replacement approach is ready
+\item \mbox{[}x\mbox{]} add descriptions to packages with TODO in package.\+xml
+\item \mbox{[}x\mbox{]} standardise trigger prototype
+\item \mbox{[}x\mbox{]} bump cmake min version to 3.\+16
+\item \mbox{[} \mbox{]} check thread safety for runner execution threads
+\item \mbox{[} \mbox{]} add note on threaded execution in base trigger function
+\end{DoxyItemize}\hypertarget{md_TODO_autotoc_md123}{}\doxysection{\texorpdfstring{Features}{Features}}\label{md_TODO_autotoc_md123}
+
+\begin{DoxyItemize}
+\item \mbox{[}x\mbox{]} try using ros package to find exports automatically
+\item \mbox{[}x\mbox{]} improve the event system
+\item \mbox{[} \mbox{]} implement provider definition handling in runner
+\item \mbox{[} \mbox{]} move to established db handler lib
+\item \mbox{[} \mbox{]} better bt runner impl
+\item \mbox{[} \mbox{]} db traits\+: identifiable, modifiable, soft\+\_\+deleteable, header, remappable, predicateable
+\end{DoxyItemize}\hypertarget{md_TODO_autotoc_md124}{}\doxysection{\texorpdfstring{Refactoring}{Refactoring}}\label{md_TODO_autotoc_md124}
+
+\begin{DoxyItemize}
+\item \mbox{[}x\mbox{]} remove fan out project work
+\item \mbox{[}x\mbox{]} merge various system runners into base runner package
+\item \mbox{[}x\mbox{]} custom logger needs to be removed
+\item \mbox{[}x\mbox{]} events should be incorporated as core function
+\item \mbox{[}x\mbox{]} server, runner base, api have event
+\item \mbox{[} \mbox{]} increment package versions
+\item \mbox{[} \mbox{]} interfaces and providers for cap caps 
+\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__events_2readme.tex b/docs/latex/md_capabilities2__events_2readme.tex
new file mode 100644
index 0000000..21c0189
--- /dev/null
+++ b/docs/latex/md_capabilities2__events_2readme.tex
@@ -0,0 +1,156 @@
+\chapter{Capabilities2 Events}
+\hypertarget{md_capabilities2__events_2readme}{}\label{md_capabilities2__events_2readme}\index{Capabilities2 Events@{Capabilities2 Events}}
+\label{md_capabilities2__events_2readme_autotoc_md0}%
+\Hypertarget{md_capabilities2__events_2readme_autotoc_md0}%
+ This package provides an event handling subsystem for the Capabilities2 framework. Events form the basis of inter-\/capability communication, allowing capabilities to respond to state changes in other capabilities. This facilitates the creation of complex behaviours through the composition of simpler capabilities.\hypertarget{md_capabilities2__events_2readme_autotoc_md1}{}\doxysection{\texorpdfstring{features}{features}}\label{md_capabilities2__events_2readme_autotoc_md1}
+
+\begin{DoxyItemize}
+\item Uses capability event messages
+\item helpers for integration with the \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}, and \doxylink{namespacecapabilities2__server}{capabilities2\+\_\+server} packages
+\item system for connecting capabilities together based on events. e.\+g. capability state transitions occur based on events from other capabilities
+\end{DoxyItemize}\hypertarget{md_capabilities2__events_2readme_autotoc_md2}{}\doxysection{\texorpdfstring{Model}{Model}}\label{md_capabilities2__events_2readme_autotoc_md2}
+The event system is based around the concepts of nodes, connections, events.\hypertarget{md_capabilities2__events_2readme_autotoc_md3}{}\doxysubsection{\texorpdfstring{Node}{Node}}\label{md_capabilities2__events_2readme_autotoc_md3}
+Represents a capability that can emit events and has connections to other capabilities.
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ model data   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ model data   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ description    }\\\cline{1-2}
+\endhead
+id   &unique identifier for the node    \\\cline{1-2}
+connections   &a map of connections. The source i always {\itshape this} node   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__events_2readme_autotoc_md4}{}\doxysubsection{\texorpdfstring{Connection}{Connection}}\label{md_capabilities2__events_2readme_autotoc_md4}
+Represents the link between two nodes.
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ model data   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ model data   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ description    }\\\cline{1-2}
+\endhead
+type   &the type of connection (e.\+g., STARTED, STOPPED, SUCCEEDED, FAILED)    \\\cline{1-2}
+source   &the source capability that emits the event    \\\cline{1-2}
+target   &the target capability to invoke when the event is emitted   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__events_2readme_autotoc_md5}{}\doxysubsection{\texorpdfstring{Event}{Event}}\label{md_capabilities2__events_2readme_autotoc_md5}
+Represents a specific event that can be emitted by a node (e.\+g., STARTED, STOPPED, SUCCEEDED, FAILED)\hypertarget{md_capabilities2__events_2readme_autotoc_md6}{}\doxysubsection{\texorpdfstring{event types}{event types}}\label{md_capabilities2__events_2readme_autotoc_md6}
+State transitions are as defined in the event code message\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{IDLE,\ //\ initial\ state}
+\DoxyCodeLine{STARTED,\ //\ when\ capability\ is\ started}
+\DoxyCodeLine{STOPPED,\ //\ when\ capability\ is\ stopped}
+\DoxyCodeLine{//\ TRIGGERED,\ //\ when\ capability\ is\ TRIGGERED}
+\DoxyCodeLine{FAILED,\ //\ when\ capability\ has\ FAILED}
+\DoxyCodeLine{SUCCEEDED\ //\ when\ capability\ has\ SUCCEEDED}
+\DoxyCodeLine{etc..}
+
+\end{DoxyCode}
+\hypertarget{md_capabilities2__events_2readme_autotoc_md7}{}\doxysection{\texorpdfstring{Flow}{Flow}}\label{md_capabilities2__events_2readme_autotoc_md7}
+
+\begin{DoxyEnumerate}
+\item A user establishes a bond with the \doxylink{namespacecapabilities2__server}{capabilities2\+\_\+server}
+\item The user connects capabilities together by specifying event connections (source capability, event type, target capability)
+\item The server namespaces the connection using the bond id, the source capability instance id, and the target capability instance id
+\item When a capability emits an event (e.\+g., STARTED), the event system checks for any connections matching that event type from the source capability, bond, and source instance id
+\item For each matching connection, the target capability is invoked accordingly (e.\+g., started, stopped, etc.)
+\end{DoxyEnumerate}\hypertarget{md_capabilities2__events_2readme_autotoc_md8}{}\doxysection{\texorpdfstring{Example usage}{Example usage}}\label{md_capabilities2__events_2readme_autotoc_md8}
+After a bond is established and both capabilities are running, a client can connect them through {\ttfamily Connect\+Capability.\+srv}.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{ros2\ service\ call\ /capabilities/connect\_capability\ capabilities2\_msgs/srv/ConnectCapability\ "{}\{}
+\DoxyCodeLine{\ \ bond\_id:\ '<bond-\/id>',}
+\DoxyCodeLine{\ \ connection:\ \{}
+\DoxyCodeLine{\ \ \ \ type:\ \{code:\ 1\},}
+\DoxyCodeLine{\ \ \ \ source:\ \{}
+\DoxyCodeLine{\ \ \ \ \ \ capability:\ 'demo\_pkg/source\_capability',}
+\DoxyCodeLine{\ \ \ \ \ \ provider:\ 'demo\_pkg/source\_provider',}
+\DoxyCodeLine{\ \ \ \ \ \ instance\_id:\ 'source\_instance'}
+\DoxyCodeLine{\ \ \ \ \},}
+\DoxyCodeLine{\ \ \ \ target:\ \{}
+\DoxyCodeLine{\ \ \ \ \ \ capability:\ 'demo\_pkg/target\_capability',}
+\DoxyCodeLine{\ \ \ \ \ \ provider:\ 'demo\_pkg/target\_provider',}
+\DoxyCodeLine{\ \ \ \ \ \ instance\_id:\ 'target\_instance',}
+\DoxyCodeLine{\ \ \ \ \ \ parameters:\ [}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ key:\ 'mode',}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ value:\ ['auto'],}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ type:\ 3}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{\ \ \ \ \ \ ]}
+\DoxyCodeLine{\ \ \ \ \}}
+\DoxyCodeLine{\ \ \}}
+\DoxyCodeLine{\}"{}}
+
+\end{DoxyCode}
+
+
+in this example, {\ttfamily type.\+code\+: 1} corresponds to {\ttfamily STARTED}. when the source capability emits a {\ttfamily STARTED} event for {\ttfamily source\+\_\+instance}, the target capability is triggered for {\ttfamily target\+\_\+instance}. any parameters specified on the target capability are carried through the connection and merged with event parameters at emission time.\hypertarget{md_capabilities2__events_2readme_autotoc_md9}{}\doxysubsection{\texorpdfstring{Event namespacing}{Event namespacing}}\label{md_capabilities2__events_2readme_autotoc_md9}
+event connections are scoped in three ways\+:
+
+
+\begin{DoxyEnumerate}
+\item by bond id, so one client cannot trigger another client\textquotesingle{}s event wiring
+\item by source capability instance id, so only the matching running source instance emits to that connection
+\item by target capability instance id, so the event carries the intended destination instance when the callback is invoked
+\end{DoxyEnumerate}
+
+the connection identifier built by the server currently has this format\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{bond\_id/source\_instance\_id/target\_instance\_id}
+
+\end{DoxyCode}
+
+
+the source capability runner stores this connection id and, during event emission, matches on\+:
+
+
+\begin{DoxyItemize}
+\item event type
+\item bond id
+\item source instance id
+\end{DoxyItemize}
+
+when a match is found, the target capability and target instance id are forwarded through the callback. the published event message also uses the source instance id as the {\ttfamily trigger\+\_\+id} field.\hypertarget{md_capabilities2__events_2readme_autotoc_md10}{}\doxysubsection{\texorpdfstring{Event Emission Triggering}{Event Emission Triggering}}\label{md_capabilities2__events_2readme_autotoc_md10}
+There are two ways events can be tracked for emission\+:
+
+
+\begin{DoxyEnumerate}
+\item the connection is for STARTED or STOPPED events -\/ these are persistently tracked and become dependencies between capabilities
+\item the connection is for SUCCEEDED or FAILED events -\/ these are one-\/shot events that are emitted when a running capability is triggered to succeed or fail
+\end{DoxyEnumerate}
+
+This works out to mean that a STARTED capability will implicitly start its dependent capabilities, and immediately run their trigger action.\hypertarget{md_capabilities2__events_2readme_autotoc_md11}{}\doxysubsection{\texorpdfstring{Event trigger ID}{Event trigger ID}}\label{md_capabilities2__events_2readme_autotoc_md11}
+the published event message exposes a {\ttfamily trigger\+\_\+id} field. in the current implementation this is populated from the source capability instance id, not from a separate user-\/defined trigger namespace.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{connection\_id\ =\ bond\_id\ +\ '/'\ +\ source\_instance\_id\ +\ '/'\ +\ target\_instance\_id}
+\DoxyCodeLine{published\ trigger\_id\ =\ source\_instance\_id}
+
+\end{DoxyCode}
+\hypertarget{md_capabilities2__events_2readme_autotoc_md12}{}\doxysubsection{\texorpdfstring{Notes}{Notes}}\label{md_capabilities2__events_2readme_autotoc_md12}
+
+\begin{DoxyItemize}
+\item a single publisher is used for all event messages, this is at the top level (\doxylink{namespacecapabilities2__server}{capabilities2\+\_\+server})
+\item events are fired from runners
+\end{DoxyItemize}\hypertarget{md_capabilities2__events_2readme_autotoc_md13}{}\doxysubsubsection{\texorpdfstring{To Do}{To Do}}\label{md_capabilities2__events_2readme_autotoc_md13}
+
+\begin{DoxyItemize}
+\item \mbox{[}x\mbox{]} add ability to specify parameters for target capability on event connection
+\item \mbox{[} \mbox{]} add ability to specify event connections in capability definition files 
+\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__msgs_2readme.tex b/docs/latex/md_capabilities2__msgs_2readme.tex
new file mode 100644
index 0000000..49a66b6
--- /dev/null
+++ b/docs/latex/md_capabilities2__msgs_2readme.tex
@@ -0,0 +1,77 @@
+\chapter{Capabilities2 msgs}
+\hypertarget{md_capabilities2__msgs_2readme}{}\label{md_capabilities2__msgs_2readme}\index{Capabilities2 msgs@{Capabilities2 msgs}}
+\label{md_capabilities2__msgs_2readme_autotoc_md14}%
+\Hypertarget{md_capabilities2__msgs_2readme_autotoc_md14}%
+ 
+
+This package contains \href{https://index.ros.org/doc/ros2/}{\texttt{ ROS2}} {\ttfamily messages}, {\ttfamily services}, and {\ttfamily actions} for the capabilities2 framework.\hypertarget{md_capabilities2__msgs_2readme_autotoc_md15}{}\doxysection{\texorpdfstring{Message Types}{Message Types}}\label{md_capabilities2__msgs_2readme_autotoc_md15}
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Message Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Message Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily Capability.\+msg}   &A message type for a capability of a robot.    \\\cline{1-2}
+{\ttfamily Capability\+Command.\+msg}   &A message type for a command to a robot.    \\\cline{1-2}
+{\ttfamily Capability\+Connection.\+msg}   &A message type for connecting one capability to another through the event system.    \\\cline{1-2}
+{\ttfamily Capability\+Event.\+msg}   &A message type for an event related to a capability.    \\\cline{1-2}
+{\ttfamily Capability\+Event\+Code.\+msg}   &event types    \\\cline{1-2}
+{\ttfamily Capability\+Event\+Stamped.\+msg}   &A stamped version of event    \\\cline{1-2}
+{\ttfamily Capability\+Response.\+msg}   &A message type for a response from a robot related to a capability.    \\\cline{1-2}
+{\ttfamily Capability\+Spec.\+msg}   &A message type for the specification of a capability.    \\\cline{1-2}
+{\ttfamily Natural\+Capability.\+msg}   &A message type for a natural capability of a robot.    \\\cline{1-2}
+{\ttfamily Remapping.\+msg}   &A message type for a key/value remapping of a capability resource.    \\\cline{1-2}
+{\ttfamily Running\+Capability.\+msg}   &A message type for a running capability.   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__msgs_2readme_autotoc_md16}{}\doxysection{\texorpdfstring{Service Types}{Service Types}}\label{md_capabilities2__msgs_2readme_autotoc_md16}
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Service Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Service Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily Establish\+Bond.\+srv}   &A service type for establishing a bond between a robot and a client.    \\\cline{1-2}
+{\ttfamily Free\+Capability.\+srv}   &A service type for freeing a capability of a robot.    \\\cline{1-2}
+{\ttfamily Get\+Capability\+Spec.\+srv}   &A service type for getting the specification of a capability of a robot.    \\\cline{1-2}
+{\ttfamily Get\+Capability\+Specs.\+srv}   &A service type for getting the specifications of all capabilities of a robot.    \\\cline{1-2}
+{\ttfamily Get\+Interfaces.\+srv}   &A service type for getting the interfaces of a robot.    \\\cline{1-2}
+{\ttfamily Get\+Providers.\+srv}   &A service type for getting the providers of a capability of a robot.    \\\cline{1-2}
+{\ttfamily Get\+Remappings.\+srv}   &A service type for getting the remappings of a capability of a robot.    \\\cline{1-2}
+{\ttfamily Get\+Running\+Capabilities.\+srv}   &A service type for getting the running capabilities of a robot.    \\\cline{1-2}
+{\ttfamily Get\+Semantic\+Interfaces.\+srv}   &A service type for getting the semantic interfaces.    \\\cline{1-2}
+{\ttfamily Register\+Capability.\+srv}   &A service type for registering a capability with the server.    \\\cline{1-2}
+{\ttfamily Start\+Capability.\+srv}   &A service type for starting a capability.    \\\cline{1-2}
+{\ttfamily Stop\+Capability.\+srv}   &A service type for stopping a capability.    \\\cline{1-2}
+{\ttfamily Use\+Capability.\+srv}   &A service type for using a capability.   \\\cline{1-2}
+\end{longtabu}
+
+
+New in 0.\+1.\+3\+:
+
+
+\begin{DoxyItemize}
+\item {\ttfamily Connect\+Capability.\+srv} -\/ A service type for connecting two running capabilities together through the event system.
+\item {\ttfamily Launch.\+srv} -\/ A service type for launching a launch file.
+\item {\ttfamily Trigger\+Capability.\+srv} -\/ A service type for triggering a capability.
+\end{DoxyItemize}\hypertarget{md_capabilities2__msgs_2readme_autotoc_md17}{}\doxysection{\texorpdfstring{Action Types}{Action Types}}\label{md_capabilities2__msgs_2readme_autotoc_md17}
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Action Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Action Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily Capability.\+action}   &An action type for an encapsulated capability action.    \\\cline{1-2}
+{\ttfamily Launch.\+action}   &An action type for launching a launch file.   \\\cline{1-2}
+\end{longtabu}
diff --git a/docs/latex/md_capabilities2__runner_2docs_2create__runners.tex b/docs/latex/md_capabilities2__runner_2docs_2create__runners.tex
new file mode 100644
index 0000000..e03aef5
--- /dev/null
+++ b/docs/latex/md_capabilities2__runner_2docs_2create__runners.tex
@@ -0,0 +1,55 @@
+\chapter{Creating Runner Plugins}
+\hypertarget{md_capabilities2__runner_2docs_2create__runners}{}\label{md_capabilities2__runner_2docs_2create__runners}\index{Creating Runner Plugins@{Creating Runner Plugins}}
+\label{md_capabilities2__runner_2docs_2create__runners_autotoc_md18}%
+\Hypertarget{md_capabilities2__runner_2docs_2create__runners_autotoc_md18}%
+ The runner API is designed to be extensible, so that specific runners can be created on a per provider basis. Another feature that can be implemented is cross-\/runner communication, which could allow capabilities to be combined at runtime to perform more complex tasks. This could overcome limitations in robot programming in which there is a common need for extensive pre-\/definition of tasks.\hypertarget{md_capabilities2__runner_2docs_2create__runners_autotoc_md19}{}\doxysection{\texorpdfstring{Inheritance}{Inheritance}}\label{md_capabilities2__runner_2docs_2create__runners_autotoc_md19}
+A runner is a plugin that inherits from the {\ttfamily \doxylink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} class. The {\ttfamily Runner\+Base} class is a pure virtual class that defines the interface for a runner. The {\ttfamily Runner\+Base} class has the following methods\+:
+
+
+\begin{DoxyEnumerate}
+\item {\ttfamily start} -\/ starts the runner
+\end{DoxyEnumerate}
+\begin{DoxyEnumerate}
+\item {\ttfamily stop} -\/ stops the runner
+\end{DoxyEnumerate}
+\begin{DoxyEnumerate}
+\item {\ttfamily trigger} -\/ triggers the runner
+\end{DoxyEnumerate}
+
+Multiple classes are provided to inherit from, depending on the type of runner you want to create. A notable example is the {\ttfamily \doxylink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}} class, which is used to create runners that run actions.\hypertarget{md_capabilities2__runner_2docs_2create__runners_autotoc_md20}{}\doxysection{\texorpdfstring{Export with Pluginlib}{Export with Pluginlib}}\label{md_capabilities2__runner_2docs_2create__runners_autotoc_md20}
+The runner should be exported as a plugin using the {\ttfamily PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS} macro.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
+\DoxyCodeLine{\textcolor{preprocessor}{\#include\ <pluginlib/class\_list\_macros.hpp>}}
+\DoxyCodeLine{}
+\DoxyCodeLine{...}
+\DoxyCodeLine{}
+\DoxyCodeLine{PLUGINLIB\_EXPORT\_CLASS(capabilities2\_runner::MyRunner,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\_runner::RunnerBase}})}
+
+\end{DoxyCode}
+\hypertarget{md_capabilities2__runner_2docs_2create__runners_autotoc_md21}{}\doxysection{\texorpdfstring{Expose with plugins.\+xml}{Expose with plugins.xml}}\label{md_capabilities2__runner_2docs_2create__runners_autotoc_md21}
+The runner should be exposed as a plugin in the {\ttfamily plugins.\+xml} file.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{<\textcolor{keywordtype}{library}\ \textcolor{keyword}{path}=\textcolor{stringliteral}{"{}capabilities2\_runner"{}}>}
+\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{class}\ \textcolor{keyword}{type}=\textcolor{stringliteral}{"{}capabilities2\_runner::MyRunner"{}}\ \textcolor{keyword}{base\_class\_type}=\textcolor{stringliteral}{"{}capabilities2\_runner::RunnerBase"{}}>}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ <\textcolor{keywordtype}{description}>}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{A}\ \textcolor{keyword}{plugin}\ \textcolor{keyword}{that}\ \textcolor{keyword}{provides}\ \textcolor{keyword}{a}\ \ \textcolor{keyword}{my-\/runner}\ \textcolor{keyword}{to}\ \textcolor{keyword}{test}\ \textcolor{keyword}{capabilities2}}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ </\textcolor{keywordtype}{description}>}
+\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{class}>}
+\DoxyCodeLine{</\textcolor{keywordtype}{library}>}
+
+\end{DoxyCode}
+
+
+{\ttfamily plugin.\+xml} needs to be included in the {\ttfamily CMake\+Lists.\+txt}.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{pluginlib\_export\_plugin\_description\_file(\$\{PROJECT\_NAME\}\ plugins.xml)}
+
+\end{DoxyCode}
+ 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__runner_2docs_2parameter__format.tex b/docs/latex/md_capabilities2__runner_2docs_2parameter__format.tex
new file mode 100644
index 0000000..320083b
--- /dev/null
+++ b/docs/latex/md_capabilities2__runner_2docs_2parameter__format.tex
@@ -0,0 +1,15 @@
+\chapter{Parameter Format}
+\hypertarget{md_capabilities2__runner_2docs_2parameter__format}{}\label{md_capabilities2__runner_2docs_2parameter__format}\index{Parameter Format@{Parameter Format}}
+\label{md_capabilities2__runner_2docs_2parameter__format_autotoc_md22}%
+\Hypertarget{md_capabilities2__runner_2docs_2parameter__format_autotoc_md22}%
+ \hypertarget{md_capabilities2__runner_2docs_2parameter__format_autotoc_md23}{}\doxysection{\texorpdfstring{TODO}{TODO}}\label{md_capabilities2__runner_2docs_2parameter__format_autotoc_md23}
+Runners can use parameters. These parameters are passed to the runner in the {\ttfamily trigger} function. The parameter format for capabilities2 uses XML. A runner expects to receive a minimal XML structure which includes an ID attribute, for example\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{<\textcolor{keywordtype}{parameters}\ \textcolor{keyword}{id}=\textcolor{stringliteral}{"{}1234"{}}>}
+
+\end{DoxyCode}
+
+
+The {\ttfamily id} is used to identify the runner instance and manage its execution. 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__runner_2readme.tex b/docs/latex/md_capabilities2__runner_2readme.tex
new file mode 100644
index 0000000..9cb8c6c
--- /dev/null
+++ b/docs/latex/md_capabilities2__runner_2readme.tex
@@ -0,0 +1,111 @@
+\chapter{capabilities2\+\_\+runner plugin API}
+\hypertarget{md_capabilities2__runner_2readme}{}\label{md_capabilities2__runner_2readme}\index{capabilities2\_runner plugin API@{capabilities2\_runner plugin API}}
+\label{md_capabilities2__runner_2readme_autotoc_md24}%
+\Hypertarget{md_capabilities2__runner_2readme_autotoc_md24}%
+ This package provides the {\ttfamily runner} API for abstract provision of capabilities. Runner plugins extend the execution functionality of the {\ttfamily capabilities} system. The ROS1 implementation used launch files to start capabilities. The ROS2 implementation uses runners. This allows for more flexibility in how capabilities are started and stopped, or how they are managed, and operate.\hypertarget{md_capabilities2__runner_2readme_autotoc_md25}{}\doxysection{\texorpdfstring{Runner archetypes}{Runner archetypes}}\label{md_capabilities2__runner_2readme_autotoc_md25}
+The {\ttfamily \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} package provides runner patterns that can be used to specialise runners for capabilities and hence create capabilities. These runners are tested\+:
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily \doxylink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}   &The Base class for runners implementing the {\ttfamily Runner} interface which consists of {\ttfamily start}, {\ttfamily stop} and {\ttfamily trigger} functionality.    \\\cline{1-2}
+{\ttfamily \doxylink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}   &The Base runner class for capabilities that are implemented as ROS Actions. Overrides {\ttfamily stop} and {\ttfamily trigger} from Runner\+Base.    \\\cline{1-2}
+{\ttfamily \doxylink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}   &The Base runner class for capabilities that are implemented as ROS Services.    \\\cline{1-2}
+{\ttfamily \doxylink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}   &The Base runner class for capabilities that are implemented as ROS Topics.    \\\cline{1-2}
+{\ttfamily \doxylink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}   &A base runner class that disables trigger functionality. Useful for runners that begin work immediately from {\ttfamily start}.   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__runner_2readme_autotoc_md26}{}\doxysection{\texorpdfstring{Standard Runners}{Standard Runners}}\label{md_capabilities2__runner_2readme_autotoc_md26}
+The {\ttfamily \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} package provides some standard runners.
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily \doxylink{classcapabilities2__runner_1_1LaunchRunner}{capabilities2\+\_\+runner\+::\+Launch\+Runner}}   &Deferred launch-\/file runner kept for compatibility planning. The current implementation is intentionally disabled.    \\\cline{1-2}
+{\ttfamily \doxylink{classcapabilities2__runner_1_1DummyRunner}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}   &A sample runner that can be used to test the functionality of capabilities server.    \\\cline{1-2}
+{\ttfamily \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}   &A runner that requests capability specifications from the capabilities server.    \\\cline{1-2}
+{\ttfamily \doxylink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}   &A runner that multiplexes multiple input capabilities through the events system.   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__runner_2readme_autotoc_md27}{}\doxysection{\texorpdfstring{Experimental Runners}{Experimental Runners}}\label{md_capabilities2__runner_2readme_autotoc_md27}
+The {\ttfamily \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} package provides experimental runners that can be used to start capabilities. These runners are not fully tested and may not work as expected. The experimental runners are\+:
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily \doxylink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}   &Base runner class that provides a capability action interface that encapsulates another action.   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__runner_2readme_autotoc_md28}{}\doxysection{\texorpdfstring{Runner Inheritance Diagram}{Runner Inheritance Diagram}}\label{md_capabilities2__runner_2readme_autotoc_md28}
+Following inheritance diagram depicts the inheritance between the above presented {\itshape Runners} and {\itshape Experimental Runners}.
+
+\hypertarget{md_capabilities2__runner_2readme_autotoc_md29}{}\doxysection{\texorpdfstring{About Runners}{About Runners}}\label{md_capabilities2__runner_2readme_autotoc_md29}
+\hypertarget{md_capabilities2__runner_2readme_autotoc_md30}{}\doxysubsection{\texorpdfstring{Base Runner}{Base Runner}}\label{md_capabilities2__runner_2readme_autotoc_md30}
+The {\ttfamily Runner\+Base} class is the base class for all runners. It provides the {\ttfamily start}, {\ttfamily stop}, and {\ttfamily trigger} methods. The {\ttfamily start} method is used to start the runner, the {\ttfamily stop} method is used to stop the runner, and the {\ttfamily trigger} method is used to trigger the runner. See the {\ttfamily \doxylink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} class definition function templates below\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{\{}
+\DoxyCodeLine{}
+\DoxyCodeLine{\ \ \textcolor{keyword}{class\ }RunnerBase}
+\DoxyCodeLine{\ \ \{}
+\DoxyCodeLine{\ \ \textcolor{keyword}{public}:}
+\DoxyCodeLine{\ \ \ \ \textcolor{comment}{//\ start\ the\ runner}}
+\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ runner\_opts\&\ run\_config,}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\ =\ 0;}
+\DoxyCodeLine{}
+\DoxyCodeLine{\ \ \ \ \textcolor{comment}{//\ stop\ the\ runner}}
+\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\ =\ 0;}
+\DoxyCodeLine{}
+\DoxyCodeLine{\ \ \ \ \textcolor{comment}{//\ trigger\ the\ runner}}
+\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{trigger}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters,}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ bond\_id,}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ instance\_id)\ =\ 0;}
+\DoxyCodeLine{\ \ \};}
+\DoxyCodeLine{}
+\DoxyCodeLine{\}\ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
+\hypertarget{md_capabilities2__runner_2readme_autotoc_md31}{}\doxysubsection{\texorpdfstring{Launch\+Runner}{LaunchRunner}}\label{md_capabilities2__runner_2readme_autotoc_md31}
+The {\ttfamily Launch\+Runner} inherits from {\ttfamily \doxylink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}, but it is intentionally deferred in the current codebase. The class and plugin entry are kept so that launch support can be restored once the replacement approach for the current ROS2 launch system is ready. For now, do not configure providers to depend on launch-\/file execution through this runner.\hypertarget{md_capabilities2__runner_2readme_autotoc_md32}{}\doxysubsection{\texorpdfstring{Creating a Custom runner}{Creating a Custom runner}}\label{md_capabilities2__runner_2readme_autotoc_md32}
+The main idea is to allow users to create custom runners for their specific capabilities. Runners can be created to perform capabilities. The runner can be specified in a capability provider as the {\ttfamily runner} tag\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ provider\ ...}
+\DoxyCodeLine{name:\ my\_provider}
+\DoxyCodeLine{spec\_version:\ 1}
+\DoxyCodeLine{spec\_type:\ provider}
+\DoxyCodeLine{implements:\ my\_capability}
+\DoxyCodeLine{\#\ the\ runner\ to\ use\ is\ an\ exported\ plugin\ name\ based\ on\ RunnerBase}
+\DoxyCodeLine{runner:\ capabilities2\_runner::MyRunner}
+
+\end{DoxyCode}
+
+
+The runner {\ttfamily capabilities2\+\_\+runner\+::\+My\+Runner} should inherit from the {\ttfamily \doxylink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} or another like the {\ttfamily \doxylink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}} class. The runner must implement the {\ttfamily start}, {\ttfamily stop}, and {\ttfamily trigger} methods, and then be registered as a plugin, using the {\ttfamily PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS} macro. See \doxysectlink{md_capabilities2__runner_2docs_2create__runners}{Creating Runners}{0} for more information.\hypertarget{md_capabilities2__runner_2readme_autotoc_md33}{}\doxysection{\texorpdfstring{Runner Execution Patterns}{Runner Execution Patterns}}\label{md_capabilities2__runner_2readme_autotoc_md33}
+\hypertarget{md_capabilities2__runner_2readme_autotoc_md34}{}\doxysubsection{\texorpdfstring{Start -\/$>$ Stop}{Start -> Stop}}\label{md_capabilities2__runner_2readme_autotoc_md34}
+The simplest runner execution pattern is to start the runner and then stop it. An example of this is the {\ttfamily Launch\+Runner}. This pattern represents a {\itshape {\bfseries{self-\/contained}}} capability. An example might be the action of a robot following another entity. This skill could be self-\/contained and runs continuously until stopped. This case assumes that the skill is continuously running and does not require any external triggers. ROS {\bfseries{Topic}} subscriptions and {\bfseries{Launch}} files are like this type.\hypertarget{md_capabilities2__runner_2readme_autotoc_md35}{}\doxysubsection{\texorpdfstring{Start -\/$>$ Trigger -\/$>$ Stop}{Start -> Trigger -> Stop}}\label{md_capabilities2__runner_2readme_autotoc_md35}
+A more complex runner execution pattern is to start the runner, trigger it, and then stop it. This pattern represents a {\itshape {\bfseries{one-\/shot}}} capability. An example might be the action of a robot moving to a waypoint. This skill is triggered once and then stops.\hypertarget{md_capabilities2__runner_2readme_autotoc_md36}{}\doxysubsection{\texorpdfstring{Start -\/$>$ Trigger -\/$>$ Trigger -\/$>$ ... -\/$>$ Stop}{Start -> Trigger -> Trigger -> ... -> Stop}}\label{md_capabilities2__runner_2readme_autotoc_md36}
+An even more complex runner execution pattern is to start the runner, trigger it multiple times, and then stop it. This pattern represents a {\itshape {\bfseries{repeating}}} capability. An example might be the action of a robot completing a state-\/machine or tree. This skill is triggered multiple times and then stops. This pattern (and the previous one) often implies that data is passed to and from the runner.\hypertarget{md_capabilities2__runner_2readme_autotoc_md37}{}\doxysubsection{\texorpdfstring{Start -\/$>$ End (no Stop)}{Start -> End (no Stop)}}\label{md_capabilities2__runner_2readme_autotoc_md37}
+The final runner execution pattern is to start the runner and then end it without stopping. This pattern represents a challenge for the runner API, as it is not clear when the runner should be stopped. ROS communications patterns including {\bfseries{Services}} and {\bfseries{Actions}} are like this type.\hypertarget{md_capabilities2__runner_2readme_autotoc_md38}{}\doxysection{\texorpdfstring{Trigger Parameter Format}{Trigger Parameter Format}}\label{md_capabilities2__runner_2readme_autotoc_md38}
+Runners can use parameters. These parameters are passed to the runner in the {\ttfamily trigger} function. For more information, see \doxysectlink{md_capabilities2__runner_2docs_2parameter__format}{Parameter Format}{0}. 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__server_2docs_2register.tex b/docs/latex/md_capabilities2__server_2docs_2register.tex
new file mode 100644
index 0000000..5c4a131
--- /dev/null
+++ b/docs/latex/md_capabilities2__server_2docs_2register.tex
@@ -0,0 +1,27 @@
+\chapter{Registering a capability}
+\hypertarget{md_capabilities2__server_2docs_2register}{}\label{md_capabilities2__server_2docs_2register}\index{Registering a capability@{Registering a capability}}
+\label{md_capabilities2__server_2docs_2register_autotoc_md39}%
+\Hypertarget{md_capabilities2__server_2docs_2register_autotoc_md39}%
+ Capabilities can be registered by exporting them in a package. The capabilities2 server will read the capabilities from the package and make them available to the user. Basic capability use case needs two components to be registered; {\ttfamily capability\+\_\+interface} and {\ttfamily capability\+\_\+provider}. Optionally, a third component can be added as {\ttfamily semantic\+\_\+capability\+\_\+interface}.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\textcolor{comment}{<!-\/-\/\ see\ std\_capabilities\ package\ for\ examples\ -\/-\/>}}
+\DoxyCodeLine{<\textcolor{keywordtype}{export}>}
+\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{capability\_interface}>}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{keyword}{interfaces}/\textcolor{keyword}{cool\_cap.yaml}}
+\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{capability\_interface}>}
+\DoxyCodeLine{\ \ \ \ }
+\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{capability\_provider}>}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{keyword}{providers}/\textcolor{keyword}{cool\_cap.yaml}}
+\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{capability\_provider}>}
+\DoxyCodeLine{}
+\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{semantic\_capability\_interface}>}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{keyword}{semantic\_interfaces}/\textcolor{keyword}{not\_cool\_cap.yaml}}
+\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{semantic\_capability\_interface}>}
+\DoxyCodeLine{</\textcolor{keywordtype}{export}>}
+
+\end{DoxyCode}
+
+
+Capabilities can also be registered through a service call. This is useful for registering capabilities that are not exported in a package. The service call has been implemented as a node in the capabilities2 package. Use the node to register capabilities during runtime. This method can also be used to update capabilities. 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__server_2docs_2terminal__usage.tex b/docs/latex/md_capabilities2__server_2docs_2terminal__usage.tex
new file mode 100644
index 0000000..6c2800c
--- /dev/null
+++ b/docs/latex/md_capabilities2__server_2docs_2terminal__usage.tex
@@ -0,0 +1,46 @@
+\chapter{Terminal based capability usage}
+\hypertarget{md_capabilities2__server_2docs_2terminal__usage}{}\label{md_capabilities2__server_2docs_2terminal__usage}\index{Terminal based capability usage@{Terminal based capability usage}}
+\label{md_capabilities2__server_2docs_2terminal__usage_autotoc_md40}%
+\Hypertarget{md_capabilities2__server_2docs_2terminal__usage_autotoc_md40}%
+ Using a capability requires the user to establish a bond with the capabilities2 server. The bond is used to maintain a persistent connection with the server.
+
+first, inspect the available capabilities provided under this server on this robot.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{ros2\ service\ call\ /capabilities/get\_capability\_specs\ capabilities2\_msgs/srv/GetCapabilitySpecs}
+
+\end{DoxyCode}
+
+
+then, request a bond id to become a persistent user
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{ros2\ service\ call\ /capabilities/establish\_bond\ capabilities2\_msgs/srv/EstablishBond}
+\DoxyCodeLine{}
+\DoxyCodeLine{\#\ this\ bond\ needs\ to\ be\ updated\ every\ second\ by\ publishing\ a\ heartbeat\ the\ bond\ topic.\ Replace\ the\ ...\ with\ value\ received\ from\ above\ call}
+\DoxyCodeLine{ros2\ topic\ pub\ /capabilities/bonds\ ...}
+
+\end{DoxyCode}
+
+
+then request to use a capability
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{ros2\ service\ call\ /capabilities/use\_capability\ capabilities2\_msgs/srv/UseCapability}
+
+\end{DoxyCode}
+
+
+running capabilities can also be connected together through the event system. this requires a valid bond and both the source and target capabilities to already be running.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{ros2\ service\ call\ /capabilities/connect\_capability\ capabilities2\_msgs/srv/ConnectCapability}
+
+\end{DoxyCode}
+
+
+This capability can be freed by calling the {\ttfamily free\+\_\+capability} service, or just let the bond expire. The capability will be freed automatically. 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.tex b/docs/latex/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.tex
new file mode 100644
index 0000000..f2035ae
--- /dev/null
+++ b/docs/latex/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.tex
@@ -0,0 +1,96 @@
+\chapter{Capabilities2 Models}
+\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme}{}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme}\index{Capabilities2 Models@{Capabilities2 Models}}
+\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md41}%
+\Hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md41}%
+ This directory contains the data models used by the Capabilities2 server.\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md42}{}\doxysection{\texorpdfstring{Models}{Models}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md42}
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily provider}   &Represents a provider of an interface    \\\cline{1-2}
+{\ttfamily interface}   &Represents a capability interface    \\\cline{1-2}
+{\ttfamily semantic\+\_\+interface}   &Represents a semantic capability interface   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md43}{}\doxysubsection{\texorpdfstring{V2 new models (\+TODO)}{V2 new models (TODO)}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md43}
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily predicates}   &Represents predicates between capabilities   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md44}{}\doxysubsection{\texorpdfstring{V3 new models (\+TODO)(\+Proposal)}{V3 new models (TODO)(Proposal)}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md44}
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily running}   &Represents active runners that are executing capabilities    \\\cline{1-2}
+{\ttfamily connections}   &Represents connections between active runners   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md45}{}\doxysection{\texorpdfstring{Traits}{Traits}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md45}
+The models can implement various traits to provide additional functionality. The available traits are\+:
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Trait   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Trait   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily identifiable}   &Allows the model to have a unique identifier    \\\cline{1-2}
+{\ttfamily modifiable}   &Adds created and modified timestamps    \\\cline{1-2}
+{\ttfamily soft\+\_\+deleteable}   &Allows the model to be soft deleted    \\\cline{1-2}
+{\ttfamily header}   &Adds a header to the model including name, description, and version etc. The header uses id, created, and deleted timestamps    \\\cline{1-2}
+{\ttfamily remappable}   &Allows the model to have remappings   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md46}{}\doxysubsection{\texorpdfstring{V2 new traits (\+TODO)}{V2 new traits (TODO)}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md46}
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Trait   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Trait   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily predicateable}   &Allows the model to use subject-\/predicate relationships    \\\cline{1-2}
+{\ttfamily assurable}   &Adds tracking metrics for capability performance   \\\cline{1-2}
+\end{longtabu}
+\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md47}{}\doxysection{\texorpdfstring{Relationships}{Relationships}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md47}
+The models can have relationships with each other. The available relationships are\+:
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Relationship   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Relationship   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+{\ttfamily implements}   &A provider implements an interface    \\\cline{1-2}
+{\ttfamily depends\+\_\+on}   &A provider depends on another provider    \\\cline{1-2}
+{\ttfamily redefines}   &A semantic interface redefines an interface   \\\cline{1-2}
+\end{longtabu}
diff --git a/docs/latex/md_capabilities2__server_2readme.tex b/docs/latex/md_capabilities2__server_2readme.tex
new file mode 100644
index 0000000..e83bb74
--- /dev/null
+++ b/docs/latex/md_capabilities2__server_2readme.tex
@@ -0,0 +1,81 @@
+\chapter{Capabilities2 Server}
+\hypertarget{md_capabilities2__server_2readme}{}\label{md_capabilities2__server_2readme}\index{Capabilities2 Server@{Capabilities2 Server}}
+\label{md_capabilities2__server_2readme_autotoc_md48}%
+\Hypertarget{md_capabilities2__server_2readme_autotoc_md48}%
+ Capabilities2 server allows interaction with the capabilities2 API. It is a reimplementation of the capabilities package using C++ (original capabilities package was written in Python 2.\+7). In addition to C++ reimplementation being more resource efficient, this package extends the capabilities package features in following ways,
+
+
+\begin{DoxyEnumerate}
+\item Database support for storing capabilities.
+\item Capability registration through service calls.
+\item Abstracted providers through a {\itshape runners} API see \doxysectlink{md_capabilities2__runner_2readme}{capabilities2\+\_\+runner}{0}
+\end{DoxyEnumerate}\hypertarget{md_capabilities2__server_2readme_autotoc_md49}{}\doxysection{\texorpdfstring{Specialising the capabilities2 server}{Specialising the capabilities2 server}}\label{md_capabilities2__server_2readme_autotoc_md49}
+The capabilities2 server is implemented as a \href{https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Composition.html}{\texttt{ ROS2 Component}}. The server can be specialised by composing it with another Component that adds domain logic.\hypertarget{md_capabilities2__server_2readme_autotoc_md50}{}\doxysection{\texorpdfstring{Launch capabilities2 server}{Launch capabilities2 server}}\label{md_capabilities2__server_2readme_autotoc_md50}
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{source\ install/setup.bash}
+\DoxyCodeLine{ros2\ launch\ capabilities2\_server\ capabilities2\_server.launch.py}
+
+\end{DoxyCode}
+
+
+Refer {\ttfamily capabilities2\+\_\+server/config/capabilities.\+yaml} for the default node parameters loaded by the launch file.\hypertarget{md_capabilities2__server_2readme_autotoc_md51}{}\doxysection{\texorpdfstring{System dependencies}{System dependencies}}\label{md_capabilities2__server_2readme_autotoc_md51}
+The capabilities2 server depends on the following {\ttfamily bondcpp} ROS2 package. See the package.\+xml for the full list of dependencies. Notably, the capabilities2 server depends on the following system dependencies\+:
+
+
+\begin{DoxyItemize}
+\item {\ttfamily sqlite3}
+\item {\ttfamily yaml-\/cpp}
+\item {\ttfamily tinyxml2}
+\end{DoxyItemize}\hypertarget{md_capabilities2__server_2readme_autotoc_md52}{}\doxysection{\texorpdfstring{API}{API}}\label{md_capabilities2__server_2readme_autotoc_md52}
+The capabilities2 server provides the following ROS2 API\+:\hypertarget{md_capabilities2__server_2readme_autotoc_md53}{}\doxysubsection{\texorpdfstring{Services}{Services}}\label{md_capabilities2__server_2readme_autotoc_md53}
+The capabilities2 server exposes the following Service API (see \doxysectlink{md_capabilities2__msgs_2readme}{capabilities2\+\_\+msgs}{0} for data types)\+:
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{3}{|X[-1]}|}
+\hline
+\cellcolor{\tableheadbgcolor}\textbf{ Topic   }&\cellcolor{\tableheadbgcolor}\textbf{ Service Message   }&\cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-3}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\cellcolor{\tableheadbgcolor}\textbf{ Topic   }&\cellcolor{\tableheadbgcolor}\textbf{ Service Message   }&\cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-3}
+\endhead
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+interfaces}   &{\ttfamily Get\+Interfaces.\+srv}   &Get the interfaces provided by the capabilities server    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+semantic\+\_\+interfaces}   &{\ttfamily Get\+Semantic\+Interfaces.\+srv}   &Get the semantic interfaces provided by the capabilities server    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+providers}   &{\ttfamily Get\+Providers.\+srv}   &Get the providers available on the capabilities server    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+remappings}   &{\ttfamily Get\+Remappings.\+srv}   &Get the remappings for a capability    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+capability\+\_\+spec}   &{\ttfamily Get\+Capability\+Spec.\+srv}   &Get a raw specifications for a capability    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+capability\+\_\+specs}   &{\ttfamily Get\+Capability\+Specs.\+srv}   &Get all raw specifications in the capabilities server    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+running\+\_\+capabilities}   &{\ttfamily Get\+Running\+Capabilities.\+srv}   &Get the currently running capabilities    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/establish\+\_\+bond}   &{\ttfamily Establish\+Bond.\+srv}   &Establish a bond with the capabilities server to use capabilities    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/use\+\_\+capability}   &{\ttfamily Use\+Capability.\+srv}   &Use a capability -\/ must be bonded    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/free\+\_\+capability}   &{\ttfamily Free\+Capability.\+srv}   &Free a capability (when done using it, when all users are done the capability is freed) -\/ must be bonded    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/start\+\_\+capability}   &{\ttfamily Start\+Capability.\+srv}   &Start a capability (this is a forceful start, and ignores use and free logic)    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/stop\+\_\+capability}   &{\ttfamily Stop\+Capability.\+srv}   &Stop a capability (this is a forceful stop, and ignores use and free logic)    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/register\+\_\+capability}   &{\ttfamily Register\+Capability.\+srv}   &Register a capability with the capabilities server    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/trigger\+\_\+capability}   &{\ttfamily Trigger\+Capability.\+srv}   &Trigger a capability -\/ must be bonded    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/connect\+\_\+capability}   &{\ttfamily Connect\+Capability.\+srv}   &Connect two running capabilities through the event system using a {\ttfamily Capability\+Connection} message -\/ must be bonded   \\\cline{1-3}
+\end{longtabu}
+\hypertarget{md_capabilities2__server_2readme_autotoc_md54}{}\doxysubsection{\texorpdfstring{Topics}{Topics}}\label{md_capabilities2__server_2readme_autotoc_md54}
+The capabilities2 server exposes the following Topics API\+:
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{3}{|X[-1]}|}
+\hline
+\cellcolor{\tableheadbgcolor}\textbf{ Topic   }&\cellcolor{\tableheadbgcolor}\textbf{ Message   }&\cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-3}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\cellcolor{\tableheadbgcolor}\textbf{ Topic   }&\cellcolor{\tableheadbgcolor}\textbf{ Message   }&\cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-3}
+\endhead
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/events}   &{\ttfamily Capability\+Event\+Stamped.\+msg}   &Publish capability events    \\\cline{1-3}
+{\ttfamily \texorpdfstring{$\sim$}{\string~}/bonds}   &{\ttfamily bond/\+Status.\+msg}   &Maintain bonds with capability users -\/ \href{https://wiki.ros.org/bond}{\texttt{ Bond API}}   \\\cline{1-3}
+\end{longtabu}
+\hypertarget{md_capabilities2__server_2readme_autotoc_md55}{}\doxysection{\texorpdfstring{Additional Information}{Additional Information}}\label{md_capabilities2__server_2readme_autotoc_md55}
+
+\begin{DoxyItemize}
+\item \doxysectlink{md_capabilities2__server_2docs_2register}{Registering a capability}{0}
+\item \doxysectlink{md_capabilities2__server_2docs_2terminal__usage}{Terminal based capability usage}{0} 
+\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/md_changelog.tex b/docs/latex/md_changelog.tex
new file mode 100644
index 0000000..82ac19d
--- /dev/null
+++ b/docs/latex/md_changelog.tex
@@ -0,0 +1,34 @@
+\chapter{Changelog}
+\hypertarget{md_changelog}{}\label{md_changelog}\index{Changelog@{Changelog}}
+\label{md_changelog_autotoc_md56}%
+\Hypertarget{md_changelog_autotoc_md56}%
+ \hypertarget{md_changelog_autotoc_md57}{}\doxysection{\texorpdfstring{0.\+2.\+0 (2025-\/09-\/16)}{0.2.0 (2025-09-16)}}\label{md_changelog_autotoc_md57}
+
+\begin{DoxyItemize}
+\item add new service types
+\item upgrade event subsystem
+\item implement basic db traits
+\item add system and capability runner plugins
+\item threaded runner execution
+\item runners can be chained through trigger
+\item triggering between runners handled by dynamic link list style structure
+\item event system upgraded and refactored to be more generic and easier to use
+\end{DoxyItemize}\hypertarget{md_changelog_autotoc_md58}{}\doxysection{\texorpdfstring{0.\+1.\+2 (2024-\/09-\/20)}{0.1.2 (2024-09-20)}}\label{md_changelog_autotoc_md58}
+
+\begin{DoxyItemize}
+\item working on bt runner plugins
+\item identifiable trait on models\+: can be used to define a unique identifier for a model which could allow versions of interfaces to be used
+\item move trigger cap to first class concept in cap API
+\item change trigger logic in runner cache
+\item guard and throw in trigger logic when cap not found
+\item fix cap entity versioning to be a string in the database
+\item doco on cap entities with examples
+\end{DoxyItemize}\hypertarget{md_changelog_autotoc_md59}{}\doxysection{\texorpdfstring{0.\+1.\+1 (2024-\/09-\/19)}{0.1.1 (2024-09-19)}}\label{md_changelog_autotoc_md59}
+
+\begin{DoxyItemize}
+\item increment version of cap entities to 1.\+1
+\item add soft delete trait
+\item add database traits modifyable, defineable, predicateable
+\item defineable trait\+: use a behaviour language to define a provider
+\item predicateable trait\+: use a ontological triple to define relations between cap entities 
+\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/md_docs_2basic__tutorial.tex b/docs/latex/md_docs_2basic__tutorial.tex
new file mode 100644
index 0000000..6fe2d3d
--- /dev/null
+++ b/docs/latex/md_docs_2basic__tutorial.tex
@@ -0,0 +1,196 @@
+\chapter{Basic Tutorial}
+\hypertarget{md_docs_2basic__tutorial}{}\label{md_docs_2basic__tutorial}\index{Basic Tutorial@{Basic Tutorial}}
+\label{md_docs_2basic__tutorial_autotoc_md60}%
+\Hypertarget{md_docs_2basic__tutorial_autotoc_md60}%
+ This tutorial will guide you through the basic steps of using {\ttfamily capabilities2}. It will cover the following topics\+:
+
+
+\begin{DoxyEnumerate}
+\item Creating a capability using yaml model files.
+\item Run the capabilities server to serve the capability.
+\item Run the capabilities runner to execute the capability.
+\end{DoxyEnumerate}
+
+The tutorial will create a simple capability that prints "{}\+Hello, World!"{} to the console, using talker-\/listener nodes as a backend sub-\/system.
+
+The capabilities server will serve the capability, and then spawn a runner that will execute the capability.\hypertarget{md_docs_2basic__tutorial_autotoc_md61}{}\doxysection{\texorpdfstring{Creating a capability}{Creating a capability}}\label{md_docs_2basic__tutorial_autotoc_md61}
+First, create a package to hold the capability. In this tutorial, we will create a package called {\ttfamily hello\+\_\+capability\+\_\+world}.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{ros2\ pkg\ create\ -\/-\/build-\/type\ ament\_cmake\ hello\_capability\_world}
+
+\end{DoxyCode}
+
+
+Next, create capability specification files in the package. These files will define the capability and the provider. Create 2 yaml files, {\ttfamily talker\+\_\+interface.\+yaml} and {\ttfamily talker\+\_\+provider.\+yaml} in the {\ttfamily hello\+\_\+capability\+\_\+world} package.\hypertarget{md_docs_2basic__tutorial_autotoc_md62}{}\doxysubsection{\texorpdfstring{Spec files (.\+yaml)}{Spec files (.yaml)}}\label{md_docs_2basic__tutorial_autotoc_md62}
+\hypertarget{md_docs_2basic__tutorial_autotoc_md63}{}\doxysubsubsection{\texorpdfstring{talker\+\_\+interface.\+yaml}{talker\_interface.yaml}}\label{md_docs_2basic__tutorial_autotoc_md63}
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ talker\_interface.yaml}
+\DoxyCodeLine{name:\ talker}
+\DoxyCodeLine{spec\_type:\ interface}
+\DoxyCodeLine{spec\_version:\ 1.1}
+\DoxyCodeLine{description:\ A\ simple\ talker\ capability\ that\ prints\ "{}Hello,\ World!"{}\ to\ the\ console.}
+\DoxyCodeLine{interface:}
+\DoxyCodeLine{\ \ topics:}
+\DoxyCodeLine{\ \ \ \ "{}chatter"{}:}
+\DoxyCodeLine{\ \ \ \ \ \ type:\ std\_msgs/msg/String}
+\DoxyCodeLine{\ \ \ \ \ \ description:\ A\ topic\ that\ prints\ "{}Hello,\ World!"{}\ to\ the\ console.}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2basic__tutorial_autotoc_md64}{}\doxysubsubsection{\texorpdfstring{talker\+\_\+provider.\+yaml}{talker\_provider.yaml}}\label{md_docs_2basic__tutorial_autotoc_md64}
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ talker\_provider.yaml}
+\DoxyCodeLine{name:\ talker}
+\DoxyCodeLine{spec\_type:\ provider}
+\DoxyCodeLine{spec\_version:\ 1.1}
+\DoxyCodeLine{description:\ A\ simple\ talker\ provider\ that\ prints\ "{}Hello,\ World!"{}\ to\ the\ console.}
+\DoxyCodeLine{implements:\ hello\_capability\_world/talker}
+\DoxyCodeLine{runner:\ hello\_capability\_world::Talker\ \#\ this\ is\ the\ C++\ class\ that\ implements\ the\ provider}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2basic__tutorial_autotoc_md65}{}\doxysubsection{\texorpdfstring{Export the capability in the package.\+xml}{Export the capability in the package.xml}}\label{md_docs_2basic__tutorial_autotoc_md65}
+Add the following to the {\ttfamily package.\+xml} file in the {\ttfamily hello\+\_\+capability\+\_\+world} package.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\textcolor{comment}{<!-\/-\/\ within\ the\ export\ tag\ -\/-\/>}}
+\DoxyCodeLine{<\textcolor{keywordtype}{export}>}
+\DoxyCodeLine{\ \ \ \ \textcolor{comment}{<!-\/-\/\ add\ the\ capability\ files\ -\/-\/>}}
+\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{capability\_interface}>\textcolor{keyword}{talker\_interface.yaml}</\textcolor{keywordtype}{capability\_interface}>}
+\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{capability\_provider}>\textcolor{keyword}{talker\_provider.yaml}</\textcolor{keywordtype}{capability\_provider}>}
+\DoxyCodeLine{</\textcolor{keywordtype}{export}>}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2basic__tutorial_autotoc_md66}{}\doxysubsection{\texorpdfstring{Create a runner plugin}{Create a runner plugin}}\label{md_docs_2basic__tutorial_autotoc_md66}
+Create a C++ class that implements the provider. This class will be used to run the capability. Create a new file {\ttfamily talker.\+cpp} in the {\ttfamily src} directory of the {\ttfamily hello\+\_\+capability\+\_\+world} package. In this example, the capability publishes immediately when started, so the class can inherit from {\ttfamily \doxylink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}} and be exported as a plugin.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\textcolor{comment}{//\ talker.cpp}}
+\DoxyCodeLine{\textcolor{preprocessor}{\#include\ "{}rclcpp/rclcpp.hpp"{}}}
+\DoxyCodeLine{\textcolor{preprocessor}{\#include\ "{}pluginlib/class\_list\_macros.hpp"{}}}
+\DoxyCodeLine{\textcolor{preprocessor}{\#include\ "{}\mbox{\hyperlink{notrigger__runner_8hpp}{capabilities2\_runner/notrigger\_runner.hpp}}"{}}}
+\DoxyCodeLine{\textcolor{preprocessor}{\#include\ "{}std\_msgs/msg/string.hpp"{}}}
+\DoxyCodeLine{}
+\DoxyCodeLine{\textcolor{keyword}{namespace\ }hello\_capability\_world}
+\DoxyCodeLine{\{}
+\DoxyCodeLine{\textcolor{keyword}{class\ }Talker\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\_runner::NoTriggerRunner}}}
+\DoxyCodeLine{\{}
+\DoxyCodeLine{\textcolor{keyword}{public}:}
+\DoxyCodeLine{\ \ Talker()\ =\ \textcolor{keywordflow}{default};}
+\DoxyCodeLine{}
+\DoxyCodeLine{\ \ \textcolor{keywordtype}{void}\ start(}
+\DoxyCodeLine{\ \ \ \ rclcpp::Node::SharedPtr\ node,}
+\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\_runner::runner\_opts}}\&\ run\_config,}
+\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{\textcolor{keyword}{\ \ \ \ }\{}
+\DoxyCodeLine{\ \ \ \ \textcolor{comment}{//\ init\ base\ class\ gets\ node\ info\ and\ stores\ the\ runner\ configuration}}
+\DoxyCodeLine{\ \ \ \ init\_base(node,\ run\_config);}
+\DoxyCodeLine{}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{comment}{//\ create\ a\ publisher\ to\ the\ chatter\ topic}}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ chatter\_pub\ =\ node\_-\/>create\_publisher<std\_msgs::msg::String>(\textcolor{stringliteral}{"{}chatter"{}},\ 10);}
+\DoxyCodeLine{}
+\DoxyCodeLine{\ \ \ \ emit\_started(bond\_id,\ \textcolor{stringliteral}{"{}"{}},\ param\_on\_started());}
+\DoxyCodeLine{}
+\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{comment}{//\ send\ a\ message\ to\ the\ chatter\ topic}}
+\DoxyCodeLine{\ \ \ \ std\_msgs::msg::String\ msg;}
+\DoxyCodeLine{\ \ \ \ msg.data\ =\ \textcolor{stringliteral}{"{}Hello,\ World!"{}};}
+\DoxyCodeLine{\ \ \ \ chatter\_pub-\/>publish(msg);}
+\DoxyCodeLine{\ \ \ \ \}}
+\DoxyCodeLine{}
+\DoxyCodeLine{\ \ \textcolor{keywordtype}{void}\ stop(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
+\DoxyCodeLine{\textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{\ \ \ \ emit\_stopped(bond\_id,\ instance\_id,\ param\_on\_stopped());}
+\DoxyCodeLine{\ \ \ \ \}}
+\DoxyCodeLine{\};}
+\DoxyCodeLine{\}\ \textcolor{comment}{//\ namespace\ hello\_capability\_world}}
+\DoxyCodeLine{}
+\DoxyCodeLine{\textcolor{comment}{//\ export\ the\ plugin}}
+\DoxyCodeLine{\mbox{\hyperlink{system__runners_8cpp_a17206555b3cc77986a56c860d68f7dd0}{PLUGINLIB\_EXPORT\_CLASS}}(hello\_capability\_world::Talker,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\_runner::RunnerBase}})}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2basic__tutorial_autotoc_md67}{}\doxysubsubsection{\texorpdfstring{Export the plugin in the CMake\+Lists.\+txt}{Export the plugin in the CMakeLists.txt}}\label{md_docs_2basic__tutorial_autotoc_md67}
+Follow the ROS2 pluginlib pattern to export the runner plugin.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\textcolor{comment}{<!-\/-\/\ plugins.xml\ -\/-\/>}}
+\DoxyCodeLine{<\textcolor{keywordtype}{library}\ \textcolor{keyword}{path}=\textcolor{stringliteral}{"{}lib"{}}>}
+\DoxyCodeLine{\ \ <\textcolor{keywordtype}{class}\ \textcolor{keyword}{name}=\textcolor{stringliteral}{"{}hello\_capability\_world::Talker"{}}\ \textcolor{keyword}{type}=\textcolor{stringliteral}{"{}hello\_capability\_world::Talker"{}}\ \textcolor{keyword}{base\_class\_type}=\textcolor{stringliteral}{"{}capabilities2\_runner::RunnerBase"{}}>}
+\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{description}>\textcolor{keyword}{A}\ \textcolor{keyword}{simple}\ \textcolor{keyword}{talker}\ \textcolor{keyword}{provider}\ \textcolor{keyword}{that}\ \textcolor{keyword}{prints}\ \textcolor{stringliteral}{"{}Hello,\ World!"{}}\ \textcolor{keyword}{to}\ \textcolor{keyword}{the}\ \textcolor{keyword}{console.}</\textcolor{keywordtype}{description}>}
+\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{class}>}
+\DoxyCodeLine{</\textcolor{keywordtype}{library}>}
+
+\end{DoxyCode}
+
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ CMakeLists.txt}
+\DoxyCodeLine{add\_library(\$\{PROJECT\_NAME\}\ SHARED\ src/talker.cpp)}
+\DoxyCodeLine{}
+\DoxyCodeLine{ament\_target\_dependencies(\$\{PROJECT\_NAME\}}
+\DoxyCodeLine{\ \ rclcpp}
+\DoxyCodeLine{\ \ pluginlib}
+\DoxyCodeLine{\ \ capabilities2\_runner}
+\DoxyCodeLine{\ \ std\_msgs}
+\DoxyCodeLine{)}
+\DoxyCodeLine{}
+\DoxyCodeLine{pluginlib\_export\_plugin\_description\_file(\$\{PROJECT\_NAME\}\ plugins.xml)}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2basic__tutorial_autotoc_md68}{}\doxysection{\texorpdfstring{Run the capabilities server}{Run the capabilities server}}\label{md_docs_2basic__tutorial_autotoc_md68}
+The capabilities server is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.\hypertarget{md_docs_2basic__tutorial_autotoc_md69}{}\doxysubsection{\texorpdfstring{Create a new config file}{Create a new config file}}\label{md_docs_2basic__tutorial_autotoc_md69}
+Create a new config file in the {\ttfamily hello\+\_\+capability\+\_\+world} package. This file will define the capabilities that the server will serve.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ config/hello\_capability\_world.yaml}
+\DoxyCodeLine{/**:}
+\DoxyCodeLine{\ \ ros\_\_parameters:}
+\DoxyCodeLine{\ \ \ \ loop\_rate:\ 5.0\ \#\ Hz}
+\DoxyCodeLine{\ \ \ \ db\_file:\ \string~/.ros/capabilities/capabilities.sqlite3}
+\DoxyCodeLine{\ \ \ \ rebuild:\ false\ \#\ Set\ to\ true\ to\ rebuild\ the\ database}
+\DoxyCodeLine{\ \ \ \ package\_paths:\ \#\ paths\ to\ search\ for\ capabilities}
+\DoxyCodeLine{\ \ \ \ \ \ -\/\ /opt/ros/jazzy/share\ \#\ default\ ROS2\ package\ paths\ for\ Jazzy}
+\DoxyCodeLine{\ \ \ \ \ \ -\/\ /home/ubuntu/colcon\_ws/src}
+\DoxyCodeLine{\ \ \ \ \ \ -\/\ /home/ubuntu/colcon\_ws/src/capabilities2\ \#\ absolute\ paths\ for\ now,\ these\ paths\ assume\ the\ capabilities2\ package\ is\ in\ the\ colcon\ workspace\ of\ the\ ubuntu\ user\ (devcontainer\ user)}
+
+\end{DoxyCode}
+
+
+Run the capabilities server node and provide the config file with ROS parameters.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ run\ the\ capabilities\ server\ node\ with\ the\ config\ file}
+\DoxyCodeLine{ros2\ run\ capabilities2\_server\ capabilities2\_server\_node\ -\/-\/ros-\/args\ -\/-\/params-\/file\ /path/to/hello\_capability\_world/config/hello\_capability\_world.yaml}
+
+\end{DoxyCode}
+
+
+We also need to run the talker-\/listener nodes as well. The talker-\/listener nodes are provided by the {\ttfamily demo\+\_\+nodes\+\_\+cpp} package. We can run the talker-\/listener nodes using the following command\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ in\ a\ new\ terminal}
+\DoxyCodeLine{\#\ run\ the\ listener\ node}
+\DoxyCodeLine{ros2\ run\ demo\_nodes\_cpp\ listener}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2basic__tutorial_autotoc_md70}{}\doxysection{\texorpdfstring{Run the capabilities runner}{Run the capabilities runner}}\label{md_docs_2basic__tutorial_autotoc_md70}
+Now that the capabilities server is running, we can run the capabilities runner to execute the capability.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ in\ a\ new\ terminal}
+\DoxyCodeLine{\#\ run\ the\ capabilities\ runner\ using\ a\ service\ call}
+\DoxyCodeLine{ros2\ service\ call\ /capabilities/start\_capability\ capabilities2\_msgs/srv/StartCapability\ "{}\{capability:\ 'hello\_capability\_world/talker',\ provider:\ 'hello\_capability\_world/talker'\}"{}}
+
+\end{DoxyCode}
+
+
+The capabilities runner will start the capability and print "{}\+Hello, World!"{} to the console of the listener node. 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2design.tex b/docs/latex/md_docs_2design.tex
new file mode 100644
index 0000000..f2f5c06
--- /dev/null
+++ b/docs/latex/md_docs_2design.tex
@@ -0,0 +1,8 @@
+\chapter{Design}
+\hypertarget{md_docs_2design}{}\label{md_docs_2design}\index{Design@{Design}}
+\label{md_docs_2design_autotoc_md71}%
+\Hypertarget{md_docs_2design_autotoc_md71}%
+ The new capabilities package is designed to be more efficient and extensible. The functions are implemented as plugins, which can be loaded at runtime. The execution of providers is abstracted using an API called runners. The runners can manage more arbitrary provider operation which can include performing actions or services, or even running other capabilities. The capability models are stored in a database, This will allow various feature improvements such as hot reloading, state persistence, and model extension. Another possible feature is to create more complex ontological relationships between capabilities such as prerequisites, conflicts, or RDF triples (for example, {\ttfamily grasp} results in {\ttfamily holding}, or {\ttfamily pick} is a type of {\ttfamily manipulation}, or {\ttfamily grasp} is incompatible with {\ttfamily push}).\hypertarget{md_docs_2design_autotoc_md72}{}\doxysubsection{\texorpdfstring{Bonds}{Bonds}}\label{md_docs_2design_autotoc_md72}
+The bonds feature as implemented in {\ttfamily capabilities} and reimplemented in {\ttfamily capabilities2} allows applications to overlap functions by requesting use of the same resources. When all references to a resource are released, the resource is stopped. This has the added benefit of creating an idle state for the robot in which the robot computing resources are not being used. As a result of this, the robot could be more energy-\/efficient, and the robot could be more responsive to new tasks.\hypertarget{md_docs_2design_autotoc_md73}{}\doxysubsection{\texorpdfstring{Runners}{Runners}}\label{md_docs_2design_autotoc_md73}
+The runners feature which is new in {\ttfamily capabilities2} allows capabilities to be executed in a more diverse manner. This could include running actions, services, or even other capabilities. This allows capabilities to be used like actions and not just started and stopped by the capabilities service. The Runner API is designed to be extensible, so that specific runners can be created on a per provider basis. Another feature that can be implemented is cross-\/runner communication, which could allow capabilities to be combined at runtime to perform more complex tasks. This could overcome limitations in robot programming in which there is a common need for extensive pre-\/definition of tasks.\hypertarget{md_docs_2design_autotoc_md74}{}\doxysubsubsection{\texorpdfstring{launch runner}{launch runner}}\label{md_docs_2design_autotoc_md74}
+To preserve compatibility with the original {\ttfamily capabilities} package, {\ttfamily capabilities2} still keeps a {\ttfamily Launch\+Runner} interface in the codebase. An initial implementation existed, but launch-\/file execution is now intentionally deferred because of incompatibilities with the current ROS2 launch system. A separate replacement approach is being developed, and launch-\/runner documentation will be restored once that work is ready. 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2interfaces.tex b/docs/latex/md_docs_2interfaces.tex
new file mode 100644
index 0000000..cf4738b
--- /dev/null
+++ b/docs/latex/md_docs_2interfaces.tex
@@ -0,0 +1,44 @@
+\chapter{Interfaces}
+\hypertarget{md_docs_2interfaces}{}\label{md_docs_2interfaces}\index{Interfaces@{Interfaces}}
+\label{md_docs_2interfaces_autotoc_md75}%
+\Hypertarget{md_docs_2interfaces_autotoc_md75}%
+ \hypertarget{md_docs_2interfaces_autotoc_md76}{}\doxysection{\texorpdfstring{Description}{Description}}\label{md_docs_2interfaces_autotoc_md76}
+An capability interface describes the capability. It relates ROS primitives to the capability.\hypertarget{md_docs_2interfaces_autotoc_md77}{}\doxysection{\texorpdfstring{Interface}{Interface}}\label{md_docs_2interfaces_autotoc_md77}
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ the\ empty\ capability\ is\ an\ example\ of\ a\ capability\ interface}
+\DoxyCodeLine{\%YAML\ 1.1}
+\DoxyCodeLine{-\/-\/-\/}
+\DoxyCodeLine{name:\ empty}
+\DoxyCodeLine{spec\_type:\ interface}
+\DoxyCodeLine{spec\_version:\ 1.1}
+\DoxyCodeLine{description:\ the\ empty\ capability\ interface\ helps\ to\ test\ the\ capability\ server}
+\DoxyCodeLine{interface:}
+\DoxyCodeLine{\ \ parameters:}
+\DoxyCodeLine{\ \ \ \ "{}empty"{}:}
+\DoxyCodeLine{\ \ \ \ \ \ type:\ None}
+\DoxyCodeLine{\ \ \ \ \ \ description:\ empty}
+\DoxyCodeLine{\ \ topics:}
+\DoxyCodeLine{\ \ \ \ "{}empty"{}:}
+\DoxyCodeLine{\ \ \ \ \ \ type:\ std\_msgs/msg/Empty}
+\DoxyCodeLine{\ \ \ \ \ \ description:\ empty}
+\DoxyCodeLine{\ \ services:}
+\DoxyCodeLine{\ \ \ \ "{}empty"{}:}
+\DoxyCodeLine{\ \ \ \ \ \ type:\ std\_srvs/srv/Empty}
+\DoxyCodeLine{\ \ \ \ \ \ description:\ empty}
+\DoxyCodeLine{\ \ actions:}
+\DoxyCodeLine{\ \ \ \ "{}empty"{}:}
+\DoxyCodeLine{\ \ \ \ \ \ type:\ std\_srvs/action/Empty}
+\DoxyCodeLine{\ \ \ \ \ \ description:\ empty}
+\DoxyCodeLine{}
+\DoxyCodeLine{\#\ the\ below\ keys\ are\ optional}
+\DoxyCodeLine{}
+\DoxyCodeLine{\#\ relations\ are\ a\ list\ of\ relations\ to\ other\ capability\ entities}
+\DoxyCodeLine{relations:}
+\DoxyCodeLine{\ \ \ \ \#\ an\ example\ of\ a\ relation}
+\DoxyCodeLine{\ \ -\/\ subject:\ some\_package/some\_capability}
+\DoxyCodeLine{\ \ \ \ predicate:\ blocks}
+\DoxyCodeLine{\ \ \ \ object:\ some\_other\_package/some\_other\_capability}
+
+\end{DoxyCode}
+ 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2motivation__and__examples.tex b/docs/latex/md_docs_2motivation__and__examples.tex
new file mode 100644
index 0000000..a3426e6
--- /dev/null
+++ b/docs/latex/md_docs_2motivation__and__examples.tex
@@ -0,0 +1,39 @@
+\chapter{Motivation}
+\hypertarget{md_docs_2motivation__and__examples}{}\label{md_docs_2motivation__and__examples}\index{Motivation@{Motivation}}
+\label{md_docs_2motivation__and__examples_autotoc_md78}%
+\Hypertarget{md_docs_2motivation__and__examples_autotoc_md78}%
+ The capabilities package was originally implemented using Python. This package is a reimplementation of the capabilities package using CPP. The CPP implementation is more efficient. Secondly, this package extends the capabilities package features.
+
+The main reasons for this are\+:
+
+
+\begin{DoxyEnumerate}
+\item To allow the capabilities service to provide details of the robot to other robots, a UI or App, or a supervisory AI with a conversational style.
+\end{DoxyEnumerate}
+\begin{DoxyEnumerate}
+\item To allow packages to register their capabilities at runtime with the capabilities service using a service API or a spawner. Or to modify the capabilities of a robot at runtime.
+\end{DoxyEnumerate}
+\begin{DoxyEnumerate}
+\item To allow capabilities to be used like actions and not just started and stopped by the capabilities service as in the original capabilities package launch files method.
+\end{DoxyEnumerate}
+\begin{DoxyEnumerate}
+\item To add state to the capabilities service using a database. This allows the capabilities service or the robot to be restarted without losing state, and hot reloading, and model extension including more complex ontological relationships between capabilities.
+\end{DoxyEnumerate}
+\begin{DoxyEnumerate}
+\item To allow the capabilities service to be used as a library (as in a ROS2 {\ttfamily component}).
+\end{DoxyEnumerate}\hypertarget{md_docs_2motivation__and__examples_autotoc_md79}{}\doxysubsection{\texorpdfstring{Example use cases}{Example use cases}}\label{md_docs_2motivation__and__examples_autotoc_md79}
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Use case   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Use case   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+Generative AI (predominantly language models) Integration   &A generic Gen\+AI could derive a plan from the capabilities of a robot, to perform more general multi-\/step tasks. This could be achieved by using the capabilities as a knowledge base. This may solve problems with Gen\+AI integration, where the Gen\+AI has to be trained on a specific robot, or there is a significant delay in the Gen\+AI communicating with the robot -\/ since the Gen\+AI does not actually execute the task, it is used to suggest a plan and supervise the robot.    \\\cline{1-2}
+Inter-\/\+Robot Communications   &A robot encounters another robot of unknown origin and asks it what it can do. The capabilities could be communicated using M2M communication or speech. This could allow robots from different manufacturers to work together.    \\\cline{1-2}
+Enable emergent skills   &A robot is asked to do a task it has never done before. This could be achieved by combining capabilities in new ways. or a robot is asked to do a task it has done before but with a different context. This could be achieved by changing the parameters of capabilities.    \\\cline{1-2}
+Interoperable Robots   &A universal remote control for robots could be created using the capabilities as a standardised interface. This might be useful for robot subsystem integrators. This could also be used to create a robot app store, or standardised sensor and actuator interfaces.   \\\cline{1-2}
+\end{longtabu}
diff --git a/docs/latex/md_docs_2providers.tex b/docs/latex/md_docs_2providers.tex
new file mode 100644
index 0000000..005300f
--- /dev/null
+++ b/docs/latex/md_docs_2providers.tex
@@ -0,0 +1,49 @@
+\chapter{Providers}
+\hypertarget{md_docs_2providers}{}\label{md_docs_2providers}\index{Providers@{Providers}}
+\label{md_docs_2providers_autotoc_md80}%
+\Hypertarget{md_docs_2providers_autotoc_md80}%
+ \hypertarget{md_docs_2providers_autotoc_md81}{}\doxysection{\texorpdfstring{Description}{Description}}\label{md_docs_2providers_autotoc_md81}
+A provider is a special implementation of a capability that is specific to the current system. An interface could have multiple providers.\hypertarget{md_docs_2providers_autotoc_md82}{}\doxysection{\texorpdfstring{Provider}{Provider}}\label{md_docs_2providers_autotoc_md82}
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ the\ empty\ capability\ is\ an\ example\ of\ a\ capability\ provider}
+\DoxyCodeLine{\%YAML\ 1.1}
+\DoxyCodeLine{-\/-\/-\/}
+\DoxyCodeLine{name:\ empty}
+\DoxyCodeLine{spec\_type:\ provider}
+\DoxyCodeLine{spec\_version:\ 1.1}
+\DoxyCodeLine{description:\ the\ empty\ capability\ provider\ for\ the\ empty\ interface}
+\DoxyCodeLine{implements:\ std\_capabilities/empty}
+\DoxyCodeLine{runner:\ launch/empty.launch.py}
+\DoxyCodeLine{depends\_on:}
+\DoxyCodeLine{\ \ "{}std\_capabilities/not\_empty"{}:}
+\DoxyCodeLine{\ \ \ \ provider:\ "{}std\_capabilities/empty\_depend"{}}
+\DoxyCodeLine{remappings:}
+\DoxyCodeLine{\ \ topics:}
+\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
+\DoxyCodeLine{}
+\DoxyCodeLine{\#\ the\ below\ keys\ are\ optional}
+\DoxyCodeLine{}
+\DoxyCodeLine{\#\ relations\ are\ also\ available\ for\ providers}
+\DoxyCodeLine{relations:}
+\DoxyCodeLine{\ \ \#\ these\ relations\ are\ built\ into\ the\ provider\ spec\ version\ 1}
+\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
+\DoxyCodeLine{\ \ \ \ predicate:\ implements}
+\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/empty}
+\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
+\DoxyCodeLine{\ \ \ \ predicate:\ depends\_on}
+\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/not\_empty}
+\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
+\DoxyCodeLine{\ \ \ \ predicate:\ remaps}
+\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/not\_empty}
+\DoxyCodeLine{}
+\DoxyCodeLine{\#\ providers\ can\ also\ have\ a\ definition\ using\ a\ snippet\ of\ a\ relevant\ defining\ language\ such\ as\ behavior\ trees}
+\DoxyCodeLine{definition:\ |}
+\DoxyCodeLine{\ \ <root>}
+\DoxyCodeLine{\ \ \ \ <sequence>}
+\DoxyCodeLine{\ \ \ \ \ \ <action\ name="{}empty"{}/>}
+\DoxyCodeLine{\ \ \ \ </sequence>}
+\DoxyCodeLine{\ \ </root>}
+
+\end{DoxyCode}
+ 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2readme.tex b/docs/latex/md_docs_2readme.tex
new file mode 100644
index 0000000..75c5b59
--- /dev/null
+++ b/docs/latex/md_docs_2readme.tex
@@ -0,0 +1,22 @@
+\chapter{Docs}
+\hypertarget{md_docs_2readme}{}\label{md_docs_2readme}\index{Docs@{Docs}}
+\label{md_docs_2readme_autotoc_md83}%
+\Hypertarget{md_docs_2readme_autotoc_md83}%
+ The documentation site is generated with Doxygen from the existing Markdown in this {\ttfamily docs/} tree together with comments from the source code. The Doxygen configuration lives at the repository root in \href{../Doxygen}{\texttt{ {\ttfamily Doxygen}}}.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ from\ the\ repository\ root}
+\DoxyCodeLine{doxygen\ Doxygen}
+
+\end{DoxyCode}
+
+
+The generated HTML site is written to {\ttfamily docs/html/} and the entry page is {\ttfamily docs/html/index.\+html}.
+
+For Git\+Hub Pages, this repository can use Git\+Hub Actions as both the build source and the deployment source. The workflow in {\ttfamily .github/workflows/doxygen-\/pages.\+yml} rebuilds the site whenever files change and deploys the generated {\ttfamily docs/html/} artifact to Pages.\hypertarget{md_docs_2readme_autotoc_md84}{}\doxysection{\texorpdfstring{Basic Tutorial}{Basic Tutorial}}\label{md_docs_2readme_autotoc_md84}
+A basic tutorial can be found in \doxysectlink{md_docs_2basic__tutorial}{here}{0}. This tutorial will guide you through the process of creating a simple capability and running it.\hypertarget{md_docs_2readme_autotoc_md85}{}\doxysection{\texorpdfstring{Capabilities Server}{Capabilities Server}}\label{md_docs_2readme_autotoc_md85}
+The \doxysectlink{md_capabilities2__server_2readme}{capabilities server}{0} is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.\hypertarget{md_docs_2readme_autotoc_md86}{}\doxysection{\texorpdfstring{Capabilities Runner}{Capabilities Runner}}\label{md_docs_2readme_autotoc_md86}
+A capabilities runner is a plugin that allows capabilities to be executed in a more arbitrary way. Base runner classes can be used to create custom runners for a given application. See the \doxysectlink{md_capabilities2__runner_2readme}{capabilities2\+\_\+runner}{0} package for more information.\hypertarget{md_docs_2readme_autotoc_md87}{}\doxysection{\texorpdfstring{Capabilities Messages}{Capabilities Messages}}\label{md_docs_2readme_autotoc_md87}
+This package contains messages for the capabilities2 package. See the \doxysectlink{md_capabilities2__msgs_2readme}{capabilities2\+\_\+msgs}{0} package for more information.\hypertarget{md_docs_2readme_autotoc_md88}{}\doxysection{\texorpdfstring{Launch Runner Status}{Launch Runner Status}}\label{md_docs_2readme_autotoc_md88}
+The {\ttfamily Launch\+Runner} interface is still kept in the {\ttfamily \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} package, but launch-\/file execution support is intentionally deferred because of incompatibilities with the current ROS2 launch system. Documentation for launch-\/based capability execution will be restored once the replacement solution is ready. 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2run__test__scripts.tex b/docs/latex/md_docs_2run__test__scripts.tex
new file mode 100644
index 0000000..ee8cf8b
--- /dev/null
+++ b/docs/latex/md_docs_2run__test__scripts.tex
@@ -0,0 +1,50 @@
+\chapter{Run test scripts}
+\hypertarget{md_docs_2run__test__scripts}{}\label{md_docs_2run__test__scripts}\index{Run test scripts@{Run test scripts}}
+\label{md_docs_2run__test__scripts_autotoc_md89}%
+\Hypertarget{md_docs_2run__test__scripts_autotoc_md89}%
+ Capabilities features can be tested using the provided test scripts. The test scripts primarily test the capabilities2 server using service clients. Launch the capabilities2 server before running the test scripts using
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{source\ install/setup.bash}
+\DoxyCodeLine{ros2\ launch\ capabilities2\_server\ capabilities2\_server.launch.py}
+
+\end{DoxyCode}
+
+
+The test scripts are written to test against the {\ttfamily std\+\_\+capabilities} package. Make sure that the {\ttfamily std\+\_\+capabilities} package is copied along with the {\ttfamily capabilities2} package to the {\ttfamily capabilities2\+\_\+ws/src} folder and is built and sourced before running the test scripts.
+
+\begin{quote}
+{\bfseries{Note}}\+: The test scripts use the {\ttfamily bondpy} package. Make sure it is installed before running the test scripts. \textbackslash{} {\ttfamily sudo apt install ros-\/\$ROS\+\_\+\+DISTRO-\/bondpy} \end{quote}
+Run the tests with python3. The test scripts are located in the {\ttfamily capabilities2\+\_\+server/test} directory. Make sure to source the workspace before running the test.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ example}
+\DoxyCodeLine{source\ install/setup.bash}
+\DoxyCodeLine{cd\ src/capabilities2/capabilities2\_server/test}
+\DoxyCodeLine{python3\ call\_establish\_bond.py}
+
+\end{DoxyCode}
+
+
+\tabulinesep=1mm
+\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Test Script   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endfirsthead
+\hline
+\endfoot
+\hline
+\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Test Script   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
+\endhead
+\href{../capabilities2_server/test/call_establish_bond.py}{\texttt{ call\+\_\+establish\+\_\+bond.\+py}}   &Test establishing a bond. {\ttfamily ctrl-\/C} to kill the bond    \\\cline{1-2}
+\href{../capabilities2_server/test/call_get_interfaces.py}{\texttt{ call\+\_\+get\+\_\+interfaces.\+py}}   &Test getting all loaded interfaces    \\\cline{1-2}
+\href{../capabilities2_server/test/call_get_providers.py}{\texttt{ call\+\_\+get\+\_\+providers.\+py}}   &Test getting loaded providers for the {\ttfamily empty} interface    \\\cline{1-2}
+\href{../capabilities2_server/test/call_get_semantic_interfaces.py}{\texttt{ call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+py}}   &Get loaded semantic interfaces    \\\cline{1-2}
+\href{../capabilities2_server/test/call_get_specs.py}{\texttt{ call\+\_\+get\+\_\+specs.\+py}}   &Get all the loaded spec files    \\\cline{1-2}
+\href{../capabilities2_server/test/call_register_cap.py}{\texttt{ call\+\_\+register\+\_\+cap.\+py}}   &Register a new specification file   \\\cline{1-2}
+\end{longtabu}
+
+
+Launch-\/runner-\/specific tests are currently not provided. The {\ttfamily Launch\+Runner} header and plugin entry remain in the codebase, but launch support is intentionally deferred until a replacement approach for the current ROS2 launch system is ready. 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2securing__capabilities.tex b/docs/latex/md_docs_2securing__capabilities.tex
new file mode 100644
index 0000000..2d6bffc
--- /dev/null
+++ b/docs/latex/md_docs_2securing__capabilities.tex
@@ -0,0 +1,19 @@
+\chapter{Securing Capabilities}
+\hypertarget{md_docs_2securing__capabilities}{}\label{md_docs_2securing__capabilities}\index{Securing Capabilities@{Securing Capabilities}}
+\label{md_docs_2securing__capabilities_autotoc_md90}%
+\Hypertarget{md_docs_2securing__capabilities_autotoc_md90}%
+ A side effect of adding skill entities to a ROS network is that logic can be added to control access to these skills. Here is a proposal for how this could be implemented.\hypertarget{md_docs_2securing__capabilities_autotoc_md91}{}\doxysection{\texorpdfstring{Integrate with Rosbridge}{Integrate with Rosbridge}}\label{md_docs_2securing__capabilities_autotoc_md91}
+\href{https://github.com/RobotWebTools/rosbridge_suite}{\texttt{ Rosbridge}} from \href{https://robot}{\texttt{ Robot Web Tools}} provides an authentication mechanism that can be used to secure the ROS network. This can be used to authenticate a user.
+
+Rosbridge also provides an access control mechanism that can be used to control access to topics. Once a user is authenticated, they could initially access the capabilities services to learn what the robot can do. By doing this the user does not know the specific topics that the robot uses, but they can still interact with the robot.
+
+Further the capabilities could be restricted based on the user\textquotesingle{}s role. This could be done by creating a role-\/based access control (RBAC) system. This could be implemented by creating a capabilities service that is aware of the user\textquotesingle{}s role. The capabilities service could then provide a list of capabilities that the user is allowed to use. An implementation could follow a plugin architecture to ensure good separation of concerns.
+
+Once the user decides on a capability that they are authorised to use, the capabilities service could update the rosbridge access control to allow the user to access the topics that the capability uses for the duration of the capability. This adds a time-\/based access control mechanism to the system.\hypertarget{md_docs_2securing__capabilities_autotoc_md92}{}\doxysubsection{\texorpdfstring{Integrate with ROS2 Security}{Integrate with ROS2 Security}}\label{md_docs_2securing__capabilities_autotoc_md92}
+To prevent internal topics from leaking into the rosbridge access control, ROS2 security could be used to secure the internal topics. This would ensure that only internal connections can access internal topics, and capabilities can only add externally safe topics to the rosbridge access control.\hypertarget{md_docs_2securing__capabilities_autotoc_md93}{}\doxysubsection{\texorpdfstring{Basic diagram}{Basic diagram}}\label{md_docs_2securing__capabilities_autotoc_md93}
+ 
+\begin{DoxyImage}
+\includegraphics[width=\textwidth,height=\textheight/2,keepaspectratio=true]{securing-capability-based-robot.png}
+\doxyfigcaption{Basic diagram}
+\end{DoxyImage}
+    
\ No newline at end of file
diff --git a/docs/latex/md_docs_2semantic__interfaces.tex b/docs/latex/md_docs_2semantic__interfaces.tex
new file mode 100644
index 0000000..85b0c4d
--- /dev/null
+++ b/docs/latex/md_docs_2semantic__interfaces.tex
@@ -0,0 +1,42 @@
+\chapter{Semantic Interfaces}
+\hypertarget{md_docs_2semantic__interfaces}{}\label{md_docs_2semantic__interfaces}\index{Semantic Interfaces@{Semantic Interfaces}}
+\label{md_docs_2semantic__interfaces_autotoc_md94}%
+\Hypertarget{md_docs_2semantic__interfaces_autotoc_md94}%
+ \hypertarget{md_docs_2semantic__interfaces_autotoc_md95}{}\doxysection{\texorpdfstring{Description}{Description}}\label{md_docs_2semantic__interfaces_autotoc_md95}
+A semantic interface is a special type of capability interface that is used to define the semantics of an interface\hypertarget{md_docs_2semantic__interfaces_autotoc_md96}{}\doxysection{\texorpdfstring{Semantic Interface}{Semantic Interface}}\label{md_docs_2semantic__interfaces_autotoc_md96}
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ the\ empty\ capability\ is\ an\ example\ of\ a\ capability\ interface}
+\DoxyCodeLine{\#\ redefines\ the\ empty\ interface}
+\DoxyCodeLine{\%YAML\ 1.1}
+\DoxyCodeLine{-\/-\/-\/}
+\DoxyCodeLine{name:\ not\_empty}
+\DoxyCodeLine{spec\_type:\ semantic\_interface}
+\DoxyCodeLine{spec\_version:\ 1}
+\DoxyCodeLine{description:\ the\ not\ empty\ semantic\ empty\ interface}
+\DoxyCodeLine{redefines:\ std\_capabilities/empty}
+\DoxyCodeLine{global\_namespace:\ not}
+\DoxyCodeLine{remappings:}
+\DoxyCodeLine{\ \ parameters:}
+\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
+\DoxyCodeLine{\ \ topics:}
+\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
+\DoxyCodeLine{\ \ services:}
+\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
+\DoxyCodeLine{\ \ actions:}
+\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
+\DoxyCodeLine{}
+\DoxyCodeLine{\#\ the\ below\ keys\ are\ optional}
+\DoxyCodeLine{}
+\DoxyCodeLine{\#\ relations\ are\ also\ available\ for\ semantic\ interfaces}
+\DoxyCodeLine{relations:}
+\DoxyCodeLine{\ \ \#\ these\ relations\ are\ built\ into\ the\ semantic\ interface\ spec\ version\ 1}
+\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
+\DoxyCodeLine{\ \ \ \ predicate:\ redefines}
+\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/not\_empty}
+\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
+\DoxyCodeLine{\ \ \ \ predicate:\ remaps}
+\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/not\_empty}
+
+\end{DoxyCode}
+ 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2setup.tex b/docs/latex/md_docs_2setup.tex
new file mode 100644
index 0000000..1ebc568
--- /dev/null
+++ b/docs/latex/md_docs_2setup.tex
@@ -0,0 +1,54 @@
+\chapter{Using Capabilities package (Development and Deployment)}
+\hypertarget{md_docs_2setup}{}\label{md_docs_2setup}\index{Using Capabilities package (Development and Deployment)@{Using Capabilities package (Development and Deployment)}}
+\label{md_docs_2setup_autotoc_md97}%
+\Hypertarget{md_docs_2setup_autotoc_md97}%
+ The current package has been tested on Ubuntu and ROS2 Humble, Rolling and Jazzy. Complete following sections in order.\hypertarget{md_docs_2setup_autotoc_md98}{}\doxysubsection{\texorpdfstring{Base folder creation}{Base folder creation}}\label{md_docs_2setup_autotoc_md98}
+Create the workspace folder by running following commands in the terminal.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{mkdir\ -\/p\ /home/\$USER/capabilities\_ws/src}
+\DoxyCodeLine{cd\ /home/\$USER/capabilities\_ws/src}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2setup_autotoc_md99}{}\doxysubsection{\texorpdfstring{Cloning the Packages}{Cloning the Packages}}\label{md_docs_2setup_autotoc_md99}
+Clone the package using Git
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{git\ clone\ https://github.com/CollaborativeRoboticsLab/capabilities2.git}
+
+\end{DoxyCode}
+
+
+Optionally you can clone
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{git\ clone\ https://github.com/CollaborativeRoboticsLab/std\_capabilities.git}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2setup_autotoc_md100}{}\doxysubsection{\texorpdfstring{Dependency installation}{Dependency installation}}\label{md_docs_2setup_autotoc_md100}
+Move the terminal to workspace root and install dependencies.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{cd\ /home/\$USER/capabilities\_ws}
+
+\end{DoxyCode}
+
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{rosdep\ install\ -\/-\/from-\/paths\ src\ -\/-\/ignore-\/src\ -\/r\ -\/y}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2setup_autotoc_md101}{}\doxysubsection{\texorpdfstring{Compile}{Compile}}\label{md_docs_2setup_autotoc_md101}
+Use colcon to build the packages\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{colcon\ build}
+
+\end{DoxyCode}
+ 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2setup__with__dev.tex b/docs/latex/md_docs_2setup__with__dev.tex
new file mode 100644
index 0000000..ead70cc
--- /dev/null
+++ b/docs/latex/md_docs_2setup__with__dev.tex
@@ -0,0 +1,58 @@
+\chapter{Using Capabilities package (Development and Deployment)}
+\hypertarget{md_docs_2setup__with__dev}{}\label{md_docs_2setup__with__dev}\index{Using Capabilities package (Development and Deployment)@{Using Capabilities package (Development and Deployment)}}
+\label{md_docs_2setup__with__dev_autotoc_md102}%
+\Hypertarget{md_docs_2setup__with__dev_autotoc_md102}%
+ The current package has been tested on Ubuntu and ROS2 Humble, Rolling and Jazzy. Complete following sections in order.\hypertarget{md_docs_2setup__with__dev_autotoc_md103}{}\doxysubsection{\texorpdfstring{Base folder creation}{Base folder creation}}\label{md_docs_2setup__with__dev_autotoc_md103}
+Create the workspace folder by running following commands in the terminal.
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{mkdir\ -\/p\ /home/\$USER/capabilities\_ws/src}
+\DoxyCodeLine{cd\ /home/\$USER/capabilities\_ws/src}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2setup__with__dev_autotoc_md104}{}\doxysubsection{\texorpdfstring{Cloning the Package}{Cloning the Package}}\label{md_docs_2setup__with__dev_autotoc_md104}
+Clone the package using Git
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{git\ clone\ -\/b\ develop\ https://github.com/CollaborativeRoboticsLab/capabilities2.git}
+\DoxyCodeLine{git\ clone\ -\/b\ develop\ https://github.com/CollaborativeRoboticsLab/std\_capabilities.git}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2setup__with__dev_autotoc_md105}{}\doxysubsection{\texorpdfstring{Devcontainer}{Devcontainer}}\label{md_docs_2setup__with__dev_autotoc_md105}
+A {\ttfamily devcontainer} is provided for developing the capabilities2 meta-\/package. The container can be used with \href{https://code.visualstudio.com/}{\texttt{ Microsoft Visual Studio Code}} and \href{https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.vscode-remote-extensionpack}{\texttt{ Remote Development Extention}}.
+
+If there are multiple packages in the workspace as with the usual case, move the {\ttfamily .devcontainer} folder into the parent folder such that it is located as follows,
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{colcon\_ws}
+\DoxyCodeLine{-\/-\/>\ build}
+\DoxyCodeLine{-\/-\/>\ install}
+\DoxyCodeLine{-\/-\/>\ log}
+\DoxyCodeLine{-\/-\/>\ src}
+\DoxyCodeLine{\ \ \ \ -\/-\/>\ .devcontainer}
+\DoxyCodeLine{\ \ \ \ -\/-\/>\ capabilities2}
+\DoxyCodeLine{\ \ \ \ -\/-\/>\ pakcage\ ..}
+
+\end{DoxyCode}
+
+
+Close and reopen the vs code editor so that devcontainer is automatically detected. After that, Dependencies need to be installed in the container. Install the dependencies with rosdep\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{\#\ in\ the\ devcontainer}
+\DoxyCodeLine{rosdep\ install\ -\/-\/from-\/paths\ src\ -\/-\/ignore-\/src\ -\/r\ -\/y}
+
+\end{DoxyCode}
+\hypertarget{md_docs_2setup__with__dev_autotoc_md106}{}\doxysubsection{\texorpdfstring{Compile}{Compile}}\label{md_docs_2setup__with__dev_autotoc_md106}
+Use colcon to build the packages\+:
+
+
+\begin{DoxyCode}{0}
+\DoxyCodeLine{colcon\ build}
+
+\end{DoxyCode}
+ 
\ No newline at end of file
diff --git a/docs/latex/md_pull__request__template.tex b/docs/latex/md_pull__request__template.tex
new file mode 100644
index 0000000..8136782
--- /dev/null
+++ b/docs/latex/md_pull__request__template.tex
@@ -0,0 +1,29 @@
+\chapter{Pull Request Template}
+\hypertarget{md_pull__request__template}{}\label{md_pull__request__template}\index{Pull Request Template@{Pull Request Template}}
+\label{md_pull__request__template_autotoc_md107}%
+\Hypertarget{md_pull__request__template_autotoc_md107}%
+ \hypertarget{md_pull__request__template_autotoc_md108}{}\doxysection{\texorpdfstring{Description}{Description}}\label{md_pull__request__template_autotoc_md108}
+Please include a summary of the change and which issue is fixed. Also include relevant motivation and context.
+
+Fixes \#\mbox{[}issue\mbox{]}\hypertarget{md_pull__request__template_autotoc_md109}{}\doxysection{\texorpdfstring{Type of change}{Type of change}}\label{md_pull__request__template_autotoc_md109}
+Please delete options that are not relevant.
+
+
+\begin{DoxyItemize}
+\item \mbox{[} \mbox{]} Bug fix (non-\/breaking change which fixes an issue)
+\item \mbox{[} \mbox{]} New feature (non-\/breaking change which adds functionality)
+\item \mbox{[} \mbox{]} Breaking change (fix or feature that would cause existing functionality to not work as intended)
+\item \mbox{[} \mbox{]} This change requires a documentation update
+\end{DoxyItemize}\hypertarget{md_pull__request__template_autotoc_md110}{}\doxysection{\texorpdfstring{How Has This Been Tested?}{How Has This Been Tested?}}\label{md_pull__request__template_autotoc_md110}
+Please describe the tests that you ran to verify your changes. Provide details of your testing environment, and the tests you ran to see how your change affects other areas of the code.\hypertarget{md_pull__request__template_autotoc_md111}{}\doxysection{\texorpdfstring{Checklist}{Checklist}}\label{md_pull__request__template_autotoc_md111}
+
+\begin{DoxyItemize}
+\item \mbox{[} \mbox{]} My code follows the style guidelines of this project
+\item \mbox{[} \mbox{]} I have performed a self-\/review of my own code
+\item \mbox{[} \mbox{]} I have commented my code, particularly in hard-\/to-\/understand areas
+\item \mbox{[} \mbox{]} I have made corresponding changes to the documentation
+\item \mbox{[} \mbox{]} My changes do not break the build
+\item \mbox{[} \mbox{]} I have added tests that prove my fix is effective or that my feature works
+\item \mbox{[} \mbox{]} New and existing unit tests pass locally with my changes
+\item \mbox{[} \mbox{]} Any dependent changes have been merged and published in downstream modules 
+\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/motivation__and__examples_8md.tex b/docs/latex/motivation__and__examples_8md.tex
new file mode 100644
index 0000000..3bcdcb7
--- /dev/null
+++ b/docs/latex/motivation__and__examples_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/motivation\+\_\+and\+\_\+examples.md File Reference}
+\hypertarget{motivation__and__examples_8md}{}\label{motivation__and__examples_8md}\index{docs/motivation\_and\_examples.md@{docs/motivation\_and\_examples.md}}
diff --git a/docs/latex/multiplex__base__runner_8hpp.tex b/docs/latex/multiplex__base__runner_8hpp.tex
new file mode 100644
index 0000000..61ad3a8
--- /dev/null
+++ b/docs/latex/multiplex__base__runner_8hpp.tex
@@ -0,0 +1,23 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/multiplex\+\_\+base\+\_\+runner.hpp File Reference}
+\hypertarget{multiplex__base__runner_8hpp}{}\label{multiplex__base__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/multiplex\_base\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/multiplex\_base\_runner.hpp}}
+{\ttfamily \#include $<$thread$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
+Include dependency graph for multiplex\+\_\+base\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{multiplex__base__runner_8hpp__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner}{capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/multiplex__base__runner_8hpp__incl.md5 b/docs/latex/multiplex__base__runner_8hpp__incl.md5
new file mode 100644
index 0000000..9e0d211
--- /dev/null
+++ b/docs/latex/multiplex__base__runner_8hpp__incl.md5
@@ -0,0 +1 @@
+ab573e53c85768fad296f360c10941a1
\ No newline at end of file
diff --git a/docs/latex/multiplex__base__runner_8hpp__incl.pdf b/docs/latex/multiplex__base__runner_8hpp__incl.pdf
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diff --git a/docs/latex/multiplex__base__runner_8hpp_source.tex b/docs/latex/multiplex__base__runner_8hpp_source.tex
new file mode 100644
index 0000000..6253fde
--- /dev/null
+++ b/docs/latex/multiplex__base__runner_8hpp_source.tex
@@ -0,0 +1,81 @@
+\doxysection{multiplex\+\_\+base\+\_\+runner.\+hpp}
+\hypertarget{multiplex__base__runner_8hpp_source}{}\label{multiplex__base__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/multiplex\_base\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/multiplex\_base\_runner.hpp}}
+\mbox{\hyperlink{multiplex__base__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <thread>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
+\DoxyCodeLine{00007\ }
+\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00009\ \{}
+\DoxyCodeLine{00010\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner}{MultiplexBaseRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}}
+\DoxyCodeLine{00011\ \{}
+\DoxyCodeLine{00012\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00016\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a9e4cab14be73162040c91cae3c674343}{MultiplexBaseRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}()}
+\DoxyCodeLine{00017\ \ \ \{}
+\DoxyCodeLine{00018\ \ \ \}}
+\DoxyCodeLine{00019\ }
+\DoxyCodeLine{00026\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_af52788c65f5ca9fb860cee2332abbbe2}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00027\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00028\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
+\DoxyCodeLine{00029\ \ \ \}}
+\DoxyCodeLine{00030\ }
+\DoxyCodeLine{00036\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a7213a134e8a183c4021033e6bd7797c7}{execution}}(\textcolor{keywordtype}{int}\ \textcolor{keywordtype}{id})}
+\DoxyCodeLine{00037\ \ \ \{}
+\DoxyCodeLine{00038\ \ \ \ \ info\_(\textcolor{stringliteral}{"{}execution\ started\ for\ id:\ "{}}\ +\ std::to\_string(\textcolor{keywordtype}{id}));}
+\DoxyCodeLine{00039\ }
+\DoxyCodeLine{00040\ \ \ \ \ \textcolor{comment}{//\ check\ if\ the\ id\ is\ already\ completed}}
+\DoxyCodeLine{00041\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}}.find(\textcolor{keywordtype}{id})\ !=\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}}.end()\ \&\&\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}}[\textcolor{keywordtype}{id}])}
+\DoxyCodeLine{00042\ \ \ \ \ \{}
+\DoxyCodeLine{00043\ \ \ \ \ \ \ info\_(\textcolor{stringliteral}{"{}execution\ already\ completed\ for\ id:\ "{}}\ +\ std::to\_string(\textcolor{keywordtype}{id}));}
+\DoxyCodeLine{00044\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
+\DoxyCodeLine{00045\ \ \ \ \ \}}
+\DoxyCodeLine{00046\ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00047\ \ \ \ \ \{}
+\DoxyCodeLine{00048\ \ \ \ \ \ \ \textcolor{comment}{//\ trigger\ the\ events\ related\ to\ on\_success\ state}}
+\DoxyCodeLine{00049\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (events[\textcolor{keywordtype}{id}].on\_success.interface\ !=\ \textcolor{stringliteral}{"{}"{}})}
+\DoxyCodeLine{00050\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00051\ \ \ \ \ \ \ \ \ event\_(EventType::SUCCEEDED,\ \textcolor{keywordtype}{id},\ events[\textcolor{keywordtype}{id}].on\_success.interface,\ events[\textcolor{keywordtype}{id}].on\_success.provider);}
+\DoxyCodeLine{00052\ \ \ \ \ \ \ \ \ triggerFunction\_(events[\textcolor{keywordtype}{id}].on\_success.interface,\ update\_on\_success(events[\textcolor{keywordtype}{id}].on\_success.parameters));}
+\DoxyCodeLine{00053\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00054\ \ \ \ \ \ \ \textcolor{comment}{//\ trigger\ the\ events\ related\ to\ on\_failure\ state}}
+\DoxyCodeLine{00055\ \ \ \ \ \ \ \textcolor{keywordflow}{else}\ \textcolor{keywordflow}{if}\ (events[\textcolor{keywordtype}{id}].on\_failure.interface\ !=\ \textcolor{stringliteral}{"{}"{}})}
+\DoxyCodeLine{00056\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00057\ \ \ \ \ \ \ \ \ event\_(EventType::FAILED,\ \textcolor{keywordtype}{id},\ events[\textcolor{keywordtype}{id}].on\_failure.interface,\ events[\textcolor{keywordtype}{id}].on\_failure.provider);}
+\DoxyCodeLine{00058\ \ \ \ \ \ \ \ \ triggerFunction\_(events[\textcolor{keywordtype}{id}].on\_failure.interface,\ update\_on\_failure(events[\textcolor{keywordtype}{id}].on\_failure.parameters));}
+\DoxyCodeLine{00059\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00060\ \ \ \ \ \}}
+\DoxyCodeLine{00061\ }
+\DoxyCodeLine{00062\ \ \ \ \ \textcolor{comment}{//\ track\ the\ execution\ as\ completed}}
+\DoxyCodeLine{00063\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}}[id]\ =\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00064\ }
+\DoxyCodeLine{00065\ \ \ \ \ info\_(\textcolor{stringliteral}{"{}multiplexing\ complete.\ Thread\ closing."{}},\ \textcolor{keywordtype}{id});}
+\DoxyCodeLine{00066\ \ \ \}}
+\DoxyCodeLine{00067\ }
+\DoxyCodeLine{00072\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_aa5cefe19419078fb0a4eb18858a684fe}{stop}}()\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00073\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00074\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
+\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
+\DoxyCodeLine{00076\ }
+\DoxyCodeLine{00077\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
+\DoxyCodeLine{00078\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
+\DoxyCodeLine{00079\ }
+\DoxyCodeLine{00080\ \ \ \ \ info\_(\textcolor{stringliteral}{"{}stopping\ runner"{}});}
+\DoxyCodeLine{00081\ \ \ \}}
+\DoxyCodeLine{00082\ }
+\DoxyCodeLine{00083\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00084\ \ \ \textcolor{comment}{//\ input\ count\ tracker}}
+\DoxyCodeLine{00085\ \ \ std::map<int,\ int>\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_afccbbe50f43831a9ad8efa452ed6c99f}{input\_count\_tracker}};}
+\DoxyCodeLine{00086\ }
+\DoxyCodeLine{00087\ \ \ \textcolor{comment}{//\ expected\ input\ count}}
+\DoxyCodeLine{00088\ \ \ std::map<int,\ int>\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a8047a02e3c962fe5704ea9e9ef9c5565}{expected\_input\_count}};}
+\DoxyCodeLine{00089\ }
+\DoxyCodeLine{00090\ \ \ \textcolor{comment}{//\ completed\ executions}}
+\DoxyCodeLine{00091\ \ \ std::map<int,\ bool>\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}};}
+\DoxyCodeLine{00092\ \};}
+\DoxyCodeLine{00093\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/namespacecall__establish__bond.tex b/docs/latex/namespacecall__establish__bond.tex
new file mode 100644
index 0000000..dfdd788
--- /dev/null
+++ b/docs/latex/namespacecall__establish__bond.tex
@@ -0,0 +1,34 @@
+\doxysection{call\+\_\+establish\+\_\+bond Namespace Reference}
+\hypertarget{namespacecall__establish__bond}{}\label{namespacecall__establish__bond}\index{call\_establish\_bond@{call\_establish\_bond}}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__establish__bond_a2300575febd9f503d779af5f6cef21b0}{test\+\_\+establish\+\_\+bond}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__establish__bond_a76d78ca9217d39db4716f0c9b663e8fa}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyVerb} test call cap services \end{DoxyVerb}
+ 
+
+\doxysubsection{Function Documentation}
+\Hypertarget{namespacecall__establish__bond_a2300575febd9f503d779af5f6cef21b0}\label{namespacecall__establish__bond_a2300575febd9f503d779af5f6cef21b0} 
+\index{call\_establish\_bond@{call\_establish\_bond}!test\_establish\_bond@{test\_establish\_bond}}
+\index{test\_establish\_bond@{test\_establish\_bond}!call\_establish\_bond@{call\_establish\_bond}}
+\doxysubsubsection{\texorpdfstring{test\_establish\_bond()}{test\_establish\_bond()}}
+{\footnotesize\ttfamily call\+\_\+establish\+\_\+bond.\+test\+\_\+establish\+\_\+bond (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
+
+
+
+\doxysubsection{Variable Documentation}
+\Hypertarget{namespacecall__establish__bond_a76d78ca9217d39db4716f0c9b663e8fa}\label{namespacecall__establish__bond_a76d78ca9217d39db4716f0c9b663e8fa} 
+\index{call\_establish\_bond@{call\_establish\_bond}!node@{node}}
+\index{node@{node}!call\_establish\_bond@{call\_establish\_bond}}
+\doxysubsubsection{\texorpdfstring{node}{node}}
+{\footnotesize\ttfamily call\+\_\+establish\+\_\+bond.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
+
diff --git a/docs/latex/namespacecall__get__interfaces.tex b/docs/latex/namespacecall__get__interfaces.tex
new file mode 100644
index 0000000..247d679
--- /dev/null
+++ b/docs/latex/namespacecall__get__interfaces.tex
@@ -0,0 +1,34 @@
+\doxysection{call\+\_\+get\+\_\+interfaces Namespace Reference}
+\hypertarget{namespacecall__get__interfaces}{}\label{namespacecall__get__interfaces}\index{call\_get\_interfaces@{call\_get\_interfaces}}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__interfaces_a244fa53f9a4d366baebc0c54424bb9be}{test\+\_\+get\+\_\+interfaces\+\_\+srv}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__interfaces_a4811a33a2e010c2c4463526e89191d93}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyVerb} test call cap services \end{DoxyVerb}
+ 
+
+\doxysubsection{Function Documentation}
+\Hypertarget{namespacecall__get__interfaces_a244fa53f9a4d366baebc0c54424bb9be}\label{namespacecall__get__interfaces_a244fa53f9a4d366baebc0c54424bb9be} 
+\index{call\_get\_interfaces@{call\_get\_interfaces}!test\_get\_interfaces\_srv@{test\_get\_interfaces\_srv}}
+\index{test\_get\_interfaces\_srv@{test\_get\_interfaces\_srv}!call\_get\_interfaces@{call\_get\_interfaces}}
+\doxysubsubsection{\texorpdfstring{test\_get\_interfaces\_srv()}{test\_get\_interfaces\_srv()}}
+{\footnotesize\ttfamily call\+\_\+get\+\_\+interfaces.\+test\+\_\+get\+\_\+interfaces\+\_\+srv (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
+
+
+
+\doxysubsection{Variable Documentation}
+\Hypertarget{namespacecall__get__interfaces_a4811a33a2e010c2c4463526e89191d93}\label{namespacecall__get__interfaces_a4811a33a2e010c2c4463526e89191d93} 
+\index{call\_get\_interfaces@{call\_get\_interfaces}!node@{node}}
+\index{node@{node}!call\_get\_interfaces@{call\_get\_interfaces}}
+\doxysubsubsection{\texorpdfstring{node}{node}}
+{\footnotesize\ttfamily call\+\_\+get\+\_\+interfaces.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
+
diff --git a/docs/latex/namespacecall__get__providers.tex b/docs/latex/namespacecall__get__providers.tex
new file mode 100644
index 0000000..5ab22df
--- /dev/null
+++ b/docs/latex/namespacecall__get__providers.tex
@@ -0,0 +1,34 @@
+\doxysection{call\+\_\+get\+\_\+providers Namespace Reference}
+\hypertarget{namespacecall__get__providers}{}\label{namespacecall__get__providers}\index{call\_get\_providers@{call\_get\_providers}}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__providers_a9b6b81ded0d5cf7cdc5272d5c1bb79b6}{test\+\_\+get\+\_\+providers\+\_\+srv}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__providers_a19989397f7a847fffc5c2aa893a9f351}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyVerb} test call cap services \end{DoxyVerb}
+ 
+
+\doxysubsection{Function Documentation}
+\Hypertarget{namespacecall__get__providers_a9b6b81ded0d5cf7cdc5272d5c1bb79b6}\label{namespacecall__get__providers_a9b6b81ded0d5cf7cdc5272d5c1bb79b6} 
+\index{call\_get\_providers@{call\_get\_providers}!test\_get\_providers\_srv@{test\_get\_providers\_srv}}
+\index{test\_get\_providers\_srv@{test\_get\_providers\_srv}!call\_get\_providers@{call\_get\_providers}}
+\doxysubsubsection{\texorpdfstring{test\_get\_providers\_srv()}{test\_get\_providers\_srv()}}
+{\footnotesize\ttfamily call\+\_\+get\+\_\+providers.\+test\+\_\+get\+\_\+providers\+\_\+srv (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
+
+
+
+\doxysubsection{Variable Documentation}
+\Hypertarget{namespacecall__get__providers_a19989397f7a847fffc5c2aa893a9f351}\label{namespacecall__get__providers_a19989397f7a847fffc5c2aa893a9f351} 
+\index{call\_get\_providers@{call\_get\_providers}!node@{node}}
+\index{node@{node}!call\_get\_providers@{call\_get\_providers}}
+\doxysubsubsection{\texorpdfstring{node}{node}}
+{\footnotesize\ttfamily call\+\_\+get\+\_\+providers.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
+
diff --git a/docs/latex/namespacecall__get__semantic__interfaces.tex b/docs/latex/namespacecall__get__semantic__interfaces.tex
new file mode 100644
index 0000000..917c143
--- /dev/null
+++ b/docs/latex/namespacecall__get__semantic__interfaces.tex
@@ -0,0 +1,34 @@
+\doxysection{call\+\_\+get\+\_\+semantic\+\_\+interfaces Namespace Reference}
+\hypertarget{namespacecall__get__semantic__interfaces}{}\label{namespacecall__get__semantic__interfaces}\index{call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__semantic__interfaces_a263ddd6a05396d951292f4ec57f3530f}{test\+\_\+get\+\_\+semantic\+\_\+interfaces\+\_\+srv}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__semantic__interfaces_a3b2242441665fc109bf9d960b5c732b6}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyVerb} test call cap services \end{DoxyVerb}
+ 
+
+\doxysubsection{Function Documentation}
+\Hypertarget{namespacecall__get__semantic__interfaces_a263ddd6a05396d951292f4ec57f3530f}\label{namespacecall__get__semantic__interfaces_a263ddd6a05396d951292f4ec57f3530f} 
+\index{call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}!test\_get\_semantic\_interfaces\_srv@{test\_get\_semantic\_interfaces\_srv}}
+\index{test\_get\_semantic\_interfaces\_srv@{test\_get\_semantic\_interfaces\_srv}!call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}}
+\doxysubsubsection{\texorpdfstring{test\_get\_semantic\_interfaces\_srv()}{test\_get\_semantic\_interfaces\_srv()}}
+{\footnotesize\ttfamily call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+test\+\_\+get\+\_\+semantic\+\_\+interfaces\+\_\+srv (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
+
+
+
+\doxysubsection{Variable Documentation}
+\Hypertarget{namespacecall__get__semantic__interfaces_a3b2242441665fc109bf9d960b5c732b6}\label{namespacecall__get__semantic__interfaces_a3b2242441665fc109bf9d960b5c732b6} 
+\index{call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}!node@{node}}
+\index{node@{node}!call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}}
+\doxysubsubsection{\texorpdfstring{node}{node}}
+{\footnotesize\ttfamily call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
+
diff --git a/docs/latex/namespacecall__get__specs.tex b/docs/latex/namespacecall__get__specs.tex
new file mode 100644
index 0000000..526ca8e
--- /dev/null
+++ b/docs/latex/namespacecall__get__specs.tex
@@ -0,0 +1,34 @@
+\doxysection{call\+\_\+get\+\_\+specs Namespace Reference}
+\hypertarget{namespacecall__get__specs}{}\label{namespacecall__get__specs}\index{call\_get\_specs@{call\_get\_specs}}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__specs_aed98e930040f17e4a3421609861973c2}{test\+\_\+get\+\_\+capability\+\_\+specs\+\_\+srv}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__get__specs_a54561396e84d4b97d338bfcfb7adf638}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyVerb} test call cap services \end{DoxyVerb}
+ 
+
+\doxysubsection{Function Documentation}
+\Hypertarget{namespacecall__get__specs_aed98e930040f17e4a3421609861973c2}\label{namespacecall__get__specs_aed98e930040f17e4a3421609861973c2} 
+\index{call\_get\_specs@{call\_get\_specs}!test\_get\_capability\_specs\_srv@{test\_get\_capability\_specs\_srv}}
+\index{test\_get\_capability\_specs\_srv@{test\_get\_capability\_specs\_srv}!call\_get\_specs@{call\_get\_specs}}
+\doxysubsubsection{\texorpdfstring{test\_get\_capability\_specs\_srv()}{test\_get\_capability\_specs\_srv()}}
+{\footnotesize\ttfamily call\+\_\+get\+\_\+specs.\+test\+\_\+get\+\_\+capability\+\_\+specs\+\_\+srv (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
+
+
+
+\doxysubsection{Variable Documentation}
+\Hypertarget{namespacecall__get__specs_a54561396e84d4b97d338bfcfb7adf638}\label{namespacecall__get__specs_a54561396e84d4b97d338bfcfb7adf638} 
+\index{call\_get\_specs@{call\_get\_specs}!node@{node}}
+\index{node@{node}!call\_get\_specs@{call\_get\_specs}}
+\doxysubsubsection{\texorpdfstring{node}{node}}
+{\footnotesize\ttfamily call\+\_\+get\+\_\+specs.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
+
diff --git a/docs/latex/namespacecall__register__cap.tex b/docs/latex/namespacecall__register__cap.tex
new file mode 100644
index 0000000..605d58e
--- /dev/null
+++ b/docs/latex/namespacecall__register__cap.tex
@@ -0,0 +1,34 @@
+\doxysection{call\+\_\+register\+\_\+cap Namespace Reference}
+\hypertarget{namespacecall__register__cap}{}\label{namespacecall__register__cap}\index{call\_register\_cap@{call\_register\_cap}}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__register__cap_af74fb13a93506ad89f393dfd4db52c52}{test\+\_\+register\+\_\+cap}} (n)
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecall__register__cap_a542c6864d992b2711c9518ffc9c474e2}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyVerb} test call cap services \end{DoxyVerb}
+ 
+
+\doxysubsection{Function Documentation}
+\Hypertarget{namespacecall__register__cap_af74fb13a93506ad89f393dfd4db52c52}\label{namespacecall__register__cap_af74fb13a93506ad89f393dfd4db52c52} 
+\index{call\_register\_cap@{call\_register\_cap}!test\_register\_cap@{test\_register\_cap}}
+\index{test\_register\_cap@{test\_register\_cap}!call\_register\_cap@{call\_register\_cap}}
+\doxysubsubsection{\texorpdfstring{test\_register\_cap()}{test\_register\_cap()}}
+{\footnotesize\ttfamily call\+\_\+register\+\_\+cap.\+test\+\_\+register\+\_\+cap (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
+
+
+
+\doxysubsection{Variable Documentation}
+\Hypertarget{namespacecall__register__cap_a542c6864d992b2711c9518ffc9c474e2}\label{namespacecall__register__cap_a542c6864d992b2711c9518ffc9c474e2} 
+\index{call\_register\_cap@{call\_register\_cap}!node@{node}}
+\index{node@{node}!call\_register\_cap@{call\_register\_cap}}
+\doxysubsubsection{\texorpdfstring{node}{node}}
+{\footnotesize\ttfamily call\+\_\+register\+\_\+cap.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
+
diff --git a/docs/latex/namespacecapabilities2__events.tex b/docs/latex/namespacecapabilities2__events.tex
new file mode 100644
index 0000000..d7a0002
--- /dev/null
+++ b/docs/latex/namespacecapabilities2__events.tex
@@ -0,0 +1,85 @@
+\doxysection{capabilities2\+\_\+events Namespace Reference}
+\hypertarget{namespacecapabilities2__events}{}\label{namespacecapabilities2__events}\index{capabilities2\_events@{capabilities2\_events}}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{event\+\_\+exception}}
+\begin{DoxyCompactList}\small\item\em event exception \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}}
+\begin{DoxyCompactList}\small\item\em event base class \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{Event\+Node}}
+\begin{DoxyCompactList}\small\item\em an event node is a source of an event \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{Event\+Parameters}}
+\begin{DoxyCompactList}\small\item\em capability options for a capability runner given by interface and provider \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{options\+\_\+exception}}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{Parameter}}
+\begin{DoxyCompactList}\small\item\em Key value pair for capability options. \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent}{Published\+Event}}
+\item 
+class \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Enumerations}
+\begin{DoxyCompactItemize}
+\item 
+enum class \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} \{ \newline
+\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5}{BOOL}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229}{DOUBLE}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92}{INT}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949}{STRING}}
+, \newline
+\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2}{UNCONVERTED}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424}{VECTOR\+\_\+\+BOOL}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe}{VECTOR\+\_\+\+DOUBLE}}
+, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8}{VECTOR\+\_\+\+INT}}
+, \newline
+\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20}{VECTOR\+\_\+\+STRING}}
+ \}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Enumeration Type Documentation}
+\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af} 
+\index{capabilities2\_events@{capabilities2\_events}!OptionType@{OptionType}}
+\index{OptionType@{OptionType}!capabilities2\_events@{capabilities2\_events}}
+\doxysubsubsection{\texorpdfstring{OptionType}{OptionType}}
+{\footnotesize\ttfamily enum class \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{capabilities2\+\_\+events\+::\+Option\+Type}}\hspace{0.3cm}{\ttfamily [strong]}}
+
+\begin{DoxyEnumFields}{Enumerator}
+\raisebox{\heightof{T}}[0pt][0pt]{\index{BOOL@{BOOL}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!BOOL@{BOOL}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5} 
+BOOL&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{DOUBLE@{DOUBLE}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!DOUBLE@{DOUBLE}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229} 
+DOUBLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{INT@{INT}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!INT@{INT}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92} 
+INT&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{STRING@{STRING}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!STRING@{STRING}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949} 
+STRING&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{UNCONVERTED@{UNCONVERTED}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!UNCONVERTED@{UNCONVERTED}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2} 
+UNCONVERTED&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{VECTOR\_BOOL@{VECTOR\_BOOL}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!VECTOR\_BOOL@{VECTOR\_BOOL}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424} 
+VECTOR\+\_\+\+BOOL&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{VECTOR\_DOUBLE@{VECTOR\_DOUBLE}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!VECTOR\_DOUBLE@{VECTOR\_DOUBLE}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe} 
+VECTOR\+\_\+\+DOUBLE&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{VECTOR\_INT@{VECTOR\_INT}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!VECTOR\_INT@{VECTOR\_INT}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8} 
+VECTOR\+\_\+\+INT&\\
+\hline
+
+\raisebox{\heightof{T}}[0pt][0pt]{\index{VECTOR\_STRING@{VECTOR\_STRING}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!VECTOR\_STRING@{VECTOR\_STRING}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20} 
+VECTOR\+\_\+\+STRING&\\
+\hline
+
+\end{DoxyEnumFields}
diff --git a/docs/latex/namespacecapabilities2__runner.tex b/docs/latex/namespacecapabilities2__runner.tex
new file mode 100644
index 0000000..cdef491
--- /dev/null
+++ b/docs/latex/namespacecapabilities2__runner.tex
@@ -0,0 +1,35 @@
+\doxysection{capabilities2\+\_\+runner Namespace Reference}
+\hypertarget{namespacecapabilities2__runner}{}\label{namespacecapabilities2__runner}\index{capabilities2\_runner@{capabilities2\_runner}}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{Action\+Runner}}
+\begin{DoxyCompactList}\small\item\em action runner base class \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner}{Dummy\+Runner}}
+\begin{DoxyCompactList}\small\item\em Dummy runner. \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{En\+Cap\+Runner}}
+\begin{DoxyCompactList}\small\item\em encapsulated capability runner \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{Get\+Capability\+Specs\+Runner}}
+\begin{DoxyCompactList}\small\item\em Executor runner class. \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{Input\+Multiplex\+Runner}}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner}{Launch\+Runner}}
+\begin{DoxyCompactList}\small\item\em launch runner base class \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner}{Multiplex\+Base\+Runner}}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{No\+Trigger\+Runner}}
+\begin{DoxyCompactList}\small\item\em no-\/trigger runner \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}
+\begin{DoxyCompactList}\small\item\em resource definition \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\+\_\+exception}}
+\begin{DoxyCompactList}\small\item\em runner exception \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}}
+\begin{DoxyCompactList}\small\item\em runner options \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{Runner\+Base}}
+\begin{DoxyCompactList}\small\item\em base class for all runners \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{Service\+Runner}}
+\begin{DoxyCompactList}\small\item\em service runner base class \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{Thread\+Trigger\+Runner}}
+\begin{DoxyCompactList}\small\item\em add threaded trigger execution to the runner \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{Topic\+Runner}}
+\begin{DoxyCompactList}\small\item\em Topic runner base class. \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/docs/latex/namespacecapabilities2__server.tex b/docs/latex/namespacecapabilities2__server.tex
new file mode 100644
index 0000000..dfc05bc
--- /dev/null
+++ b/docs/latex/namespacecapabilities2__server.tex
@@ -0,0 +1,121 @@
+\doxysection{capabilities2\+\_\+server Namespace Reference}
+\hypertarget{namespacecapabilities2__server}{}\label{namespacecapabilities2__server}\index{capabilities2\_server@{capabilities2\_server}}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{models}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{Bond\+Cache}}
+\begin{DoxyCompactList}\small\item\em bond cache class \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{Capabilities\+API}}
+\begin{DoxyCompactList}\small\item\em capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB}{Capabilities\+DB}}
+\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer}{Capabilities\+Server}}
+\begin{DoxyCompactList}\small\item\em capabilities server \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}}
+\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{Runner\+Cache}}
+\begin{DoxyCompactList}\small\item\em runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425}{expand\+\_\+tilde}} (std\+::string \&path)
+\item 
+template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a6e3d2cbc55c111a6f09bb9adbbf91977}{DBBase\+::exists$<$ models\+::interface\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
+\item 
+template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a01ea1d7937d31e53be0186ccbbded6cd}{DBBase\+::exists$<$ models\+::semantic\+\_\+interface\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
+\item 
+template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a30c6a598ad096b7253c2b1217c9ddce6}{DBBase\+::exists$<$ models\+::provider\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
+\item 
+std\+::string \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\+\_\+sql\+\_\+safe}} (const std\+::string \&input)
+\begin{DoxyCompactList}\small\item\em convert a generic std\+::string to a sql safe std\+::string \end{DoxyCompactList}\item 
+std\+::string \mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\+\_\+sql\+\_\+safe}} (const std\+::string \&input)
+\begin{DoxyCompactList}\small\item\em convert a sql safe std\+::string to a generic std\+::string \end{DoxyCompactList}\item 
+\mbox{\hyperlink{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517}{generate\+\_\+launch\+\_\+description}} ()
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyVerb}capabilities2_server launch file
+\end{DoxyVerb}
+ 
+
+\doxysubsection{Function Documentation}
+\Hypertarget{namespacecapabilities2__server_a6e3d2cbc55c111a6f09bb9adbbf91977}\label{namespacecapabilities2__server_a6e3d2cbc55c111a6f09bb9adbbf91977} 
+\index{capabilities2\_server@{capabilities2\_server}!DBBase::exists$<$ models::interface\_model\_t $>$@{DBBase::exists$<$ models::interface\_model\_t $>$}}
+\index{DBBase::exists$<$ models::interface\_model\_t $>$@{DBBase::exists$<$ models::interface\_model\_t $>$}!capabilities2\_server@{capabilities2\_server}}
+\doxysubsubsection{\texorpdfstring{DBBase::exists$<$ models::interface\_model\_t $>$()}{DBBase::exists< models::interface\_model\_t >()}}
+{\footnotesize\ttfamily template$<$$>$ \\
+bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{capabilities2\+\_\+server\+::\+DBBase\+::exists}}$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})}
+
+\Hypertarget{namespacecapabilities2__server_a30c6a598ad096b7253c2b1217c9ddce6}\label{namespacecapabilities2__server_a30c6a598ad096b7253c2b1217c9ddce6} 
+\index{capabilities2\_server@{capabilities2\_server}!DBBase::exists$<$ models::provider\_model\_t $>$@{DBBase::exists$<$ models::provider\_model\_t $>$}}
+\index{DBBase::exists$<$ models::provider\_model\_t $>$@{DBBase::exists$<$ models::provider\_model\_t $>$}!capabilities2\_server@{capabilities2\_server}}
+\doxysubsubsection{\texorpdfstring{DBBase::exists$<$ models::provider\_model\_t $>$()}{DBBase::exists< models::provider\_model\_t >()}}
+{\footnotesize\ttfamily template$<$$>$ \\
+bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{capabilities2\+\_\+server\+::\+DBBase\+::exists}}$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})}
+
+\Hypertarget{namespacecapabilities2__server_a01ea1d7937d31e53be0186ccbbded6cd}\label{namespacecapabilities2__server_a01ea1d7937d31e53be0186ccbbded6cd} 
+\index{capabilities2\_server@{capabilities2\_server}!DBBase::exists$<$ models::semantic\_interface\_model\_t $>$@{DBBase::exists$<$ models::semantic\_interface\_model\_t $>$}}
+\index{DBBase::exists$<$ models::semantic\_interface\_model\_t $>$@{DBBase::exists$<$ models::semantic\_interface\_model\_t $>$}!capabilities2\_server@{capabilities2\_server}}
+\doxysubsubsection{\texorpdfstring{DBBase::exists$<$ models::semantic\_interface\_model\_t $>$()}{DBBase::exists< models::semantic\_interface\_model\_t >()}}
+{\footnotesize\ttfamily template$<$$>$ \\
+bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{capabilities2\+\_\+server\+::\+DBBase\+::exists}}$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})}
+
+\Hypertarget{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425}\label{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425} 
+\index{capabilities2\_server@{capabilities2\_server}!expand\_tilde@{expand\_tilde}}
+\index{expand\_tilde@{expand\_tilde}!capabilities2\_server@{capabilities2\_server}}
+\doxysubsubsection{\texorpdfstring{expand\_tilde()}{expand\_tilde()}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::expand\+\_\+tilde (\begin{DoxyParamCaption}\item[{std\+::string \&}]{path }\end{DoxyParamCaption})}
+
+\Hypertarget{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}\label{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13} 
+\index{capabilities2\_server@{capabilities2\_server}!from\_sql\_safe@{from\_sql\_safe}}
+\index{from\_sql\_safe@{from\_sql\_safe}!capabilities2\_server@{capabilities2\_server}}
+\doxysubsubsection{\texorpdfstring{from\_sql\_safe()}{from\_sql\_safe()}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::from\+\_\+sql\+\_\+safe (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{input }\end{DoxyParamCaption})}
+
+
+
+convert a sql safe std\+::string to a generic std\+::string 
+
+
+\begin{DoxyParams}{Parameters}
+{\em input} & sql safe std\+::string \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+generic std\+::string 
+\end{DoxyReturn}
+\Hypertarget{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517}\label{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517} 
+\index{capabilities2\_server@{capabilities2\_server}!generate\_launch\_description@{generate\_launch\_description}}
+\index{generate\_launch\_description@{generate\_launch\_description}!capabilities2\_server@{capabilities2\_server}}
+\doxysubsubsection{\texorpdfstring{generate\_launch\_description()}{generate\_launch\_description()}}
+{\footnotesize\ttfamily capabilities2\+\_\+server.\+generate\+\_\+launch\+\_\+description (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
+
+\begin{DoxyVerb}Generate launch description for capabilities2 server
+
+Returns:
+    LaunchDescription: The launch description for capabilities2 server
+\end{DoxyVerb}
+ \Hypertarget{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}\label{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53} 
+\index{capabilities2\_server@{capabilities2\_server}!to\_sql\_safe@{to\_sql\_safe}}
+\index{to\_sql\_safe@{to\_sql\_safe}!capabilities2\_server@{capabilities2\_server}}
+\doxysubsubsection{\texorpdfstring{to\_sql\_safe()}{to\_sql\_safe()}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::to\+\_\+sql\+\_\+safe (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{input }\end{DoxyParamCaption})}
+
+
+
+convert a generic std\+::string to a sql safe std\+::string 
+
+
+\begin{DoxyParams}{Parameters}
+{\em input} & generic std\+::string \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+sql safe std\+::string 
+\end{DoxyReturn}
diff --git a/docs/latex/namespacecapabilities2__server_1_1models.tex b/docs/latex/namespacecapabilities2__server_1_1models.tex
new file mode 100644
index 0000000..dff4f7b
--- /dev/null
+++ b/docs/latex/namespacecapabilities2__server_1_1models.tex
@@ -0,0 +1,41 @@
+\doxysection{capabilities2\+\_\+server\+::models Namespace Reference}
+\hypertarget{namespacecapabilities2__server_1_1models}{}\label{namespacecapabilities2__server_1_1models}\index{capabilities2\_server::models@{capabilities2\_server::models}}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\+\_\+model\+\_\+t}}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{defineable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em defineable base \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{identifiable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em unique key for a row \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{interface\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em interface model \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{modifiable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em base model for all models that can be modified \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em predicate model type \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{predicateable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em predicateable model base type \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{provider\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em provider model \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{remappable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em remappable base model definition \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{run\+\_\+config\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em run configuration type \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{running\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em running capability model \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{semantic\+\_\+interface\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em semantic interface model \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{soft\+\_\+deleteable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em base model for all models that can be soft deleted \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{specification\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em interface specification type the specification model is the computation graph blueprint of a capability \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/docs/latex/namespacecapability__registrar.tex b/docs/latex/namespacecapability__registrar.tex
new file mode 100644
index 0000000..9261ec5
--- /dev/null
+++ b/docs/latex/namespacecapability__registrar.tex
@@ -0,0 +1,124 @@
+\doxysection{capability\+\_\+registrar Namespace Reference}
+\hypertarget{namespacecapability__registrar}{}\label{namespacecapability__registrar}\index{capability\_registrar@{capability\_registrar}}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{Capability\+Registrar}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Variables}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a85b2e418ce57973bee2d82f33e5738b5}{args}} = parser.\+parse\+\_\+args()
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_aba4d1e7264910b6be4626bff694d10ac}{registrar}} = \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{Capability\+Registrar}}()
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a7bfea02378cecfeceda9259e91e2e091}{parser}} = argparse.\+Argument\+Parser()
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_acfac32d04d0fcd7c8433ed1b24dc27bd}{type}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_adb5ed3f88c50cdfd43deee3b12020bea}{str}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_af66a2aad43c4712a55bee27275bd1e5d}{help}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a81f7c17e781033752eb7c2d5d43953f5}{default}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a9e88f588295c9d1134a65813e2cba57a}{required}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a56cd03cefa17b5d40d607d7efa907b86}{request}} = Register\+Capability.\+Request()
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a8def842f3231248fbb4afbada9c57c0e}{package}}
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{filename}} = args.\+file
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a9824c18d0c7c2bc9602902693e664d48}{spec}} = yaml.\+safe\+\_\+load(\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{filename}})
+\item 
+\mbox{\hyperlink{namespacecapability__registrar_a2042dee98cea898a5984b8261540b8fb}{content}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+\begin{DoxyVerb} Capability Registrar Node
+ a ros node that registers the capabilities of the robot to the capability server
+ the registration is done by calling the capability server's service
+\end{DoxyVerb}
+ 
+
+\doxysubsection{Variable Documentation}
+\Hypertarget{namespacecapability__registrar_a85b2e418ce57973bee2d82f33e5738b5}\label{namespacecapability__registrar_a85b2e418ce57973bee2d82f33e5738b5} 
+\index{capability\_registrar@{capability\_registrar}!args@{args}}
+\index{args@{args}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{args}{args}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+args = parser.\+parse\+\_\+args()}
+
+\Hypertarget{namespacecapability__registrar_a2042dee98cea898a5984b8261540b8fb}\label{namespacecapability__registrar_a2042dee98cea898a5984b8261540b8fb} 
+\index{capability\_registrar@{capability\_registrar}!content@{content}}
+\index{content@{content}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{content}{content}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+content}
+
+\Hypertarget{namespacecapability__registrar_a81f7c17e781033752eb7c2d5d43953f5}\label{namespacecapability__registrar_a81f7c17e781033752eb7c2d5d43953f5} 
+\index{capability\_registrar@{capability\_registrar}!default@{default}}
+\index{default@{default}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{default}{default}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+default}
+
+\Hypertarget{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}\label{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9} 
+\index{capability\_registrar@{capability\_registrar}!filename@{filename}}
+\index{filename@{filename}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{filename}{filename}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+filename = args.\+file}
+
+\Hypertarget{namespacecapability__registrar_af66a2aad43c4712a55bee27275bd1e5d}\label{namespacecapability__registrar_af66a2aad43c4712a55bee27275bd1e5d} 
+\index{capability\_registrar@{capability\_registrar}!help@{help}}
+\index{help@{help}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{help}{help}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+help}
+
+\Hypertarget{namespacecapability__registrar_a8def842f3231248fbb4afbada9c57c0e}\label{namespacecapability__registrar_a8def842f3231248fbb4afbada9c57c0e} 
+\index{capability\_registrar@{capability\_registrar}!package@{package}}
+\index{package@{package}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{package}{package}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+package}
+
+\Hypertarget{namespacecapability__registrar_a7bfea02378cecfeceda9259e91e2e091}\label{namespacecapability__registrar_a7bfea02378cecfeceda9259e91e2e091} 
+\index{capability\_registrar@{capability\_registrar}!parser@{parser}}
+\index{parser@{parser}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{parser}{parser}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+parser = argparse.\+Argument\+Parser()}
+
+\Hypertarget{namespacecapability__registrar_aba4d1e7264910b6be4626bff694d10ac}\label{namespacecapability__registrar_aba4d1e7264910b6be4626bff694d10ac} 
+\index{capability\_registrar@{capability\_registrar}!registrar@{registrar}}
+\index{registrar@{registrar}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{registrar}{registrar}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+registrar = \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{Capability\+Registrar}}()}
+
+\Hypertarget{namespacecapability__registrar_a56cd03cefa17b5d40d607d7efa907b86}\label{namespacecapability__registrar_a56cd03cefa17b5d40d607d7efa907b86} 
+\index{capability\_registrar@{capability\_registrar}!request@{request}}
+\index{request@{request}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{request}{request}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+request = Register\+Capability.\+Request()}
+
+\Hypertarget{namespacecapability__registrar_a9e88f588295c9d1134a65813e2cba57a}\label{namespacecapability__registrar_a9e88f588295c9d1134a65813e2cba57a} 
+\index{capability\_registrar@{capability\_registrar}!required@{required}}
+\index{required@{required}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{required}{required}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+required}
+
+\Hypertarget{namespacecapability__registrar_a9824c18d0c7c2bc9602902693e664d48}\label{namespacecapability__registrar_a9824c18d0c7c2bc9602902693e664d48} 
+\index{capability\_registrar@{capability\_registrar}!spec@{spec}}
+\index{spec@{spec}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{spec}{spec}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+spec = yaml.\+safe\+\_\+load(\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{filename}})}
+
+\Hypertarget{namespacecapability__registrar_adb5ed3f88c50cdfd43deee3b12020bea}\label{namespacecapability__registrar_adb5ed3f88c50cdfd43deee3b12020bea} 
+\index{capability\_registrar@{capability\_registrar}!str@{str}}
+\index{str@{str}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{str}{str}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+str}
+
+\Hypertarget{namespacecapability__registrar_acfac32d04d0fcd7c8433ed1b24dc27bd}\label{namespacecapability__registrar_acfac32d04d0fcd7c8433ed1b24dc27bd} 
+\index{capability\_registrar@{capability\_registrar}!type@{type}}
+\index{type@{type}!capability\_registrar@{capability\_registrar}}
+\doxysubsubsection{\texorpdfstring{type}{type}}
+{\footnotesize\ttfamily capability\+\_\+registrar.\+type}
+
diff --git a/docs/latex/namespaces.tex b/docs/latex/namespaces.tex
new file mode 100644
index 0000000..b3a8523
--- /dev/null
+++ b/docs/latex/namespaces.tex
@@ -0,0 +1,14 @@
+\doxysection{Namespace List}
+Here is a list of all namespaces with brief descriptions\+:\begin{DoxyCompactList}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecall__establish__bond}{call\+\_\+establish\+\_\+bond}} }{\pageref{namespacecall__establish__bond}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecall__get__interfaces}{call\+\_\+get\+\_\+interfaces}} }{\pageref{namespacecall__get__interfaces}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecall__get__providers}{call\+\_\+get\+\_\+providers}} }{\pageref{namespacecall__get__providers}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecall__get__semantic__interfaces}{call\+\_\+get\+\_\+semantic\+\_\+interfaces}} }{\pageref{namespacecall__get__semantic__interfaces}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecall__get__specs}{call\+\_\+get\+\_\+specs}} }{\pageref{namespacecall__get__specs}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecall__register__cap}{call\+\_\+register\+\_\+cap}} }{\pageref{namespacecall__register__cap}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}} }{\pageref{namespacecapabilities2__events}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} }{\pageref{namespacecapabilities2__runner}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}} }{\pageref{namespacecapabilities2__server}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}} }{\pageref{namespacecapabilities2__server_1_1models}}{}
+\item\contentsline{section}{\mbox{\hyperlink{namespacecapability__registrar}{capability\+\_\+registrar}} }{\pageref{namespacecapability__registrar}}{}
+\end{DoxyCompactList}
diff --git a/docs/latex/notrigger__runner_8hpp.tex b/docs/latex/notrigger__runner_8hpp.tex
new file mode 100644
index 0000000..01fad0f
--- /dev/null
+++ b/docs/latex/notrigger__runner_8hpp.tex
@@ -0,0 +1,27 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/notrigger\+\_\+runner.hpp File Reference}
+\hypertarget{notrigger__runner_8hpp}{}\label{notrigger__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/notrigger\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/notrigger\_runner.hpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
+Include dependency graph for notrigger\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{notrigger__runner_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=238pt]{notrigger__runner_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}
+\begin{DoxyCompactList}\small\item\em no-\/trigger runner \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/notrigger__runner_8hpp__dep__incl.md5 b/docs/latex/notrigger__runner_8hpp__dep__incl.md5
new file mode 100644
index 0000000..f00d396
--- /dev/null
+++ b/docs/latex/notrigger__runner_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+9e8fea942c762b202b42d1dc14d88591
\ No newline at end of file
diff --git a/docs/latex/notrigger__runner_8hpp__dep__incl.pdf b/docs/latex/notrigger__runner_8hpp__dep__incl.pdf
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diff --git a/docs/latex/notrigger__runner_8hpp_source.tex b/docs/latex/notrigger__runner_8hpp_source.tex
new file mode 100644
index 0000000..89770b9
--- /dev/null
+++ b/docs/latex/notrigger__runner_8hpp_source.tex
@@ -0,0 +1,28 @@
+\doxysection{notrigger\+\_\+runner.\+hpp}
+\hypertarget{notrigger__runner_8hpp_source}{}\label{notrigger__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/notrigger\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/notrigger\_runner.hpp}}
+\mbox{\hyperlink{notrigger__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00006\ \{}
+\DoxyCodeLine{00007\ }
+\DoxyCodeLine{00015\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{NoTriggerRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}}
+\DoxyCodeLine{00016\ \{}
+\DoxyCodeLine{00017\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00018\ \ \ \textcolor{comment}{//\ throw\ on\ trigger\ function}}
+\DoxyCodeLine{00019\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}{trigger}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id,}
+\DoxyCodeLine{00020\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00021\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00022\ \ \ \ \ \textcolor{comment}{//\ emit\ failed\ event}}
+\DoxyCodeLine{00023\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\_failed}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\_on\_failure}}());}
+\DoxyCodeLine{00024\ }
+\DoxyCodeLine{00025\ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ trigger\ this\ is\ a\ no-\/trigger\ runner"{}});}
+\DoxyCodeLine{00026\ \ \ \}}
+\DoxyCodeLine{00027\ \};}
+\DoxyCodeLine{00028\ }
+\DoxyCodeLine{00029\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/parameter__format_8md.tex b/docs/latex/parameter__format_8md.tex
new file mode 100644
index 0000000..095d02e
--- /dev/null
+++ b/docs/latex/parameter__format_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+runner/docs/parameter\+\_\+format.md File Reference}
+\hypertarget{parameter__format_8md}{}\label{parameter__format_8md}\index{capabilities2\_runner/docs/parameter\_format.md@{capabilities2\_runner/docs/parameter\_format.md}}
diff --git a/docs/latex/predicate_8hpp.tex b/docs/latex/predicate_8hpp.tex
new file mode 100644
index 0000000..3080144
--- /dev/null
+++ b/docs/latex/predicate_8hpp.tex
@@ -0,0 +1,30 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/predicate.hpp File Reference}
+\hypertarget{predicate_8hpp}{}\label{predicate_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/predicate.hpp@{capabilities2\_server/include/capabilities2\_server/models/predicate.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+Include dependency graph for predicate.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=255pt]{predicate_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{predicate_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em predicate model type \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/predicate_8hpp__dep__incl.md5 b/docs/latex/predicate_8hpp__dep__incl.md5
new file mode 100644
index 0000000..d0efad4
--- /dev/null
+++ b/docs/latex/predicate_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+1022e695336a26a15235954d3a3b2820
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diff --git a/docs/latex/predicate_8hpp__dep__incl.pdf b/docs/latex/predicate_8hpp__dep__incl.pdf
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diff --git a/docs/latex/predicate_8hpp_source.tex b/docs/latex/predicate_8hpp_source.tex
new file mode 100644
index 0000000..d4544d5
--- /dev/null
+++ b/docs/latex/predicate_8hpp_source.tex
@@ -0,0 +1,42 @@
+\doxysection{predicate.\+hpp}
+\hypertarget{predicate_8hpp_source}{}\label{predicate_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/predicate.hpp@{capabilities2\_server/include/capabilities2\_server/models/predicate.hpp}}
+\mbox{\hyperlink{predicate_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00005\ }
+\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00007\ \{}
+\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00009\ \{}
+\DoxyCodeLine{00010\ }
+\DoxyCodeLine{00018\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\_model\_t}}}
+\DoxyCodeLine{00019\ \{}
+\DoxyCodeLine{00020\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}{subject}};}
+\DoxyCodeLine{00021\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}{predicate}};}
+\DoxyCodeLine{00022\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828}{object}};}
+\DoxyCodeLine{00023\ }
+\DoxyCodeLine{00024\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a913e6b62b99887f12ba12debea26d5ac}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
+\DoxyCodeLine{00025\ \ \ \{}
+\DoxyCodeLine{00026\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}{subject}}\ =\ node[\textcolor{stringliteral}{"{}subject"{}}].as<std::string>();}
+\DoxyCodeLine{00027\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}{predicate}}\ =\ node[\textcolor{stringliteral}{"{}predicate"{}}].as<std::string>();}
+\DoxyCodeLine{00028\ \ \ \ \ \textcolor{keywordtype}{object}\ =\ node[\textcolor{stringliteral}{"{}object"{}}].as<std::string>();}
+\DoxyCodeLine{00029\ \ \ \}}
+\DoxyCodeLine{00030\ }
+\DoxyCodeLine{00031\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_aac7a5018cdb4ffac44a5031358c7b392}{to\_yaml}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00032\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00033\ \ \ \ \ YAML::Node\ node;}
+\DoxyCodeLine{00034\ \ \ \ \ node[\textcolor{stringliteral}{"{}subject"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}{subject}};}
+\DoxyCodeLine{00035\ \ \ \ \ node[\textcolor{stringliteral}{"{}predicate"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}{predicate}};}
+\DoxyCodeLine{00036\ \ \ \ \ node[\textcolor{stringliteral}{"{}object"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828}{object}};}
+\DoxyCodeLine{00037\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
+\DoxyCodeLine{00038\ \ \ \}}
+\DoxyCodeLine{00039\ \};}
+\DoxyCodeLine{00040\ }
+\DoxyCodeLine{00041\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00042\ }
+\DoxyCodeLine{00043\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/predicateable__base_8hpp.tex b/docs/latex/predicateable__base_8hpp.tex
new file mode 100644
index 0000000..3a644d6
--- /dev/null
+++ b/docs/latex/predicateable__base_8hpp.tex
@@ -0,0 +1,30 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/predicateable\+\_\+base.hpp File Reference}
+\hypertarget{predicateable__base_8hpp}{}\label{predicateable__base_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/predicateable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/predicateable\_base.hpp}}
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/predicate.\+hpp$>$}\newline
+Include dependency graph for predicateable\+\_\+base.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=307pt]{predicateable__base_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{predicateable__base_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em predicateable model base type \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/predicateable__base_8hpp__dep__incl.md5 b/docs/latex/predicateable__base_8hpp__dep__incl.md5
new file mode 100644
index 0000000..c209958
--- /dev/null
+++ b/docs/latex/predicateable__base_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+9b316e7fc58cd07425d7b3f4dedc2789
\ No newline at end of file
diff --git a/docs/latex/predicateable__base_8hpp__dep__incl.pdf b/docs/latex/predicateable__base_8hpp__dep__incl.pdf
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diff --git a/docs/latex/predicateable__base_8hpp_source.tex b/docs/latex/predicateable__base_8hpp_source.tex
new file mode 100644
index 0000000..edddb51
--- /dev/null
+++ b/docs/latex/predicateable__base_8hpp_source.tex
@@ -0,0 +1,24 @@
+\doxysection{predicateable\+\_\+base.\+hpp}
+\hypertarget{predicateable__base_8hpp_source}{}\label{predicateable__base_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/predicateable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/predicateable\_base.hpp}}
+\mbox{\hyperlink{predicateable__base_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{predicate_8hpp}{capabilities2\_server/models/predicate.hpp}}>}}
+\DoxyCodeLine{00005\ }
+\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00007\ \{}
+\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00009\ \{}
+\DoxyCodeLine{00010\ }
+\DoxyCodeLine{00018\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{predicateable\_base\_t}}}
+\DoxyCodeLine{00019\ \{}
+\DoxyCodeLine{00020\ \ \ std::vector<predicate\_model\_t>\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}};}
+\DoxyCodeLine{00021\ \};}
+\DoxyCodeLine{00022\ }
+\DoxyCodeLine{00023\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00024\ }
+\DoxyCodeLine{00025\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/provider_8hpp.tex b/docs/latex/provider_8hpp.tex
new file mode 100644
index 0000000..9c032a8
--- /dev/null
+++ b/docs/latex/provider_8hpp.tex
@@ -0,0 +1,35 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/provider.hpp File Reference}
+\hypertarget{provider_8hpp}{}\label{provider_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/provider.hpp@{capabilities2\_server/include/capabilities2\_server/models/provider.hpp}}
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/header.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/remappable\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/defineable\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/predicateable\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
+Include dependency graph for provider.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{provider_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{provider_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em provider model \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/provider_8hpp__dep__incl.md5 b/docs/latex/provider_8hpp__dep__incl.md5
new file mode 100644
index 0000000..bc09f03
--- /dev/null
+++ b/docs/latex/provider_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+b2cfdbfa8b6465d1744976aee969dbb9
\ No newline at end of file
diff --git a/docs/latex/provider_8hpp__dep__incl.pdf b/docs/latex/provider_8hpp__dep__incl.pdf
new file mode 100644
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diff --git a/docs/latex/provider_8hpp_source.tex b/docs/latex/provider_8hpp_source.tex
new file mode 100644
index 0000000..772d1b0
--- /dev/null
+++ b/docs/latex/provider_8hpp_source.tex
@@ -0,0 +1,87 @@
+\doxysection{provider.\+hpp}
+\hypertarget{provider_8hpp_source}{}\label{provider_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/provider.hpp@{capabilities2\_server/include/capabilities2\_server/models/provider.hpp}}
+\mbox{\hyperlink{provider_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{header_8hpp}{capabilities2\_server/models/header.hpp}}>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{remappable__base_8hpp}{capabilities2\_server/models/remappable\_base.hpp}}>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{defineable__base_8hpp}{capabilities2\_server/models/defineable\_base.hpp}}>}}
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{predicateable__base_8hpp}{capabilities2\_server/models/predicateable\_base.hpp}}>}}
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{defineable__base_8hpp}{capabilities2\_server/models/defineable\_base.hpp}}>}}
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{sql__safe_8hpp}{capabilities2\_server/utils/sql\_safe.hpp}}>}}
+\DoxyCodeLine{00011\ }
+\DoxyCodeLine{00012\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00013\ \{}
+\DoxyCodeLine{00014\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00015\ \{}
+\DoxyCodeLine{00016\ }
+\DoxyCodeLine{00017\ \textcolor{comment}{//\ provider\ model\ definition}}
+\DoxyCodeLine{00025\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{provider\_model\_t}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{remappable\_base\_t}},\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{predicateable\_base\_t}},\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{defineable\_base\_t}}}
+\DoxyCodeLine{00026\ \{}
+\DoxyCodeLine{00027\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}};}
+\DoxyCodeLine{00028\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}};}
+\DoxyCodeLine{00029\ \ \ std::map<std::string,\ std::string>\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\_on}};}
+\DoxyCodeLine{00030\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}};}
+\DoxyCodeLine{00031\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}};}
+\DoxyCodeLine{00032\ }
+\DoxyCodeLine{00033\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_aeaffd1a45ccb1f72dcbca71425ac57c3}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
+\DoxyCodeLine{00034\ \ \ \{}
+\DoxyCodeLine{00035\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\_yaml}}(node);}
+\DoxyCodeLine{00036\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}}\ =\ node[\textcolor{stringliteral}{"{}implements"{}}].as<std::string>();}
+\DoxyCodeLine{00037\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}}\ =\ node[\textcolor{stringliteral}{"{}runner"{}}].as<std::string>();}
+\DoxyCodeLine{00038\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ dependency\ :\ node[\textcolor{stringliteral}{"{}depends\_on"{}}])}
+\DoxyCodeLine{00039\ \ \ \ \ \{}
+\DoxyCodeLine{00040\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\_on}}[dependency.first.as<std::string>()]\ =\ dependency.second[\textcolor{stringliteral}{"{}provider"{}}].as<std::string>();}
+\DoxyCodeLine{00041\ \ \ \ \ \}}
+\DoxyCodeLine{00042\ \ \ \ \ \textcolor{comment}{//\ if\ remappings\ exist}}
+\DoxyCodeLine{00043\ \ \ \ \ \textcolor{keywordflow}{if}\ (node[\textcolor{stringliteral}{"{}remappings"{}}])}
+\DoxyCodeLine{00044\ \ \ \ \ \{}
+\DoxyCodeLine{00045\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}{from\_yaml}}(node[\textcolor{stringliteral}{"{}remappings"{}}]);}
+\DoxyCodeLine{00046\ \ \ \ \ \}}
+\DoxyCodeLine{00047\ \ \ \ \ }
+\DoxyCodeLine{00048\ \ \ \ \ \textcolor{comment}{//\ definition}}
+\DoxyCodeLine{00049\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}{defineable\_base\_t::from\_yaml}}(node);}
+\DoxyCodeLine{00050\ \ \ \}}
+\DoxyCodeLine{00051\ }
+\DoxyCodeLine{00052\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1a91763b3ebf0fe9fc9d38a0b9315fb9}{to\_yaml}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00053\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00054\ \ \ \ \ YAML::Node\ node\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}{to\_yaml}}();}
+\DoxyCodeLine{00055\ \ \ \ \ node[\textcolor{stringliteral}{"{}implements"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}};}
+\DoxyCodeLine{00056\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ dependency\ :\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\_on}})}
+\DoxyCodeLine{00057\ \ \ \ \ \{}
+\DoxyCodeLine{00058\ \ \ \ \ \ \ node[\textcolor{stringliteral}{"{}depends\_on"{}}][dependency.first][\textcolor{stringliteral}{"{}provider"{}}]\ =\ dependency.second;}
+\DoxyCodeLine{00059\ \ \ \ \ \}}
+\DoxyCodeLine{00060\ \ \ \ \ node[\textcolor{stringliteral}{"{}remappings"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}{to\_yaml}}();}
+\DoxyCodeLine{00061\ \ \ \ \ node[\textcolor{stringliteral}{"{}runner"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}};}
+\DoxyCodeLine{00062\ \ \ \ \ \textcolor{comment}{//\ definition}}
+\DoxyCodeLine{00063\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}{defined}}())}
+\DoxyCodeLine{00064\ \ \ \ \ \{}
+\DoxyCodeLine{00065\ \ \ \ \ \ \ node[\textcolor{stringliteral}{"{}definition"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\_str}};}
+\DoxyCodeLine{00066\ \ \ \ \ \}}
+\DoxyCodeLine{00067\ }
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+\DoxyCodeLine{00069\ \ \ \}}
+\DoxyCodeLine{00070\ }
+\DoxyCodeLine{00071\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1c7dc74c7eaa402394f4d9e8e917d337}{to\_sql\_table}}()}
+\DoxyCodeLine{00072\ \ \ \{}
+\DoxyCodeLine{00073\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}{header\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{},\ implements\ TEXT\ NOT\ NULL,\ depends\_on\ TEXT,\ remappings\ TEXT,\ runner\ "{}}}
+\DoxyCodeLine{00074\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}TEXT,\ definition\ TEXT"{}};}
+\DoxyCodeLine{00075\ \ \ \}}
+\DoxyCodeLine{00076\ }
+\DoxyCodeLine{00077\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f}{to\_sql\_values}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00078\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00079\ \ \ \ \ YAML::Node\ deps;}
+\DoxyCodeLine{00080\ \ \ \ \ deps[\textcolor{stringliteral}{"{}depends\_on"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\_on}};}
+\DoxyCodeLine{00081\ }
+\DoxyCodeLine{00082\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{},\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(YAML::Dump(deps[\textcolor{stringliteral}{"{}depends\_on"{}}]))\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +}
+\DoxyCodeLine{00083\ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(YAML::Dump(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}{to\_yaml}}()))\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\_str}}\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00084\ \ \ \}}
+\DoxyCodeLine{00085\ \};}
+\DoxyCodeLine{00086\ }
+\DoxyCodeLine{00087\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00088\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/providers_8md.tex b/docs/latex/providers_8md.tex
new file mode 100644
index 0000000..35b6542
--- /dev/null
+++ b/docs/latex/providers_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/providers.md File Reference}
+\hypertarget{providers_8md}{}\label{providers_8md}\index{docs/providers.md@{docs/providers.md}}
diff --git a/docs/latex/published__event_8hpp.tex b/docs/latex/published__event_8hpp.tex
new file mode 100644
index 0000000..5d9a553
--- /dev/null
+++ b/docs/latex/published__event_8hpp.tex
@@ -0,0 +1,29 @@
+\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/published\+\_\+event.hpp File Reference}
+\hypertarget{published__event_8hpp}{}\label{published__event_8hpp}\index{capabilities2\_events/include/capabilities2\_events/published\_event.hpp@{capabilities2\_events/include/capabilities2\_events/published\_event.hpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+stamped.\+hpp$>$}\newline
+Include dependency graph for published\+\_\+event.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{published__event_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{published__event_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent}{capabilities2\+\_\+events\+::\+Published\+Event}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/published__event_8hpp__dep__incl.md5 b/docs/latex/published__event_8hpp__dep__incl.md5
new file mode 100644
index 0000000..400bd9b
--- /dev/null
+++ b/docs/latex/published__event_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+9fbb8b02201e1f955141779312f3a55a
\ No newline at end of file
diff --git a/docs/latex/published__event_8hpp__dep__incl.pdf b/docs/latex/published__event_8hpp__dep__incl.pdf
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diff --git a/docs/latex/published__event_8hpp_source.tex b/docs/latex/published__event_8hpp_source.tex
new file mode 100644
index 0000000..2f22380
--- /dev/null
+++ b/docs/latex/published__event_8hpp_source.tex
@@ -0,0 +1,128 @@
+\doxysection{published\+\_\+event.\+hpp}
+\hypertarget{published__event_8hpp_source}{}\label{published__event_8hpp_source}\index{capabilities2\_events/include/capabilities2\_events/published\_event.hpp@{capabilities2\_events/include/capabilities2\_events/published\_event.hpp}}
+\mbox{\hyperlink{published__event_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__base_8hpp}{capabilities2\_events/event\_base.hpp}}>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_stamped.hpp>}}
+\DoxyCodeLine{00007\ }
+\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\_events}}}
+\DoxyCodeLine{00009\ \{}
+\DoxyCodeLine{00010\ }
+\DoxyCodeLine{00011\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent}{PublishedEvent}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{EventBase}}}
+\DoxyCodeLine{00012\ \{}
+\DoxyCodeLine{00013\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00014\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a171a4a05b8abbd64093cb19cf2935f1d}{PublishedEvent}}(rclcpp::Publisher<capabilities2\_msgs::msg::CapabilityEventStamped>::SharedPtr\ event\_pub)}
+\DoxyCodeLine{00015\ \ \ \ \ :\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{EventBase}}(),\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}(event\_pub)}
+\DoxyCodeLine{00016\ \ \ \{}
+\DoxyCodeLine{00017\ \ \ \}}
+\DoxyCodeLine{00018\ }
+\DoxyCodeLine{00019\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a6ab23da65edf53a46acb69d5c0e961cc}{\string~PublishedEvent}}()\ =\ \textcolor{keywordflow}{default};}
+\DoxyCodeLine{00020\ }
+\DoxyCodeLine{00024\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a}{emit}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id,\ \textcolor{keyword}{const}\ uint8\_t\&\ event\_code,}
+\DoxyCodeLine{00025\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ source,\ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ target,}
+\DoxyCodeLine{00026\ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{EventBase::event\_callback\_t}}\ callback)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00027\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00028\ \ \ \ \ \textcolor{comment}{//\ split\ connection\ id\ to\ get\ trigger\ id.\ Assuming\ connection\_id\ format\ is\ "{}bond\_id/instance\_id/target\_instance\_id"{}}}
+\DoxyCodeLine{00029\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ first\_pos\ =\ connection\_id.find(\textcolor{charliteral}{'/'});}
+\DoxyCodeLine{00030\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ second\_pos\ =\ connection\_id.find(\textcolor{charliteral}{'/'},\ first\_pos\ +\ 1);}
+\DoxyCodeLine{00031\ }
+\DoxyCodeLine{00032\ \ \ \ \ std::string\ instance\_id\ =\ (second\_pos\ !=\ std::string::npos)\ ?\ connection\_id.substr(first\_pos\ +\ 1,\ second\_pos\ -\/\ first\_pos\ -\/\ 1)\ :\ \textcolor{stringliteral}{"{}"{}};}
+\DoxyCodeLine{00033\ }
+\DoxyCodeLine{00034\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
+\DoxyCodeLine{00035\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
+\DoxyCodeLine{00036\ \ \ \ \ event\_msg.event.trigger\_id\ =\ instance\_id;}
+\DoxyCodeLine{00037\ \ \ \ \ event\_msg.event.code.code\ =\ event\_code;}
+\DoxyCodeLine{00038\ \ \ \ \ event\_msg.event.connection.source\ =\ source;}
+\DoxyCodeLine{00039\ \ \ \ \ event\_msg.event.connection.target\ =\ target;}
+\DoxyCodeLine{00040\ }
+\DoxyCodeLine{00041\ \ \ \ \ \textcolor{comment}{//\ publish\ event}}
+\DoxyCodeLine{00042\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
+\DoxyCodeLine{00043\ }
+\DoxyCodeLine{00044\ \ \ \ \ \textcolor{comment}{//\ call\ super}}
+\DoxyCodeLine{00045\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{EventBase::emit}}(connection\_id,\ event\_code,\ source,\ target,\ callback);}
+\DoxyCodeLine{00046\ \ \ \}}
+\DoxyCodeLine{00047\ }
+\DoxyCodeLine{00053\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787}{on\_server\_ready}}(\textcolor{keyword}{const}\ std::string\&\ msg)}
+\DoxyCodeLine{00054\ \ \ \{}
+\DoxyCodeLine{00055\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
+\DoxyCodeLine{00056\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
+\DoxyCodeLine{00057\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00058\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00059\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::SERVER\_READY;}
+\DoxyCodeLine{00060\ \ \ \ \ event\_msg.event.description\ =\ msg;}
+\DoxyCodeLine{00061\ }
+\DoxyCodeLine{00062\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
+\DoxyCodeLine{00063\ \ \ \}}
+\DoxyCodeLine{00064\ }
+\DoxyCodeLine{00070\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4}{on\_process\_launched}}(\textcolor{keyword}{const}\ std::string\&\ pid)}
+\DoxyCodeLine{00071\ \ \ \{}
+\DoxyCodeLine{00072\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
+\DoxyCodeLine{00073\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
+\DoxyCodeLine{00074\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00075\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00076\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::LAUNCHED;}
+\DoxyCodeLine{00077\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Process\ launched\ with\ PID:\ "{}}\ +\ pid;}
+\DoxyCodeLine{00078\ }
+\DoxyCodeLine{00079\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
+\DoxyCodeLine{00080\ \ \ \}}
+\DoxyCodeLine{00081\ }
+\DoxyCodeLine{00087\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a}{on\_process\_terminated}}(\textcolor{keyword}{const}\ std::string\&\ pid)}
+\DoxyCodeLine{00088\ \ \ \{}
+\DoxyCodeLine{00089\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
+\DoxyCodeLine{00090\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
+\DoxyCodeLine{00091\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00092\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00093\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::TERMINATED;}
+\DoxyCodeLine{00094\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Process\ terminated\ with\ PID:\ "{}}\ +\ pid;}
+\DoxyCodeLine{00095\ }
+\DoxyCodeLine{00096\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
+\DoxyCodeLine{00097\ \ \ \}}
+\DoxyCodeLine{00098\ }
+\DoxyCodeLine{00099\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774}{on\_triggered}}(\textcolor{keyword}{const}\ std::string\&\ trigger\_id)}
+\DoxyCodeLine{00100\ \ \ \{}
+\DoxyCodeLine{00101\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
+\DoxyCodeLine{00102\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
+\DoxyCodeLine{00103\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00104\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00105\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::TRIGGERED;}
+\DoxyCodeLine{00106\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Triggered\ event\ with\ ID:\ "{}}\ +\ trigger\_id;}
+\DoxyCodeLine{00107\ }
+\DoxyCodeLine{00108\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
+\DoxyCodeLine{00109\ \ \ \}}
+\DoxyCodeLine{00110\ }
+\DoxyCodeLine{00111\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13}{on\_connected}}(\textcolor{keyword}{const}\ std::string\&\ source,\ \textcolor{keyword}{const}\ std::string\&\ target)}
+\DoxyCodeLine{00112\ \ \ \{}
+\DoxyCodeLine{00113\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
+\DoxyCodeLine{00114\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
+\DoxyCodeLine{00115\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00116\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00117\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::CONNECTED;}
+\DoxyCodeLine{00118\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Connected\ event\ from\ "{}}\ +\ source\ +\ \textcolor{stringliteral}{"{}\ to\ "{}}\ +\ target;}
+\DoxyCodeLine{00119\ }
+\DoxyCodeLine{00120\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
+\DoxyCodeLine{00121\ \ \ \}}
+\DoxyCodeLine{00122\ }
+\DoxyCodeLine{00123\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a32cfbac8d0facda1f52cebba043d46de}{on\_disconnected}}(\textcolor{keyword}{const}\ std::string\&\ source,\ \textcolor{keyword}{const}\ std::string\&\ target)}
+\DoxyCodeLine{00124\ \ \ \{}
+\DoxyCodeLine{00125\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
+\DoxyCodeLine{00126\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
+\DoxyCodeLine{00127\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00128\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
+\DoxyCodeLine{00129\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::DISCONNECTED;}
+\DoxyCodeLine{00130\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Disconnected\ event\ from\ "{}}\ +\ source\ +\ \textcolor{stringliteral}{"{}\ to\ "{}}\ +\ target;}
+\DoxyCodeLine{00131\ }
+\DoxyCodeLine{00132\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
+\DoxyCodeLine{00133\ \ \ \}}
+\DoxyCodeLine{00134\ }
+\DoxyCodeLine{00135\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00136\ \ \ \textcolor{comment}{//\ event\ publisher}}
+\DoxyCodeLine{00137\ \ \ rclcpp::Publisher<capabilities2\_msgs::msg::CapabilityEventStamped>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}};}
+\DoxyCodeLine{00138\ \};}
+\DoxyCodeLine{00139\ }
+\DoxyCodeLine{00140\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
+
+\end{DoxyCode}
diff --git a/docs/latex/pull__request__template_8md.tex b/docs/latex/pull__request__template_8md.tex
new file mode 100644
index 0000000..245e369
--- /dev/null
+++ b/docs/latex/pull__request__template_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{pull\+\_\+request\+\_\+template.\+md File Reference}
+\hypertarget{pull__request__template_8md}{}\label{pull__request__template_8md}\index{pull\_request\_template.md@{pull\_request\_template.md}}
diff --git a/docs/latex/readme_8md.tex b/docs/latex/readme_8md.tex
new file mode 100644
index 0000000..942277a
--- /dev/null
+++ b/docs/latex/readme_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{readme.\+md File Reference}
+\hypertarget{readme_8md}{}\label{readme_8md}\index{readme.md@{readme.md}}
diff --git a/docs/latex/refman.tex b/docs/latex/refman.tex
new file mode 100644
index 0000000..c2b4ee5
--- /dev/null
+++ b/docs/latex/refman.tex
@@ -0,0 +1,424 @@
+  % Handle batch mode
+  % to overcome problems with too many open files
+  \let\mypdfximage\pdfximage\def\pdfximage{\immediate\mypdfximage}
+  \pdfminorversion=7
+  % Set document class depending on configuration
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+  %% moved from doxygen.sty due to workaround for LaTex 2019 version and unmaintained tabu package
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+  \ifx\requestedLaTeXdate\undefined
+    \usepackage{array}
+  \else
+    \usepackage{array}[=2016-10-06]
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+  \def\protected@wlog#1{\wlog{package info suppressed}}
+  \RequirePackage{infwarerr}
+  \let\protected@wlog\@@protected@wlog
+  \makeatother
+  \IfFormatAtLeastTF{2016/01/01}{}{\usepackage{fixltx2e}} % for \textsubscript
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+  \usepackage{graphicx}
+  \usepackage[utf8]{inputenc}
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+  }
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+   % Arguments of doxygenemoji:
+   % 1) ':<text>:' form of the emoji, already LaTeX-escaped
+   % 2) file with the name of the emoji without the .png extension
+   % in case image exist use this otherwise use the ':<text>:' form
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+     \IfFileExists{./#2.png}{\raisebox{-0.1em}{\includegraphics[height=0.9em]{./#2.png}}}{#1}%
+   }
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+  \geometry{%
+    a4paper,%
+    top=2.5cm,%
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+  }
+  \usepackage{changepage}
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+  % Redefine paragraph/subparagraph environments, using sectsty fonts
+  \makeatletter
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+  }
+  \renewcommand{\subparagraph}{%
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+    }%
+  }
+  \makeatother
+  \makeatletter
+  \newcommand\hrulefilll{\leavevmode\leaders\hrule\hskip 0pt plus 1filll\kern\z@}
+  \makeatother
+  % Headers & footers
+  \usepackage{fancyhdr}
+  \pagestyle{fancyplain}
+  \renewcommand{\footrulewidth}{0.4pt}
+  \fancypagestyle{fancyplain}{
+    \fancyhf{}
+    \fancyhead[LE, RO]{\bfseries\thepage}
+    \fancyhead[LO]{\bfseries\rightmark}
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+    \fancyfoot[LO, RE]{\bfseries\scriptsize Generated by Doxygen }
+  }
+  \fancypagestyle{plain}{
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+  \renewcommand{\sectionmark}[1]{%
+    \markright{\thesection\ #1}%
+  }
+  % ToC, LoF, LoT, bibliography, and index
+  % Indices & bibliography
+  \usepackage{natbib}
+  \usepackage[titles]{tocloft}
+  \setcounter{tocdepth}{3}
+  \setcounter{secnumdepth}{5}
+  % creating indexes
+  \makeindex
+  \usepackage{newunicodechar}
+  \makeatletter
+    \def\doxynewunicodechar#1#2{%
+    \@tempswafalse
+    \edef\nuc@tempa{\detokenize{#1}}%
+    \if\relax\nuc@tempa\relax
+      \nuc@emptyargerr
+    \else
+      \edef\@tempb{\expandafter\@car\nuc@tempa\@nil}%
+      \nuc@check
+      \if@tempswa
+        \@namedef{u8:\nuc@tempa}{#2}%
+      \fi
+    \fi
+  }
+  \makeatother
+  \doxynewunicodechar{⁻}{${}^{-}$}% Superscript minus
+  \doxynewunicodechar{²}{${}^{2}$}% Superscript two
+  \doxynewunicodechar{³}{${}^{3}$}% Superscript three
+  % Hyperlinks
+    % Hyperlinks (required, but should be loaded last)
+    \ifpdf
+      \usepackage[pdftex,pagebackref=true]{hyperref}
+    \else
+      \ifxetex
+        \usepackage[pagebackref=true]{hyperref}
+      \else
+        \usepackage[ps2pdf,pagebackref=true]{hyperref}
+      \fi
+    \fi
+    \hypersetup{%
+      colorlinks=true,%
+      linkcolor=blue,%
+      citecolor=blue,%
+      unicode,%
+      pdftitle={Capabilities2},%
+      pdfsubject={}%
+    }
+  % Custom commands used by the header
+  % Custom commands
+  \newcommand{\clearemptydoublepage}{%
+    \newpage{\pagestyle{empty}\cleardoublepage}%
+  }
+  % caption style definition
+  \usepackage{caption}
+  \captionsetup{labelsep=space,justification=centering,font={bf},singlelinecheck=off,skip=4pt,position=top}
+  % in page table of contents
+  \IfFormatAtLeastTF{2023/05/01}{\usepackage[deeplevels]{etoc}}{\usepackage[deeplevels]{etoc_doxygen}}
+  \etocsettocstyle{\doxytocparskip}{\doxynormalparskip}
+  \etocsetlevel{subsubsubsection}{4}
+  \etocsetlevel{subsubsubsubsection}{5}
+  \etocsetlevel{subsubsubsubsubsection}{6}
+  \etocsetlevel{subsubsubsubsubsubsection}{7}
+  \etocsetlevel{paragraph}{8}
+  \etocsetlevel{subparagraph}{9}
+  % prevent numbers overlap the titles in toc
+  \renewcommand{\numberline}[1]{#1~}
+% End of preamble, now comes the document contents
+%===== C O N T E N T S =====
+\begin{document}
+  \raggedbottom
+  % Titlepage & ToC
+    % To avoid duplicate page anchors due to reuse of same numbers for
+    % the index (be it as roman numbers)
+    \hypersetup{pageanchor=false,
+                bookmarksnumbered=true,
+                pdfencoding=unicode
+               }
+  \pagenumbering{alph}
+  \begin{titlepage}
+  \vspace*{7cm}
+  \begin{center}%
+  {\Large Capabilities2}\\
+  [1ex]\large 0.\+1.\+2 \\
+  \vspace*{1cm}
+  {\large Generated by Doxygen 1.9.8}\\
+  \end{center}
+  \end{titlepage}
+  \clearemptydoublepage
+  \pagenumbering{roman}
+  \tableofcontents
+  \clearemptydoublepage
+  \pagenumbering{arabic}
+  % re-enable anchors again
+  \hypersetup{pageanchor=true}
+%--- Begin generated contents ---
+\input{index}
+\input{md_capabilities2__events_2readme}
+\input{md_capabilities2__msgs_2readme}
+\input{md_capabilities2__runner_2docs_2create__runners}
+\input{md_capabilities2__runner_2docs_2parameter__format}
+\input{md_capabilities2__runner_2readme}
+\input{md_capabilities2__server_2docs_2register}
+\input{md_capabilities2__server_2docs_2terminal__usage}
+\input{md_capabilities2__server_2include_2capabilities2__server_2models_2readme}
+\input{md_capabilities2__server_2readme}
+\input{md_changelog}
+\input{md_docs_2basic__tutorial}
+\input{md_docs_2design}
+\input{md_docs_2interfaces}
+\input{md_docs_2motivation__and__examples}
+\input{md_docs_2providers}
+\input{md_docs_2readme}
+\input{md_docs_2run__test__scripts}
+\input{md_docs_2securing__capabilities}
+\input{md_docs_2semantic__interfaces}
+\input{md_docs_2setup}
+\input{md_docs_2setup__with__dev}
+\input{md_pull__request__template}
+\input{md_TODO}
+\chapter{Namespace Index}
+\input{namespaces}
+\chapter{Hierarchical Index}
+\input{hierarchy}
+\chapter{Class Index}
+\input{annotated}
+\chapter{File Index}
+\input{files}
+\chapter{Namespace Documentation}
+\input{namespacecall__establish__bond}
+\input{namespacecall__get__interfaces}
+\input{namespacecall__get__providers}
+\input{namespacecall__get__semantic__interfaces}
+\input{namespacecall__get__specs}
+\input{namespacecall__register__cap}
+\input{namespacecapabilities2__events}
+\input{namespacecapabilities2__runner}
+\input{namespacecapabilities2__server}
+\input{namespacecapabilities2__server_1_1models}
+\input{namespacecapability__registrar}
+\chapter{Class Documentation}
+\input{classcapabilities2__runner_1_1ActionRunner}
+\input{classcapabilities2__server_1_1BondCache}
+\input{classcapabilities2__server_1_1CapabilitiesAPI}
+\input{classcapabilities2__server_1_1CapabilitiesDB}
+\input{classcapabilities2__server_1_1CapabilitiesServer}
+\input{structcapabilities2__server_1_1models_1_1capability__model__t}
+\input{classcapability__registrar_1_1CapabilityRegistrar}
+\input{classcapabilities2__server_1_1DBBase}
+\input{structcapabilities2__server_1_1models_1_1defineable__base__t}
+\input{classcapabilities2__runner_1_1DummyRunner}
+\input{classcapabilities2__runner_1_1EnCapRunner}
+\input{structcapabilities2__events_1_1event__exception}
+\input{classcapabilities2__events_1_1EventBase}
+\input{classcapabilities2__events_1_1EventNode}
+\input{structcapabilities2__events_1_1EventParameters}
+\input{structcapabilities2__events_1_1EventNode_1_1EventPipe}
+\input{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}
+\input{structcapabilities2__server_1_1models_1_1header__model__t}
+\input{structcapabilities2__server_1_1models_1_1identifiable__base__t}
+\input{classcapabilities2__runner_1_1InputMultiplexRunner}
+\input{structcapabilities2__server_1_1models_1_1interface__model__t}
+\input{classcapabilities2__runner_1_1LaunchRunner}
+\input{structcapabilities2__server_1_1models_1_1modifiable__base__t}
+\input{classcapabilities2__runner_1_1MultiplexBaseRunner}
+\input{classcapabilities2__runner_1_1NoTriggerRunner}
+\input{structcapabilities2__events_1_1options__exception}
+\input{structcapabilities2__events_1_1Parameter}
+\input{structcapabilities2__server_1_1models_1_1predicate__model__t}
+\input{structcapabilities2__server_1_1models_1_1predicateable__base__t}
+\input{structcapabilities2__server_1_1models_1_1provider__model__t}
+\input{classcapabilities2__events_1_1PublishedEvent}
+\input{structcapabilities2__server_1_1models_1_1remappable__base__t}
+\input{structcapabilities2__server_1_1models_1_1remapping__model__t}
+\input{structcapabilities2__server_1_1models_1_1remappings__model__t}
+\input{structcapabilities2__runner_1_1resource}
+\input{structcapabilities2__server_1_1models_1_1resource__model__t}
+\input{structcapabilities2__server_1_1models_1_1run__config__model__t}
+\input{structcapabilities2__runner_1_1runner__exception}
+\input{structcapabilities2__runner_1_1runner__opts}
+\input{classcapabilities2__runner_1_1RunnerBase}
+\input{classcapabilities2__server_1_1RunnerCache}
+\input{structcapabilities2__server_1_1models_1_1running__model__t}
+\input{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}
+\input{classcapabilities2__runner_1_1ServiceRunner}
+\input{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}
+\input{structcapabilities2__server_1_1models_1_1specification__model__t}
+\input{classcapabilities2__runner_1_1ThreadTriggerRunner}
+\input{classcapabilities2__runner_1_1TopicRunner}
+\input{classcapabilities2__events_1_1UUIDGenerator}
+\chapter{File Documentation}
+\input{event__base_8hpp}
+\input{event__base_8hpp_source}
+\input{event__node_8hpp}
+\input{event__node_8hpp_source}
+\input{event__parameters_8hpp}
+\input{event__parameters_8hpp_source}
+\input{published__event_8hpp}
+\input{published__event_8hpp_source}
+\input{uuid__generator_8hpp}
+\input{uuid__generator_8hpp_source}
+\input{uuid__generator_8cpp}
+\input{create__runners_8md}
+\input{parameter__format_8md}
+\input{action__runner_8hpp}
+\input{action__runner_8hpp_source}
+\input{encap__runner_8hpp}
+\input{encap__runner_8hpp_source}
+\input{launch__runner_8hpp}
+\input{launch__runner_8hpp_source}
+\input{multiplex__base__runner_8hpp}
+\input{multiplex__base__runner_8hpp_source}
+\input{notrigger__runner_8hpp}
+\input{notrigger__runner_8hpp_source}
+\input{runner__base_8hpp}
+\input{runner__base_8hpp_source}
+\input{service__runner_8hpp}
+\input{service__runner_8hpp_source}
+\input{get__capability__specs__runner_8hpp}
+\input{get__capability__specs__runner_8hpp_source}
+\input{input__multiplex__runner_8hpp}
+\input{input__multiplex__runner_8hpp_source}
+\input{threadtrigger__runner_8hpp}
+\input{threadtrigger__runner_8hpp_source}
+\input{topic__runner_8hpp}
+\input{topic__runner_8hpp_source}
+\input{dummy__runner_8cpp}
+\input{launch__runner_8cpp}
+\input{system__runners_8cpp}
+\input{register_8md}
+\input{terminal__usage_8md}
+\input{bond__cache_8hpp}
+\input{bond__cache_8hpp_source}
+\input{capabilities__api_8hpp}
+\input{capabilities__api_8hpp_source}
+\input{capabilities__db_8hpp}
+\input{capabilities__db_8hpp_source}
+\input{capabilities__server_8hpp}
+\input{capabilities__server_8hpp_source}
+\input{db__base_8hpp}
+\input{db__base_8hpp_source}
+\input{defineable__base_8hpp}
+\input{defineable__base_8hpp_source}
+\input{header_8hpp}
+\input{header_8hpp_source}
+\input{interface_8hpp}
+\input{interface_8hpp_source}
+\input{predicate_8hpp}
+\input{predicate_8hpp_source}
+\input{predicateable__base_8hpp}
+\input{predicateable__base_8hpp_source}
+\input{provider_8hpp}
+\input{provider_8hpp_source}
+\input{remappable__base_8hpp}
+\input{remappable__base_8hpp_source}
+\input{remapping_8hpp}
+\input{remapping_8hpp_source}
+\input{resource_8hpp}
+\input{resource_8hpp_source}
+\input{run__config_8hpp}
+\input{run__config_8hpp_source}
+\input{running_8hpp}
+\input{running_8hpp_source}
+\input{semantic__interface_8hpp}
+\input{semantic__interface_8hpp_source}
+\input{runner__cache_8hpp}
+\input{runner__cache_8hpp_source}
+\input{sql__safe_8hpp}
+\input{sql__safe_8hpp_source}
+\input{capabilities2__server_8composed_8launch_8py}
+\input{capabilities2__server_8launch_8py}
+\input{capabilities2__events_2readme_8md}
+\input{capabilities2__msgs_2readme_8md}
+\input{capabilities2__runner_2readme_8md}
+\input{capabilities2__server_2include_2capabilities2__server_2models_2readme_8md}
+\input{capabilities2__server_2readme_8md}
+\input{docs_2readme_8md}
+\input{capability__registrar_8py}
+\input{capabilities__server__component_8cpp}
+\input{capabilities__server__node_8cpp}
+\input{call__establish__bond_8py}
+\input{call__get__interfaces_8py}
+\input{call__get__providers_8py}
+\input{call__get__semantic__interfaces_8py}
+\input{call__get__specs_8py}
+\input{call__register__cap_8py}
+\input{test_8cpp}
+\input{changelog_8md}
+\input{basic__tutorial_8md}
+\input{design_8md}
+\input{interfaces_8md}
+\input{motivation__and__examples_8md}
+\input{providers_8md}
+\input{run__test__scripts_8md}
+\input{securing__capabilities_8md}
+\input{semantic__interfaces_8md}
+\input{setup_8md}
+\input{setup__with__dev_8md}
+\input{pull__request__template_8md}
+\input{README_8md}
+\input{TODO_8md}
+%--- End generated contents ---
+% Index
+  \backmatter
+  \newpage
+  \phantomsection
+  \clearemptydoublepage
+  \addcontentsline{toc}{chapter}{\indexname}
+  \printindex
+% Required for some languages (in combination with latexdocumentpre from the header)
+\end{document}
diff --git a/docs/latex/register_8md.tex b/docs/latex/register_8md.tex
new file mode 100644
index 0000000..e7b0432
--- /dev/null
+++ b/docs/latex/register_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+server/docs/register.md File Reference}
+\hypertarget{register_8md}{}\label{register_8md}\index{capabilities2\_server/docs/register.md@{capabilities2\_server/docs/register.md}}
diff --git a/docs/latex/remappable__base_8hpp.tex b/docs/latex/remappable__base_8hpp.tex
new file mode 100644
index 0000000..dad4084
--- /dev/null
+++ b/docs/latex/remappable__base_8hpp.tex
@@ -0,0 +1,29 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/remappable\+\_\+base.hpp File Reference}
+\hypertarget{remappable__base_8hpp}{}\label{remappable__base_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/remappable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/remappable\_base.hpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/remapping.\+hpp$>$}\newline
+Include dependency graph for remappable\+\_\+base.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=307pt]{remappable__base_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{remappable__base_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em remappable base model definition \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/remappable__base_8hpp__dep__incl.md5 b/docs/latex/remappable__base_8hpp__dep__incl.md5
new file mode 100644
index 0000000..1606e18
--- /dev/null
+++ b/docs/latex/remappable__base_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+62f1ef2053b51d5629dc62c1deaaaac5
\ No newline at end of file
diff --git a/docs/latex/remappable__base_8hpp__dep__incl.pdf b/docs/latex/remappable__base_8hpp__dep__incl.pdf
new file mode 100644
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diff --git a/docs/latex/remappable__base_8hpp_source.tex b/docs/latex/remappable__base_8hpp_source.tex
new file mode 100644
index 0000000..2c02b0c
--- /dev/null
+++ b/docs/latex/remappable__base_8hpp_source.tex
@@ -0,0 +1,22 @@
+\doxysection{remappable\+\_\+base.\+hpp}
+\hypertarget{remappable__base_8hpp_source}{}\label{remappable__base_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/remappable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/remappable\_base.hpp}}
+\mbox{\hyperlink{remappable__base_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{remapping_8hpp}{capabilities2\_server/models/remapping.hpp}}>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00006\ \{}
+\DoxyCodeLine{00007\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00008\ \{}
+\DoxyCodeLine{00009\ }
+\DoxyCodeLine{00016\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{remappable\_base\_t}}}
+\DoxyCodeLine{00017\ \{}
+\DoxyCodeLine{00018\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}};}
+\DoxyCodeLine{00019\ \};}
+\DoxyCodeLine{00020\ }
+\DoxyCodeLine{00021\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00022\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/remapping_8hpp.tex b/docs/latex/remapping_8hpp.tex
new file mode 100644
index 0000000..0673e2c
--- /dev/null
+++ b/docs/latex/remapping_8hpp.tex
@@ -0,0 +1,33 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/remapping.hpp File Reference}
+\hypertarget{remapping_8hpp}{}\label{remapping_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/remapping.hpp@{capabilities2\_server/include/capabilities2\_server/models/remapping.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+Include dependency graph for remapping.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=307pt]{remapping_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{remapping_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t}}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/remapping_8hpp__dep__incl.md5 b/docs/latex/remapping_8hpp__dep__incl.md5
new file mode 100644
index 0000000..be4f87e
--- /dev/null
+++ b/docs/latex/remapping_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+7d31d2e763d8602210385db72cd19d04
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diff --git a/docs/latex/remapping_8hpp__dep__incl.pdf b/docs/latex/remapping_8hpp__dep__incl.pdf
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diff --git a/docs/latex/remapping_8hpp_source.tex b/docs/latex/remapping_8hpp_source.tex
new file mode 100644
index 0000000..d8aa857
--- /dev/null
+++ b/docs/latex/remapping_8hpp_source.tex
@@ -0,0 +1,135 @@
+\doxysection{remapping.\+hpp}
+\hypertarget{remapping_8hpp_source}{}\label{remapping_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/remapping.hpp@{capabilities2\_server/include/capabilities2\_server/models/remapping.hpp}}
+\mbox{\hyperlink{remapping_8hpp}{Go to the documentation of this file.}}
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diff --git a/docs/latex/resource_8hpp.tex b/docs/latex/resource_8hpp.tex
new file mode 100644
index 0000000..9b540f6
--- /dev/null
+++ b/docs/latex/resource_8hpp.tex
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+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/resource.hpp File Reference}
+\hypertarget{resource_8hpp}{}\label{resource_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/resource.hpp@{capabilities2\_server/include/capabilities2\_server/models/resource.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+Include dependency graph for resource.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=254pt]{resource_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{resource_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
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diff --git a/docs/latex/resource_8hpp__dep__incl.md5 b/docs/latex/resource_8hpp__dep__incl.md5
new file mode 100644
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diff --git a/docs/latex/resource_8hpp_source.tex b/docs/latex/resource_8hpp_source.tex
new file mode 100644
index 0000000..861d8de
--- /dev/null
+++ b/docs/latex/resource_8hpp_source.tex
@@ -0,0 +1,41 @@
+\doxysection{resource.\+hpp}
+\hypertarget{resource_8hpp_source}{}\label{resource_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/resource.hpp@{capabilities2\_server/include/capabilities2\_server/models/resource.hpp}}
+\mbox{\hyperlink{resource_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00005\ }
+\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00007\ \{}
+\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00009\ \{}
+\DoxyCodeLine{00010\ }
+\DoxyCodeLine{00020\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\_model\_t}}}
+\DoxyCodeLine{00021\ \{}
+\DoxyCodeLine{00022\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}{name}};}
+\DoxyCodeLine{00023\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}{type}};}
+\DoxyCodeLine{00024\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}{description}};}
+\DoxyCodeLine{00025\ }
+\DoxyCodeLine{00026\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a46df60e201ca7d0bc6ff3938811a87d7}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
+\DoxyCodeLine{00027\ \ \ \{}
+\DoxyCodeLine{00028\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}{name}}\ =\ node[\textcolor{stringliteral}{"{}name"{}}].as<std::string>();}
+\DoxyCodeLine{00029\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}{type}}\ =\ node[\textcolor{stringliteral}{"{}type"{}}].as<std::string>();}
+\DoxyCodeLine{00030\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}{description}}\ =\ node[\textcolor{stringliteral}{"{}description"{}}].as<std::string>();}
+\DoxyCodeLine{00031\ \ \ \}}
+\DoxyCodeLine{00032\ }
+\DoxyCodeLine{00033\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_afe7ee416240acbd2582ebc50f31359ef}{to\_yaml}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00034\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00035\ \ \ \ \ YAML::Node\ node;}
+\DoxyCodeLine{00036\ \ \ \ \ node[\textcolor{stringliteral}{"{}name"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}{name}};}
+\DoxyCodeLine{00037\ \ \ \ \ node[\textcolor{stringliteral}{"{}type"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}{type}};}
+\DoxyCodeLine{00038\ \ \ \ \ node[\textcolor{stringliteral}{"{}description"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}{description}};}
+\DoxyCodeLine{00039\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
+\DoxyCodeLine{00040\ \ \ \}}
+\DoxyCodeLine{00041\ \};}
+\DoxyCodeLine{00042\ }
+\DoxyCodeLine{00043\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00044\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/run__config_8hpp.tex b/docs/latex/run__config_8hpp.tex
new file mode 100644
index 0000000..14e7aa1
--- /dev/null
+++ b/docs/latex/run__config_8hpp.tex
@@ -0,0 +1,33 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/run\+\_\+config.hpp File Reference}
+\hypertarget{run__config_8hpp}{}\label{run__config_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/run\_config.hpp@{capabilities2\_server/include/capabilities2\_server/models/run\_config.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/header.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/interface.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/defineable\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
+Include dependency graph for run\+\_\+config.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{run__config_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{run__config_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em run configuration type \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/run__config_8hpp__dep__incl.md5 b/docs/latex/run__config_8hpp__dep__incl.md5
new file mode 100644
index 0000000..2b40ab0
--- /dev/null
+++ b/docs/latex/run__config_8hpp__dep__incl.md5
@@ -0,0 +1 @@
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diff --git a/docs/latex/run__config_8hpp_source.tex b/docs/latex/run__config_8hpp_source.tex
new file mode 100644
index 0000000..41a3072
--- /dev/null
+++ b/docs/latex/run__config_8hpp_source.tex
@@ -0,0 +1,83 @@
+\doxysection{run\+\_\+config.\+hpp}
+\hypertarget{run__config_8hpp_source}{}\label{run__config_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/run\_config.hpp@{capabilities2\_server/include/capabilities2\_server/models/run\_config.hpp}}
+\mbox{\hyperlink{run__config_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{header_8hpp}{capabilities2\_server/models/header.hpp}}>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{interface_8hpp}{capabilities2\_server/models/interface.hpp}}>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{defineable__base_8hpp}{capabilities2\_server/models/defineable\_base.hpp}}>}}
+\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
+\DoxyCodeLine{00009\ }
+\DoxyCodeLine{00010\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00011\ \{}
+\DoxyCodeLine{00012\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00013\ \{}
+\DoxyCodeLine{00014\ }
+\DoxyCodeLine{00023\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{run\_config\_model\_t}}\ :\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{defineable\_base\_t}}}
+\DoxyCodeLine{00024\ \{}
+\DoxyCodeLine{00025\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}{provider}};}
+\DoxyCodeLine{00026\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{interface\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}};}
+\DoxyCodeLine{00027\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b}{global\_namespace}};}
+\DoxyCodeLine{00028\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}};}
+\DoxyCodeLine{00029\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\_by}};}
+\DoxyCodeLine{00030\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}};}
+\DoxyCodeLine{00031\ }
+\DoxyCodeLine{00032\ \ \ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\_runner::runner\_opts}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923}{to\_runner\_opts}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00033\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00034\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\_runner::runner\_opts}}\ opts;}
+\DoxyCodeLine{00035\ }
+\DoxyCodeLine{00036\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}{interface}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
+\DoxyCodeLine{00037\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369}{provider}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}{provider}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
+\DoxyCodeLine{00038\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac09a8a96d66f433fdcd43aeae8217cef}{global\_namespace}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b}{global\_namespace}};}
+\DoxyCodeLine{00039\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}};}
+\DoxyCodeLine{00040\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a574ca498d3677393093c36193cf108db}{started\_by}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\_by}};}
+\DoxyCodeLine{00041\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb}{pid}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}};}
+\DoxyCodeLine{00042\ }
+\DoxyCodeLine{00043\ \ \ \ \ \textcolor{comment}{//\ lambda\ for\ pushing\ resources\ by\ type}}
+\DoxyCodeLine{00044\ \ \ \ \ \textcolor{keyword}{auto}\ push\_by\_type\ =\ [\&](\textcolor{keyword}{const}\ std::map<std::string,\ resource\_model\_t>\&\ resources,\ \textcolor{keyword}{const}\ std::string\&\ type)\ \{}
+\DoxyCodeLine{00045\ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ resource\ :\ resources)}
+\DoxyCodeLine{00046\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00047\ \ \ \ \ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}{resources}}.push\_back(\{\ resource.second.name,\ type,\ resource.second.type\ \});}
+\DoxyCodeLine{00048\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00049\ \ \ \ \ \};}
+\DoxyCodeLine{00050\ }
+\DoxyCodeLine{00051\ \ \ \ \ \textcolor{comment}{//\ get\ all\ resources}}
+\DoxyCodeLine{00052\ \ \ \ \ push\_by\_type(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a7fbc888249194c37bbbcd6145cdcc272}{parameters}},\ \textcolor{stringliteral}{"{}parameter"{}});}
+\DoxyCodeLine{00053\ \ \ \ \ push\_by\_type(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a77bb428b9a7290aae1c9d1180c3c93ac}{topics}},\ \textcolor{stringliteral}{"{}topic"{}});}
+\DoxyCodeLine{00054\ \ \ \ \ push\_by\_type(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a4902547120299a085eacca24a896c11f}{services}},\ \textcolor{stringliteral}{"{}service"{}});}
+\DoxyCodeLine{00055\ \ \ \ \ push\_by\_type(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a4a842359980def295d1e9995e808d2ed}{actions}},\ \textcolor{stringliteral}{"{}action"{}});}
+\DoxyCodeLine{00056\ }
+\DoxyCodeLine{00057\ \ \ \ \ \textcolor{keywordflow}{return}\ opts;}
+\DoxyCodeLine{00058\ \ \ \}}
+\DoxyCodeLine{00059\ }
+\DoxyCodeLine{00060\ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475}{is\_valid}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00061\ \textcolor{keyword}{\ \ }\{}
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+\DoxyCodeLine{00063\ \ \ \}}
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+\DoxyCodeLine{00076\ \ \ \ \ node[\textcolor{stringliteral}{"{}runner"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}};}
+\DoxyCodeLine{00077\ \ \ \ \ node[\textcolor{stringliteral}{"{}started\_by"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\_by}};}
+\DoxyCodeLine{00078\ \ \ \ \ node[\textcolor{stringliteral}{"{}pid"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}};}
+\DoxyCodeLine{00079\ }
+\DoxyCodeLine{00080\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
+\DoxyCodeLine{00081\ \ \ \}}
+\DoxyCodeLine{00082\ \};}
+\DoxyCodeLine{00083\ }
+\DoxyCodeLine{00084\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00085\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/run__test__scripts_8md.tex b/docs/latex/run__test__scripts_8md.tex
new file mode 100644
index 0000000..9d5a01d
--- /dev/null
+++ b/docs/latex/run__test__scripts_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/run\+\_\+test\+\_\+scripts.md File Reference}
+\hypertarget{run__test__scripts_8md}{}\label{run__test__scripts_8md}\index{docs/run\_test\_scripts.md@{docs/run\_test\_scripts.md}}
diff --git a/docs/latex/runner__base_8hpp.tex b/docs/latex/runner__base_8hpp.tex
new file mode 100644
index 0000000..db2c374
--- /dev/null
+++ b/docs/latex/runner__base_8hpp.tex
@@ -0,0 +1,40 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/runner\+\_\+base.hpp File Reference}
+\hypertarget{runner__base_8hpp}{}\label{runner__base_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/runner\_base.hpp@{capabilities2\_runner/include/capabilities2\_runner/runner\_base.hpp}}
+{\ttfamily \#include $<$stdexcept$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$functional$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+node.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+parameters.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+code.\+hpp$>$}\newline
+Include dependency graph for runner\+\_\+base.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{runner__base_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{runner__base_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\+\_\+runner\+::runner\+\_\+exception}}
+\begin{DoxyCompactList}\small\item\em runner exception \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{capabilities2\+\_\+runner\+::resource}}
+\begin{DoxyCompactList}\small\item\em resource definition \end{DoxyCompactList}\item 
+struct \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\+\_\+runner\+::runner\+\_\+opts}}
+\begin{DoxyCompactList}\small\item\em runner options \end{DoxyCompactList}\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}
+\begin{DoxyCompactList}\small\item\em base class for all runners \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/runner__base_8hpp__dep__incl.md5 b/docs/latex/runner__base_8hpp__dep__incl.md5
new file mode 100644
index 0000000..6e3d961
--- /dev/null
+++ b/docs/latex/runner__base_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+01261884b882414a3ab62a6fe3dea3e1
\ No newline at end of file
diff --git a/docs/latex/runner__base_8hpp__dep__incl.pdf b/docs/latex/runner__base_8hpp__dep__incl.pdf
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diff --git a/docs/latex/runner__base_8hpp_source.tex b/docs/latex/runner__base_8hpp_source.tex
new file mode 100644
index 0000000..8805efe
--- /dev/null
+++ b/docs/latex/runner__base_8hpp_source.tex
@@ -0,0 +1,260 @@
+\doxysection{runner\+\_\+base.\+hpp}
+\hypertarget{runner__base_8hpp_source}{}\label{runner__base_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/runner\_base.hpp@{capabilities2\_runner/include/capabilities2\_runner/runner\_base.hpp}}
+\mbox{\hyperlink{runner__base_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <stdexcept>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <functional>}}
+\DoxyCodeLine{00006\ }
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
+\DoxyCodeLine{00008\ }
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__node_8hpp}{capabilities2\_events/event\_node.hpp}}>}}
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__parameters_8hpp}{capabilities2\_events/event\_parameters.hpp}}>}}
+\DoxyCodeLine{00011\ }
+\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability.hpp>}}
+\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_code.hpp>}}
+\DoxyCodeLine{00014\ }
+\DoxyCodeLine{00015\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00016\ \{}
+\DoxyCodeLine{00023\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}\ :\ \textcolor{keyword}{public}\ std::runtime\_error}
+\DoxyCodeLine{00024\ \{}
+\DoxyCodeLine{00025\ \ \ \textcolor{keyword}{using\ }std::runtime\_error::runtime\_error;}
+\DoxyCodeLine{00026\ }
+\DoxyCodeLine{00027\ \ \ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_aa6373ae91bb89b6306491195465b2b07}{runner\_exception}}(\textcolor{keyword}{const}\ std::string\&\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}})\ :\ std::runtime\_error(\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}})}
+\DoxyCodeLine{00028\ \ \ \{}
+\DoxyCodeLine{00029\ \ \ \}}
+\DoxyCodeLine{00030\ }
+\DoxyCodeLine{00031\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keyword}{const}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}()\ const\ noexcept\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00032\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00033\ \ \ \ \ \textcolor{keywordflow}{return}\ std::runtime\_error::what();}
+\DoxyCodeLine{00034\ \ \ \}}
+\DoxyCodeLine{00035\ \};}
+\DoxyCodeLine{00036\ }
+\DoxyCodeLine{00041\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}}
+\DoxyCodeLine{00042\ \{}
+\DoxyCodeLine{00043\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a31be624a9bd871d94918db90d774ae46}{name}};}
+\DoxyCodeLine{00044\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a94b6972f420c15250a370d44bd08ccc2}{resource\_type}};}
+\DoxyCodeLine{00045\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a1bebf375d0bb9439251e8ef393e837a5}{msg\_type}};}
+\DoxyCodeLine{00046\ \};}
+\DoxyCodeLine{00047\ }
+\DoxyCodeLine{00055\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}}
+\DoxyCodeLine{00056\ \{}
+\DoxyCodeLine{00057\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}{interface}};}
+\DoxyCodeLine{00058\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369}{provider}};}
+\DoxyCodeLine{00059\ \ \ std::vector<resource>\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}{resources}};}
+\DoxyCodeLine{00060\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac09a8a96d66f433fdcd43aeae8217cef}{global\_namespace}};}
+\DoxyCodeLine{00061\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}};}
+\DoxyCodeLine{00062\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a574ca498d3677393093c36193cf108db}{started\_by}};}
+\DoxyCodeLine{00063\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb}{pid}};}
+\DoxyCodeLine{00064\ \ \ \textcolor{keywordtype}{int}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a42f3c1ecdad43cea48e2ae4df1bfcdbd}{input\_count}};}
+\DoxyCodeLine{00065\ \};}
+\DoxyCodeLine{00066\ }
+\DoxyCodeLine{00073\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\_events::EventNode}}}
+\DoxyCodeLine{00074\ \{}
+\DoxyCodeLine{00075\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00076\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{RunnerBase}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}(nullptr),\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}()}
+\DoxyCodeLine{00077\ \ \ \{}
+\DoxyCodeLine{00078\ \ \ \}}
+\DoxyCodeLine{00079\ }
+\DoxyCodeLine{00080\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\string~RunnerBase}}()\ =\ \textcolor{keywordflow}{default};}
+\DoxyCodeLine{00081\ }
+\DoxyCodeLine{00084\ \ \ \textcolor{comment}{//\ incorporates\ event\ callbacks}}
+\DoxyCodeLine{00085\ }
+\DoxyCodeLine{00094\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\ =\ 0;}
+\DoxyCodeLine{00095\ }
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+\DoxyCodeLine{00128\ \ \ \ \ \textcolor{comment}{//\ store\ node\ connection\ source}}
+\DoxyCodeLine{00129\ \ \ \ \ capabilities2\_msgs::msg::Capability\ source\_capability;}
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+\DoxyCodeLine{00410\ \ \ \textcolor{comment}{//\ STATE\ CHANGE\ HELPERS}}
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+\DoxyCodeLine{00433\ \ \ \{}
+\DoxyCodeLine{00434\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}emitting\ STOPPED\ event\ with\ bond\_id:\ \%s"{}},\ bond\_id.c\_str());}
+\DoxyCodeLine{00435\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(bond\_id,\ instance\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::STOPPED,\ parameters);}
+\DoxyCodeLine{00436\ \ \ \}}
+\DoxyCodeLine{00437\ }
+\DoxyCodeLine{00444\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\_succeeded}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
+\DoxyCodeLine{00445\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}())}
+\DoxyCodeLine{00446\ \ \ \{}
+\DoxyCodeLine{00447\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}emitting\ SUCCEEDED\ event\ with\ bond\_id:\ \%s"{}},\ bond\_id.c\_str());}
+\DoxyCodeLine{00448\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(bond\_id,\ instance\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::SUCCEEDED,\ parameters);}
+\DoxyCodeLine{00449\ \ \ \}}
+\DoxyCodeLine{00450\ }
+\DoxyCodeLine{00457\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\_failed}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
+\DoxyCodeLine{00458\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}())}
+\DoxyCodeLine{00459\ \ \ \{}
+\DoxyCodeLine{00460\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}emitting\ FAILED\ event\ with\ bond\_id:\ \%s"{}},\ bond\_id.c\_str());}
+\DoxyCodeLine{00461\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(bond\_id,\ instance\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::FAILED,\ parameters);}
+\DoxyCodeLine{00462\ \ \ \}}
+\DoxyCodeLine{00463\ }
+\DoxyCodeLine{00464\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00469\ \ \ rclcpp::Node::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}};}
+\DoxyCodeLine{00470\ }
+\DoxyCodeLine{00474\ \ \ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}};}
+\DoxyCodeLine{00475\ \};}
+\DoxyCodeLine{00476\ }
+\DoxyCodeLine{00477\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/runner__cache_8hpp.tex b/docs/latex/runner__cache_8hpp.tex
new file mode 100644
index 0000000..47addf7
--- /dev/null
+++ b/docs/latex/runner__cache_8hpp.tex
@@ -0,0 +1,37 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/runner\+\_\+cache.hpp File Reference}
+\hypertarget{runner__cache_8hpp}{}\label{runner__cache_8hpp}\index{capabilities2\_server/include/capabilities2\_server/runner\_cache.hpp@{capabilities2\_server/include/capabilities2\_server/runner\_cache.hpp}}
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+{\ttfamily \#include $<$functional$>$}\newline
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$pluginlib/class\+\_\+loader.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/run\+\_\+config.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+connection.\+hpp$>$}\newline
+Include dependency graph for runner\+\_\+cache.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{runner__cache_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{runner__cache_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{capabilities2\+\_\+server\+::\+Runner\+Cache}}
+\begin{DoxyCompactList}\small\item\em runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/runner__cache_8hpp__dep__incl.md5 b/docs/latex/runner__cache_8hpp__dep__incl.md5
new file mode 100644
index 0000000..5a0464f
--- /dev/null
+++ b/docs/latex/runner__cache_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+305b0e58c062c0afa0f42cd7f05fc1fe
\ No newline at end of file
diff --git a/docs/latex/runner__cache_8hpp__dep__incl.pdf b/docs/latex/runner__cache_8hpp__dep__incl.pdf
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diff --git a/docs/latex/runner__cache_8hpp_source.tex b/docs/latex/runner__cache_8hpp_source.tex
new file mode 100644
index 0000000..a0a535b
--- /dev/null
+++ b/docs/latex/runner__cache_8hpp_source.tex
@@ -0,0 +1,183 @@
+\doxysection{runner\+\_\+cache.\+hpp}
+\hypertarget{runner__cache_8hpp_source}{}\label{runner__cache_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/runner\_cache.hpp@{capabilities2\_server/include/capabilities2\_server/runner\_cache.hpp}}
+\mbox{\hyperlink{runner__cache_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <functional>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00008\ \textcolor{comment}{//\ \#include\ <tinyxml2.h>}}
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <pluginlib/class\_loader.hpp>}}
+\DoxyCodeLine{00011\ }
+\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{run__config_8hpp}{capabilities2\_server/models/run\_config.hpp}}>}}
+\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
+\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__base_8hpp}{capabilities2\_events/event\_base.hpp}}>}}
+\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_connection.hpp>}}
+\DoxyCodeLine{00016\ }
+\DoxyCodeLine{00017\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00018\ \{}
+\DoxyCodeLine{00019\ }
+\DoxyCodeLine{00031\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{RunnerCache}}}
+\DoxyCodeLine{00032\ \{}
+\DoxyCodeLine{00033\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00034\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a54ca36d2ea36c95783ed042c1ab31b7f}{RunnerCache}}()\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\_loader\_}}(\textcolor{stringliteral}{"{}capabilities2\_runner"{}},\ \textcolor{stringliteral}{"{}capabilities2\_runner::RunnerBase"{}})}
+\DoxyCodeLine{00035\ \ \ \{}
+\DoxyCodeLine{00036\ \ \ \}}
+\DoxyCodeLine{00037\ }
+\DoxyCodeLine{00045\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25}{add\_runner}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ std::string\&\ capability,}
+\DoxyCodeLine{00046\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}\&\ run\_config)}
+\DoxyCodeLine{00047\ \ \ \{}
+\DoxyCodeLine{00048\ \ \ \ \ \textcolor{comment}{//\ if\ the\ runner\ exists\ then\ throw\ an\ error\ preserving\ uniqueness}}
+\DoxyCodeLine{00049\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
+\DoxyCodeLine{00050\ \ \ \ \ \{}
+\DoxyCodeLine{00051\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ is\ running\ already:\ "{}}\ +\ capability);}
+\DoxyCodeLine{00052\ \ \ \ \ \}}
+\DoxyCodeLine{00053\ }
+\DoxyCodeLine{00054\ \ \ \ \ \textcolor{comment}{//\ check\ if\ run\ config\ is\ valid}}
+\DoxyCodeLine{00055\ \ \ \ \ \textcolor{keywordflow}{if}\ (!run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475}{is\_valid}}())}
+\DoxyCodeLine{00056\ \ \ \ \ \{}
+\DoxyCodeLine{00057\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}run\ config\ is\ not\ valid:\ "{}}\ +\ YAML::Dump(run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ab602bc027d2c75ddc51fdf190cd42442}{to\_yaml}}()));}
+\DoxyCodeLine{00058\ \ \ \ \ \}}
+\DoxyCodeLine{00059\ }
+\DoxyCodeLine{00060\ \ \ \ \ \textcolor{comment}{//\ create\ the\ runner,\ add\ the\ runner\ to\ map,\ and\ if\ the\ spec\ runner\ contains\ a\ path\ to\ a\ launch\ file\ then\ use\ the}}
+\DoxyCodeLine{00061\ \ \ \ \ \textcolor{comment}{//\ launch\ file\ runner}}
+\DoxyCodeLine{00062\ \ \ \ \ \textcolor{keywordflow}{if}\ (run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}.find(\textcolor{stringliteral}{"{}.launch"{}})\ !=\ std::string::npos\ ||\ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}.find(\textcolor{stringliteral}{"{}/"{}})\ !=\ std::string::npos\ ||}
+\DoxyCodeLine{00063\ \ \ \ \ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}.find(\textcolor{stringliteral}{"{}.py"{}})\ !=\ std::string::npos)}
+\DoxyCodeLine{00064\ \ \ \ \ \{}
+\DoxyCodeLine{00065\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\_loader\_}}.createSharedInstance(\textcolor{stringliteral}{"{}capabilities2\_runner::LaunchRunner"{}});}
+\DoxyCodeLine{00066\ \ \ \ \ \}}
+\DoxyCodeLine{00067\ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00068\ \ \ \ \ \{}
+\DoxyCodeLine{00069\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\_loader\_}}.createSharedInstance(run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}});}
+\DoxyCodeLine{00070\ \ \ \ \ \}}
+\DoxyCodeLine{00071\ }
+\DoxyCodeLine{00072\ \ \ \ \ \textcolor{comment}{//\ start\ the\ runner}}
+\DoxyCodeLine{00073\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>start(node,\ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923}{to\_runner\_opts}}(),\ \textcolor{stringliteral}{"{}"{}});}
+\DoxyCodeLine{00074\ \ \ \}}
+\DoxyCodeLine{00075\ }
+\DoxyCodeLine{00086\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a}{trigger\_runner}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
+\DoxyCodeLine{00087\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters)}
+\DoxyCodeLine{00088\ \ \ \{}
+\DoxyCodeLine{00089\ \ \ \ \ \textcolor{comment}{//\ TODO:\ validate\ trigger\ id\ (DEPRECATED?)}}
+\DoxyCodeLine{00090\ }
+\DoxyCodeLine{00091\ \ \ \ \ \textcolor{comment}{//\ is\ the\ runner\ in\ the\ cache}}
+\DoxyCodeLine{00092\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
+\DoxyCodeLine{00093\ \ \ \ \ \{}
+\DoxyCodeLine{00094\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>trigger(parameters,\ bond\_id,\ instance\_id);}
+\DoxyCodeLine{00095\ \ \ \ \ \}}
+\DoxyCodeLine{00096\ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00097\ \ \ \ \ \{}
+\DoxyCodeLine{00098\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
+\DoxyCodeLine{00099\ \ \ \ \ \}}
+\DoxyCodeLine{00100\ \ \ \}}
+\DoxyCodeLine{00101\ }
+\DoxyCodeLine{00111\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf}{add\_connection}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ connection\_id,}
+\DoxyCodeLine{00112\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilityConnection\&\ connection,}
+\DoxyCodeLine{00113\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_events::EventBase>\ event\_emitter\ =\ \textcolor{keyword}{nullptr})}
+\DoxyCodeLine{00114\ \ \ \{}
+\DoxyCodeLine{00115\ \ \ \ \ \textcolor{comment}{//\ find\ the\ runner\ in\ the\ cache\ and\ if\ not\ found\ then\ throw\ an\ error}}
+\DoxyCodeLine{00116\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
+\DoxyCodeLine{00117\ \ \ \ \ \{}
+\DoxyCodeLine{00118\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
+\DoxyCodeLine{00119\ \ \ \ \ \}}
+\DoxyCodeLine{00120\ }
+\DoxyCodeLine{00121\ \ \ \ \ \textcolor{comment}{//\ pass\ the\ event\ api\ to\ the\ runner}}
+\DoxyCodeLine{00122\ \ \ \ \ \textcolor{comment}{//\ for\ emitting\ events\ on\ state\ changes}}
+\DoxyCodeLine{00123\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>enable\_events(event\_emitter);}
+\DoxyCodeLine{00124\ }
+\DoxyCodeLine{00125\ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00126\ \ \ \ \ \{}
+\DoxyCodeLine{00127\ \ \ \ \ \ \ \textcolor{comment}{//\ add\ connection\ to\ the\ runner}}
+\DoxyCodeLine{00128\ \ \ \ \ \ \ \textcolor{comment}{//\ callback\ signature:\ (capability,\ parameters,\ bond\_id,\ instance\_id)}}
+\DoxyCodeLine{00129\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>add\_connection(connection\_id,\ connection.type,\ connection.target,}
+\DoxyCodeLine{00130\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a}{capabilities2\_server::RunnerCache::trigger\_runner}},\ \textcolor{keyword}{this},}
+\DoxyCodeLine{00131\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::placeholders::\_1,\ std::placeholders::\_2,}
+\DoxyCodeLine{00132\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::placeholders::\_3,\ std::placeholders::\_4));}
+\DoxyCodeLine{00133\ \ \ \ \ \}}
+\DoxyCodeLine{00134\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{capabilities2\_events::event\_exception}}\&\ e)}
+\DoxyCodeLine{00135\ \ \ \ \ \{}
+\DoxyCodeLine{00136\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(e.\mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}}());}
+\DoxyCodeLine{00137\ \ \ \ \ \}}
+\DoxyCodeLine{00138\ \ \ \}}
+\DoxyCodeLine{00139\ }
+\DoxyCodeLine{00148\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c}{remove\_runner}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00149\ \ \ \{}
+\DoxyCodeLine{00150\ \ \ \ \ \textcolor{comment}{//\ find\ the\ runner\ in\ the\ cache\ and\ if\ not\ found\ then\ throw\ an\ error}}
+\DoxyCodeLine{00151\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
+\DoxyCodeLine{00152\ \ \ \ \ \{}
+\DoxyCodeLine{00153\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
+\DoxyCodeLine{00154\ \ \ \ \ \}}
+\DoxyCodeLine{00155\ }
+\DoxyCodeLine{00156\ \ \ \ \ \textcolor{comment}{//\ safely\ stop\ the\ runner}}
+\DoxyCodeLine{00157\ \ \ \ \ \textcolor{keywordflow}{try}}
+\DoxyCodeLine{00158\ \ \ \ \ \{}
+\DoxyCodeLine{00159\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>stop(\textcolor{stringliteral}{"{}"{}});}
+\DoxyCodeLine{00160\ \ \ \ \ \}}
+\DoxyCodeLine{00161\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
+\DoxyCodeLine{00162\ \ \ \ \ \{}
+\DoxyCodeLine{00163\ \ \ \ \ \ \ \textcolor{comment}{//\ pass}}
+\DoxyCodeLine{00164\ \ \ \ \ \ \ \textcolor{comment}{//\ RCLCPP\_ERROR(node\_logging\_interface\_ptr\_-\/>get\_logger(),\ "{}\%s"{},\ e.what());}}
+\DoxyCodeLine{00165\ \ \ \ \ \}}
+\DoxyCodeLine{00166\ }
+\DoxyCodeLine{00167\ \ \ \ \ \textcolor{comment}{//\ reset\ the\ runner\ pointer}}
+\DoxyCodeLine{00168\ \ \ \ \ \textcolor{comment}{//\ runner\_cache\_[capability].reset();}}
+\DoxyCodeLine{00169\ }
+\DoxyCodeLine{00170\ \ \ \ \ \textcolor{comment}{//\ remove\ the\ runner\ from\ map}}
+\DoxyCodeLine{00171\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}.erase(capability);}
+\DoxyCodeLine{00172\ \ \ \}}
+\DoxyCodeLine{00173\ }
+\DoxyCodeLine{00179\ \ \ \textcolor{keyword}{const}\ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb}{get\_running\_capabilities}}()}
+\DoxyCodeLine{00180\ \ \ \{}
+\DoxyCodeLine{00181\ \ \ \ \ std::vector<std::string>\ runners;}
+\DoxyCodeLine{00182\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ runner\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}})}
+\DoxyCodeLine{00183\ \ \ \ \ \{}
+\DoxyCodeLine{00184\ \ \ \ \ \ \ runners.push\_back(runner.first);}
+\DoxyCodeLine{00185\ \ \ \ \ \}}
+\DoxyCodeLine{00186\ \ \ \ \ \textcolor{keywordflow}{return}\ runners;}
+\DoxyCodeLine{00187\ \ \ \}}
+\DoxyCodeLine{00188\ }
+\DoxyCodeLine{00195\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}{provider}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00196\ \ \ \{}
+\DoxyCodeLine{00197\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
+\DoxyCodeLine{00198\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
+\DoxyCodeLine{00199\ }
+\DoxyCodeLine{00200\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>get\_provider();}
+\DoxyCodeLine{00201\ \ \ \}}
+\DoxyCodeLine{00202\ }
+\DoxyCodeLine{00209\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f}{started\_by}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00210\ \ \ \{}
+\DoxyCodeLine{00211\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
+\DoxyCodeLine{00212\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
+\DoxyCodeLine{00213\ }
+\DoxyCodeLine{00214\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>get\_started\_by();}
+\DoxyCodeLine{00215\ \ \ \}}
+\DoxyCodeLine{00216\ }
+\DoxyCodeLine{00223\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}{pid}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00224\ \ \ \{}
+\DoxyCodeLine{00225\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
+\DoxyCodeLine{00226\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
+\DoxyCodeLine{00227\ }
+\DoxyCodeLine{00228\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>get\_pid();}
+\DoxyCodeLine{00229\ \ \ \}}
+\DoxyCodeLine{00230\ }
+\DoxyCodeLine{00238\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
+\DoxyCodeLine{00239\ \ \ \{}
+\DoxyCodeLine{00240\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}.find(capability)\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}.end();}
+\DoxyCodeLine{00241\ \ \ \}}
+\DoxyCodeLine{00242\ }
+\DoxyCodeLine{00243\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00244\ \ \ \textcolor{comment}{//\ map\ capability\ to\ running\ model}}
+\DoxyCodeLine{00245\ \ \ \textcolor{comment}{//\ capability\ /\ provider\ specs\ -\/>\ runner}}
+\DoxyCodeLine{00246\ \ \ std::map<std::string,\ std::shared\_ptr<capabilities2\_runner::RunnerBase>>\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}};}
+\DoxyCodeLine{00247\ }
+\DoxyCodeLine{00248\ \ \ \textcolor{comment}{//\ runner\ plugin\ loader}}
+\DoxyCodeLine{00249\ \ \ pluginlib::ClassLoader<capabilities2\_runner::RunnerBase>\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\_loader\_}};}
+\DoxyCodeLine{00250\ \};}
+\DoxyCodeLine{00251\ }
+\DoxyCodeLine{00252\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/running_8hpp.tex b/docs/latex/running_8hpp.tex
new file mode 100644
index 0000000..a97416e
--- /dev/null
+++ b/docs/latex/running_8hpp.tex
@@ -0,0 +1,32 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/running.hpp File Reference}
+\hypertarget{running_8hpp}{}\label{running_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/running.hpp@{capabilities2\_server/include/capabilities2\_server/models/running.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$vector$>$}\newline
+Include dependency graph for running.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=232pt]{running_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{running_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t}}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em running capability model \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/running_8hpp__dep__incl.md5 b/docs/latex/running_8hpp__dep__incl.md5
new file mode 100644
index 0000000..2c53c3a
--- /dev/null
+++ b/docs/latex/running_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+fe24995bdb5fae69d349279a4cca6df9
\ No newline at end of file
diff --git a/docs/latex/running_8hpp__dep__incl.pdf b/docs/latex/running_8hpp__dep__incl.pdf
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diff --git a/docs/latex/running_8hpp_source.tex b/docs/latex/running_8hpp_source.tex
new file mode 100644
index 0000000..796787d
--- /dev/null
+++ b/docs/latex/running_8hpp_source.tex
@@ -0,0 +1,33 @@
+\doxysection{running.\+hpp}
+\hypertarget{running_8hpp_source}{}\label{running_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/running.hpp@{capabilities2\_server/include/capabilities2\_server/models/running.hpp}}
+\mbox{\hyperlink{running_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <vector>}}
+\DoxyCodeLine{00005\ }
+\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00007\ \{}
+\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00009\ \{}
+\DoxyCodeLine{00010\ }
+\DoxyCodeLine{00012\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\_model\_t}}}
+\DoxyCodeLine{00013\ \{}
+\DoxyCodeLine{00014\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}};}
+\DoxyCodeLine{00015\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}};}
+\DoxyCodeLine{00016\ \};}
+\DoxyCodeLine{00017\ }
+\DoxyCodeLine{00026\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{running\_model\_t}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\_model\_t}}}
+\DoxyCodeLine{00027\ \{}
+\DoxyCodeLine{00028\ \ \ \textcolor{comment}{//\ std::string\ interface;}}
+\DoxyCodeLine{00029\ \ \ \textcolor{comment}{//\ std::string\ provider;}}
+\DoxyCodeLine{00030\ \ \ std::vector<capability\_model\_t>\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}};}
+\DoxyCodeLine{00031\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a0037a0006d89c68a56be1ed1337f7c37}{started\_by}};}
+\DoxyCodeLine{00032\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a1c0cff01cc7973eb2f1ffa49ae2ad5b9}{pid}};}
+\DoxyCodeLine{00033\ \};}
+\DoxyCodeLine{00034\ }
+\DoxyCodeLine{00035\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00036\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
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diff --git a/docs/latex/securing__capabilities_8md.tex b/docs/latex/securing__capabilities_8md.tex
new file mode 100644
index 0000000..8703ec1
--- /dev/null
+++ b/docs/latex/securing__capabilities_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/securing\+\_\+capabilities.md File Reference}
+\hypertarget{securing__capabilities_8md}{}\label{securing__capabilities_8md}\index{docs/securing\_capabilities.md@{docs/securing\_capabilities.md}}
diff --git a/docs/latex/semantic__interface_8hpp.tex b/docs/latex/semantic__interface_8hpp.tex
new file mode 100644
index 0000000..0d8b58c
--- /dev/null
+++ b/docs/latex/semantic__interface_8hpp.tex
@@ -0,0 +1,33 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/semantic\+\_\+interface.hpp File Reference}
+\hypertarget{semantic__interface_8hpp}{}\label{semantic__interface_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/semantic\_interface.hpp@{capabilities2\_server/include/capabilities2\_server/models/semantic\_interface.hpp}}
+{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/header.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/remappable\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/models/predicateable\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
+Include dependency graph for semantic\+\_\+interface.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{semantic__interface_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{semantic__interface_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}}
+\begin{DoxyCompactList}\small\item\em semantic interface model \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/semantic__interface_8hpp__dep__incl.md5 b/docs/latex/semantic__interface_8hpp__dep__incl.md5
new file mode 100644
index 0000000..3048fc9
--- /dev/null
+++ b/docs/latex/semantic__interface_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+7c73cd6838dbf8a81a956f9ed8d92d94
\ No newline at end of file
diff --git a/docs/latex/semantic__interface_8hpp__dep__incl.pdf b/docs/latex/semantic__interface_8hpp__dep__incl.pdf
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diff --git a/docs/latex/semantic__interface_8hpp_source.tex b/docs/latex/semantic__interface_8hpp_source.tex
new file mode 100644
index 0000000..3390ff7
--- /dev/null
+++ b/docs/latex/semantic__interface_8hpp_source.tex
@@ -0,0 +1,64 @@
+\doxysection{semantic\+\_\+interface.\+hpp}
+\hypertarget{semantic__interface_8hpp_source}{}\label{semantic__interface_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/semantic\_interface.hpp@{capabilities2\_server/include/capabilities2\_server/models/semantic\_interface.hpp}}
+\mbox{\hyperlink{semantic__interface_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{header_8hpp}{capabilities2\_server/models/header.hpp}}>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{remappable__base_8hpp}{capabilities2\_server/models/remappable\_base.hpp}}>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{predicateable__base_8hpp}{capabilities2\_server/models/predicateable\_base.hpp}}>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{sql__safe_8hpp}{capabilities2\_server/utils/sql\_safe.hpp}}>}}
+\DoxyCodeLine{00008\ }
+\DoxyCodeLine{00009\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00010\ \{}
+\DoxyCodeLine{00011\ \textcolor{keyword}{namespace\ }models}
+\DoxyCodeLine{00012\ \{}
+\DoxyCodeLine{00013\ }
+\DoxyCodeLine{00014\ \textcolor{comment}{//\ semantic\ interface\ model\ definition}}
+\DoxyCodeLine{00024\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{semantic\_interface\_model\_t}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{remappable\_base\_t}},\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{predicateable\_base\_t}}}
+\DoxyCodeLine{00025\ \{}
+\DoxyCodeLine{00026\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}};}
+\DoxyCodeLine{00027\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}};}
+\DoxyCodeLine{00028\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\_namespace}};}
+\DoxyCodeLine{00029\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}};}
+\DoxyCodeLine{00030\ }
+\DoxyCodeLine{00031\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a1c82841795835d4359d6bc1fd40b9f26}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
+\DoxyCodeLine{00032\ \ \ \{}
+\DoxyCodeLine{00033\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\_yaml}}(node);}
+\DoxyCodeLine{00034\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}}\ =\ node[\textcolor{stringliteral}{"{}redefines"{}}].as<std::string>();}
+\DoxyCodeLine{00035\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\_namespace}}\ =\ node[\textcolor{stringliteral}{"{}global\_namespace"{}}].as<std::string>();}
+\DoxyCodeLine{00036\ \ \ \ \ \textcolor{comment}{//\ if\ remappings\ exist}}
+\DoxyCodeLine{00037\ \ \ \ \ \textcolor{keywordflow}{if}\ (node[\textcolor{stringliteral}{"{}remappings"{}}])}
+\DoxyCodeLine{00038\ \ \ \ \ \{}
+\DoxyCodeLine{00039\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}{from\_yaml}}(node[\textcolor{stringliteral}{"{}remappings"{}}]);}
+\DoxyCodeLine{00040\ \ \ \ \ \}}
+\DoxyCodeLine{00041\ \ \ \}}
+\DoxyCodeLine{00042\ }
+\DoxyCodeLine{00043\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a27bcd752bad7f0e68baaa7754a6221c5}{to\_yaml}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00044\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00045\ \ \ \ \ YAML::Node\ node\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}{to\_yaml}}();}
+\DoxyCodeLine{00046\ \ \ \ \ node[\textcolor{stringliteral}{"{}redefines"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}};}
+\DoxyCodeLine{00047\ \ \ \ \ node[\textcolor{stringliteral}{"{}global\_namespace"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\_namespace}};}
+\DoxyCodeLine{00048\ \ \ \ \ node[\textcolor{stringliteral}{"{}remappings"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}{to\_yaml}}();}
+\DoxyCodeLine{00049\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
+\DoxyCodeLine{00050\ \ \ \};}
+\DoxyCodeLine{00051\ }
+\DoxyCodeLine{00052\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd}{to\_sql\_table}}()}
+\DoxyCodeLine{00053\ \ \ \{}
+\DoxyCodeLine{00054\ \ \ \ \ \textcolor{comment}{//\ redefines\ is\ foreign\ key\ to\ interfaces}}
+\DoxyCodeLine{00055\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}{header\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{},\ redefines\ TEXT\ NOT\ NULL,\ global\_namespace\ TEXT,\ remappings\ TEXT,\ "{}}}
+\DoxyCodeLine{00056\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}FOREIGN\ KEY(redefines)\ REFERENCES\ interfaces(name)"{}};}
+\DoxyCodeLine{00057\ \ \ \}}
+\DoxyCodeLine{00058\ }
+\DoxyCodeLine{00059\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee}{to\_sql\_values}}()\textcolor{keyword}{\ const}}
+\DoxyCodeLine{00060\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00061\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{},\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\_namespace}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +}
+\DoxyCodeLine{00062\ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(YAML::Dump(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}{to\_yaml}}()))\ +\ \textcolor{stringliteral}{"{}'"{}};}
+\DoxyCodeLine{00063\ \ \ \}}
+\DoxyCodeLine{00064\ \};}
+\DoxyCodeLine{00065\ }
+\DoxyCodeLine{00066\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
+\DoxyCodeLine{00067\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/semantic__interfaces_8md.tex b/docs/latex/semantic__interfaces_8md.tex
new file mode 100644
index 0000000..2ddb91a
--- /dev/null
+++ b/docs/latex/semantic__interfaces_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/semantic\+\_\+interfaces.md File Reference}
+\hypertarget{semantic__interfaces_8md}{}\label{semantic__interfaces_8md}\index{docs/semantic\_interfaces.md@{docs/semantic\_interfaces.md}}
diff --git a/docs/latex/service__runner_8hpp.tex b/docs/latex/service__runner_8hpp.tex
new file mode 100644
index 0000000..989bb1c
--- /dev/null
+++ b/docs/latex/service__runner_8hpp.tex
@@ -0,0 +1,28 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/service\+\_\+runner.hpp File Reference}
+\hypertarget{service__runner_8hpp}{}\label{service__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/service\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/service\_runner.hpp}}
+{\ttfamily \#include $<$chrono$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/threadtrigger\+\_\+runner.\+hpp$>$}\newline
+Include dependency graph for service\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{service__runner_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=254pt]{service__runner_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}}
+\begin{DoxyCompactList}\small\item\em service runner base class \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/service__runner_8hpp__dep__incl.md5 b/docs/latex/service__runner_8hpp__dep__incl.md5
new file mode 100644
index 0000000..21ba7de
--- /dev/null
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diff --git a/docs/latex/service__runner_8hpp_source.tex b/docs/latex/service__runner_8hpp_source.tex
new file mode 100644
index 0000000..dc51821
--- /dev/null
+++ b/docs/latex/service__runner_8hpp_source.tex
@@ -0,0 +1,119 @@
+\doxysection{service\+\_\+runner.\+hpp}
+\hypertarget{service__runner_8hpp_source}{}\label{service__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/service\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/service\_runner.hpp}}
+\mbox{\hyperlink{service__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <chrono>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{threadtrigger__runner_8hpp}{capabilities2\_runner/threadtrigger\_runner.hpp}}>}}
+\DoxyCodeLine{00006\ }
+\DoxyCodeLine{00007\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00008\ \{}
+\DoxyCodeLine{00009\ }
+\DoxyCodeLine{00015\ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ ServiceT>}
+\DoxyCodeLine{00016\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{ServiceRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}}
+\DoxyCodeLine{00017\ \{}
+\DoxyCodeLine{00018\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00022\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804}{ServiceRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}()}
+\DoxyCodeLine{00023\ \ \ \{}
+\DoxyCodeLine{00024\ \ \ \}}
+\DoxyCodeLine{00025\ }
+\DoxyCodeLine{00033\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}{init\_service}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,}
+\DoxyCodeLine{00034\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ service\_name)}
+\DoxyCodeLine{00035\ \ \ \{}
+\DoxyCodeLine{00036\ \ \ \ \ \textcolor{comment}{//\ initialize\ the\ runner\ base\ by\ storing\ node\ pointer\ and\ run\ config}}
+\DoxyCodeLine{00037\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
+\DoxyCodeLine{00038\ }
+\DoxyCodeLine{00039\ \ \ \ \ \textcolor{comment}{//\ create\ a\ service\ client}}
+\DoxyCodeLine{00040\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>create\_client<ServiceT>(service\_name);}
+\DoxyCodeLine{00041\ }
+\DoxyCodeLine{00042\ \ \ \ \ \textcolor{comment}{//\ wait\ for\ service\ server}}
+\DoxyCodeLine{00043\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}waiting\ for\ service:\ \%s"{}},\ service\_name.c\_str());}
+\DoxyCodeLine{00044\ }
+\DoxyCodeLine{00045\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}}-\/>wait\_for\_service(std::chrono::seconds(3)))}
+\DoxyCodeLine{00046\ \ \ \ \ \{}
+\DoxyCodeLine{00047\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}failed\ to\ connect\ to\ service:\ \%s"{}},\ service\_name.c\_str());}
+\DoxyCodeLine{00048\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}failed\ to\ connect\ to\ server"{}});}
+\DoxyCodeLine{00049\ \ \ \ \ \}}
+\DoxyCodeLine{00050\ }
+\DoxyCodeLine{00051\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}connected\ with\ service:\ \%s"{}},\ service\_name.c\_str());}
+\DoxyCodeLine{00052\ \ \ \}}
+\DoxyCodeLine{00053\ }
+\DoxyCodeLine{00058\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00059\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00060\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
+\DoxyCodeLine{00061\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
+\DoxyCodeLine{00062\ }
+\DoxyCodeLine{00063\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
+\DoxyCodeLine{00064\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
+\DoxyCodeLine{00065\ }
+\DoxyCodeLine{00066\ \ \ \ \ \textcolor{comment}{//\ throw\ an\ error\ if\ the\ service\ client\ is\ null}}
+\DoxyCodeLine{00067\ \ \ \ \ \textcolor{comment}{//\ this\ can\ happen\ if\ the\ runner\ is\ not\ able\ to\ find\ the\ action\ resource}}
+\DoxyCodeLine{00068\ }
+\DoxyCodeLine{00069\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}})}
+\DoxyCodeLine{00070\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ action\ that\ was\ not\ started"{}});}
+\DoxyCodeLine{00071\ }
+\DoxyCodeLine{00072\ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
+\DoxyCodeLine{00073\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
+\DoxyCodeLine{00074\ }
+\DoxyCodeLine{00075\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}runner\ cleaned.\ stopping.."{}});}
+\DoxyCodeLine{00076\ \ \ \}}
+\DoxyCodeLine{00077\ }
+\DoxyCodeLine{00078\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00087\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00088\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00089\ \ \ \ \ \textcolor{comment}{//\ split\ thread\_id\ to\ get\ bond\_id\ and\ instance\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
+\DoxyCodeLine{00090\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{ThreadTriggerRunner::bond\_from\_thread\_id}}(thread\_id);}
+\DoxyCodeLine{00091\ \ \ \ \ std::string\ instance\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{ThreadTriggerRunner::instance\_from\_thread\_id}}(thread\_id);}
+\DoxyCodeLine{00092\ }
+\DoxyCodeLine{00093\ \ \ \ \ \textcolor{comment}{//\ generate\ a\ goal\ from\ parameters\ if\ provided}}
+\DoxyCodeLine{00094\ \ \ \ \ \textcolor{keyword}{auto}\ request\_msg\ =\ std::make\_shared<typename\ ServiceT::Request>(\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}{generate\_request}}(parameters));}
+\DoxyCodeLine{00095\ }
+\DoxyCodeLine{00096\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}request\ generated\ for\ event\ :\%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00097\ }
+\DoxyCodeLine{00098\ \ \ \ \ std::mutex\ block\_mutex;}
+\DoxyCodeLine{00099\ \ \ \ \ std::unique\_lock<std::mutex>\ lock(block\_mutex);}
+\DoxyCodeLine{00100\ \ \ \ \ std::condition\_variable\ cv;}
+\DoxyCodeLine{00101\ \ \ \ \ \textcolor{keywordtype}{bool}\ completed\ =\ \textcolor{keyword}{false};}
+\DoxyCodeLine{00102\ }
+\DoxyCodeLine{00103\ \ \ \ \ \textcolor{keyword}{auto}\ result\_future\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}}-\/>async\_send\_request(}
+\DoxyCodeLine{00104\ \ \ \ \ \ \ \ \ request\_msg,\ [\textcolor{keyword}{this},\ \ \&instance\_id,\ \&completed,\ \&bond\_id,\ \&cv](\textcolor{keyword}{typename}\ rclcpp::Client<ServiceT>::SharedFuture\ future)\ \{}
+\DoxyCodeLine{00105\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (!future.valid())}
+\DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(node\_-\/>get\_logger(),\ \textcolor{stringliteral}{"{}get\ result\ call\ failed"{}});}
+\DoxyCodeLine{00108\ }
+\DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ failed\ event}}
+\DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \ \ \ \ emit\_failed(bond\_id,\ instance\_id,\ param\_on\_failure());}
+\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00112\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00113\ \ \ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00114\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_INFO(node\_-\/>get\_logger(),\ \textcolor{stringliteral}{"{}get\ result\ call\ succeeded\ for\ event\ :\%s"{}},\ instance\_id.c\_str());}
+\DoxyCodeLine{00115\ }
+\DoxyCodeLine{00116\ \ \ \ \ \ \ \ \ \ \ \ \ response\_\ =\ future.get();}
+\DoxyCodeLine{00117\ \ \ \ \ \ \ \ \ \ \ \ \ process\_response(response\_);}
+\DoxyCodeLine{00118\ }
+\DoxyCodeLine{00119\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ success\ event}}
+\DoxyCodeLine{00120\ \ \ \ \ \ \ \ \ \ \ \ \ emit\_succeeded(bond\_id,\ instance\_id,\ param\_on\_success());}
+\DoxyCodeLine{00121\ \ \ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00122\ }
+\DoxyCodeLine{00123\ \ \ \ \ \ \ \ \ \ \ completed\ =\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00124\ \ \ \ \ \ \ \ \ \ \ cv.notify\_all();}
+\DoxyCodeLine{00125\ \ \ \ \ \ \ \ \ \});}
+\DoxyCodeLine{00126\ }
+\DoxyCodeLine{00127\ \ \ \ \ \textcolor{comment}{//\ Conditional\ wait}}
+\DoxyCodeLine{00128\ \ \ \ \ cv.wait(lock,\ [\&completed]\ \{\ \textcolor{keywordflow}{return}\ completed;\ \});}
+\DoxyCodeLine{00129\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Service\ request\ complete.\ Thread\ closing."{}});}
+\DoxyCodeLine{00130\ \ \ \}}
+\DoxyCodeLine{00131\ }
+\DoxyCodeLine{00132\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00144\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keyword}{typename}\ ServiceT::Request\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}{generate\_request}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters)\ =\ 0;}
+\DoxyCodeLine{00145\ }
+\DoxyCodeLine{00156\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c}{process\_response}}(\textcolor{keyword}{typename}\ ServiceT::Response::SharedPtr\ \textcolor{comment}{/*response*/})\ \{\}}
+\DoxyCodeLine{00157\ }
+\DoxyCodeLine{00158\ \ \ \textcolor{keyword}{typename}\ rclcpp::Client<ServiceT>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}};}
+\DoxyCodeLine{00159\ \ \ \textcolor{keyword}{typename}\ ServiceT::Response::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}{response\_}};}
+\DoxyCodeLine{00160\ \};}
+\DoxyCodeLine{00161\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/setup_8md.tex b/docs/latex/setup_8md.tex
new file mode 100644
index 0000000..7663cdd
--- /dev/null
+++ b/docs/latex/setup_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/setup.md File Reference}
+\hypertarget{setup_8md}{}\label{setup_8md}\index{docs/setup.md@{docs/setup.md}}
diff --git a/docs/latex/setup__with__dev_8md.tex b/docs/latex/setup__with__dev_8md.tex
new file mode 100644
index 0000000..c15673c
--- /dev/null
+++ b/docs/latex/setup__with__dev_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{docs/setup\+\_\+with\+\_\+dev.md File Reference}
+\hypertarget{setup__with__dev_8md}{}\label{setup__with__dev_8md}\index{docs/setup\_with\_dev.md@{docs/setup\_with\_dev.md}}
diff --git a/docs/latex/sql__safe_8hpp.tex b/docs/latex/sql__safe_8hpp.tex
new file mode 100644
index 0000000..1d14a36
--- /dev/null
+++ b/docs/latex/sql__safe_8hpp.tex
@@ -0,0 +1,30 @@
+\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/utils/sql\+\_\+safe.hpp File Reference}
+\hypertarget{sql__safe_8hpp}{}\label{sql__safe_8hpp}\index{capabilities2\_server/include/capabilities2\_server/utils/sql\_safe.hpp@{capabilities2\_server/include/capabilities2\_server/utils/sql\_safe.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+{\ttfamily \#include $<$regex$>$}\newline
+Include dependency graph for sql\+\_\+safe.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=221pt]{sql__safe_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{sql__safe_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{capabilities2\+\_\+server\+::to\+\_\+sql\+\_\+safe}} (const std\+::string \&input)
+\begin{DoxyCompactList}\small\item\em convert a generic std\+::string to a sql safe std\+::string \end{DoxyCompactList}\item 
+std\+::string \mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{capabilities2\+\_\+server\+::from\+\_\+sql\+\_\+safe}} (const std\+::string \&input)
+\begin{DoxyCompactList}\small\item\em convert a sql safe std\+::string to a generic std\+::string \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/docs/latex/sql__safe_8hpp__dep__incl.md5 b/docs/latex/sql__safe_8hpp__dep__incl.md5
new file mode 100644
index 0000000..a191976
--- /dev/null
+++ b/docs/latex/sql__safe_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+b05b172c92bdf60836ce4babe281d3e3
\ No newline at end of file
diff --git a/docs/latex/sql__safe_8hpp__dep__incl.pdf b/docs/latex/sql__safe_8hpp__dep__incl.pdf
new file mode 100644
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diff --git a/docs/latex/sql__safe_8hpp_source.tex b/docs/latex/sql__safe_8hpp_source.tex
new file mode 100644
index 0000000..3849ea2
--- /dev/null
+++ b/docs/latex/sql__safe_8hpp_source.tex
@@ -0,0 +1,39 @@
+\doxysection{sql\+\_\+safe.\+hpp}
+\hypertarget{sql__safe_8hpp_source}{}\label{sql__safe_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/utils/sql\_safe.hpp@{capabilities2\_server/include/capabilities2\_server/utils/sql\_safe.hpp}}
+\mbox{\hyperlink{sql__safe_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <regex>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
+\DoxyCodeLine{00006\ \{}
+\DoxyCodeLine{00007\ }
+\DoxyCodeLine{00015\ std::string\ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(\textcolor{keyword}{const}\ std::string\&\ input)}
+\DoxyCodeLine{00016\ \{}
+\DoxyCodeLine{00017\ \ \ std::string\ result\ =\ input;}
+\DoxyCodeLine{00018\ }
+\DoxyCodeLine{00019\ \ \ \textcolor{comment}{//\ Escape\ backslashes\ (if\ necessary\ for\ your\ SQL\ dialect)}}
+\DoxyCodeLine{00020\ \ \ result\ =\ std::regex\_replace(result,\ std::regex(R\textcolor{stringliteral}{"{}(\(\backslash\)\(\backslash\))"{}),\ R}\textcolor{stringliteral}{"{}(\(\backslash\)\(\backslash\)\(\backslash\)\(\backslash\))"{});}}
+\DoxyCodeLine{00021\ \textcolor{stringliteral}{}}
+\DoxyCodeLine{00022\ \textcolor{stringliteral}{\ \ }\textcolor{comment}{//\ Escape\ single\ quotes\ by\ replacing\ them\ with\ two\ single\ quotes}}
+\DoxyCodeLine{00023\ \ \ result\ =\ std::regex\_replace(result,\ std::regex(R\textcolor{stringliteral}{"{}(')"{}),\ R}\textcolor{stringliteral}{"{}('')"{});}}
+\DoxyCodeLine{00024\ \textcolor{stringliteral}{}}
+\DoxyCodeLine{00025\ \textcolor{stringliteral}{\ \ }\textcolor{keywordflow}{return}\ result;}
+\DoxyCodeLine{00026\ \}}
+\DoxyCodeLine{00027\ }
+\DoxyCodeLine{00035\ std::string\ \mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(\textcolor{keyword}{const}\ std::string\&\ input)}
+\DoxyCodeLine{00036\ \{}
+\DoxyCodeLine{00037\ \ \ std::string\ result\ =\ input;}
+\DoxyCodeLine{00038\ }
+\DoxyCodeLine{00039\ \ \ \textcolor{comment}{//\ Escape\ backslashes\ (if\ necessary\ for\ your\ SQL\ dialect)}}
+\DoxyCodeLine{00040\ \ \ result\ =\ std::regex\_replace(result,\ std::regex(R\textcolor{stringliteral}{"{}(\(\backslash\)\(\backslash\)\(\backslash\)\(\backslash\))"{}),\ R}\textcolor{stringliteral}{"{}(\(\backslash\)\(\backslash\))"{});}}
+\DoxyCodeLine{00041\ \textcolor{stringliteral}{}}
+\DoxyCodeLine{00042\ \textcolor{stringliteral}{\ \ }\textcolor{comment}{//\ Escape\ single\ quotes\ by\ replacing\ them\ with\ two\ single\ quotes}}
+\DoxyCodeLine{00043\ \ \ result\ =\ std::regex\_replace(result,\ std::regex(R\textcolor{stringliteral}{"{}('')"{}),\ R}\textcolor{stringliteral}{"{}(')"{});}}
+\DoxyCodeLine{00044\ \textcolor{stringliteral}{}}
+\DoxyCodeLine{00045\ \textcolor{stringliteral}{\ \ }\textcolor{keywordflow}{return}\ result;}
+\DoxyCodeLine{00046\ \}}
+\DoxyCodeLine{00047\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
+
+\end{DoxyCode}
diff --git a/docs/latex/structcapabilities2__events_1_1EventNode_1_1EventPipe.tex b/docs/latex/structcapabilities2__events_1_1EventNode_1_1EventPipe.tex
new file mode 100644
index 0000000..682585d
--- /dev/null
+++ b/docs/latex/structcapabilities2__events_1_1EventNode_1_1EventPipe.tex
@@ -0,0 +1,47 @@
+\doxysection{capabilities2\+\_\+events\+::Event\+Node\+::Event\+Pipe Struct Reference}
+\hypertarget{structcapabilities2__events_1_1EventNode_1_1EventPipe}{}\label{structcapabilities2__events_1_1EventNode_1_1EventPipe}\index{capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}}
+
+
+event pipe structure  
+
+
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b}{type}}
+\item 
+capabilities2\+\_\+msgs\+::msg\+::\+Capability \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33}{target}}
+\item 
+\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40}{callback}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+event pipe structure 
+
+represents a connection from this event node to a target capability contains the callback to be invoked when the event is emitted 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40}\label{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40} 
+\index{capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}!callback@{callback}}
+\index{callback@{callback}!capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}}
+\doxysubsubsection{\texorpdfstring{callback}{callback}}
+{\footnotesize\ttfamily \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe\+::callback}
+
+\Hypertarget{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33}\label{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33} 
+\index{capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}!target@{target}}
+\index{target@{target}!capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}}
+\doxysubsubsection{\texorpdfstring{target}{target}}
+{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe\+::target}
+
+\Hypertarget{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b}\label{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b} 
+\index{capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}!type@{type}}
+\index{type@{type}!capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}}
+\doxysubsubsection{\texorpdfstring{type}{type}}
+{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe\+::type}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__node_8hpp}{event\+\_\+node.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1EventParameters.tex b/docs/latex/structcapabilities2__events_1_1EventParameters.tex
new file mode 100644
index 0000000..d184707
--- /dev/null
+++ b/docs/latex/structcapabilities2__events_1_1EventParameters.tex
@@ -0,0 +1,156 @@
+\doxysection{capabilities2\+\_\+events\+::Event\+Parameters Struct Reference}
+\hypertarget{structcapabilities2__events_1_1EventParameters}{}\label{structcapabilities2__events_1_1EventParameters}\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
+
+
+capability options for a capability runner given by interface and provider  
+
+
+
+
+{\ttfamily \#include "{}event\+\_\+parameters.\+hpp"{}}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a57fdeb9d660eee744ef4bcd58e96339e}{Event\+Parameters}} ()=default
+\item 
+\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a124050d50c5d5870b1e85697c33ba759}{Event\+Parameters}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&msg)
+\item 
+bool \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ac26732100aab80ff256b54636c57b85c}{is\+\_\+empty}} () const
+\item 
+bool \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_af3f6a280eb464e33f4f4ba7092a70cac}{has\+\_\+value}} (const std\+::string \&key) const
+\begin{DoxyCompactList}\small\item\em Check if an option with the given key exists. \end{DoxyCompactList}\item 
+std\+::any \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a06e1a6f60cb6c8830d6769532b1f3cdb}{get\+\_\+value}} (const std\+::string \&key, std\+::any default\+\_\+value)
+\begin{DoxyCompactList}\small\item\em Get the value of an option by key. \end{DoxyCompactList}\item 
+void \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_abc8bda9430434f26bb4db99e17455e5a}{set\+\_\+value}} (const std\+::string \&key, const std\+::any \&value, const \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} \&type)
+\begin{DoxyCompactList}\small\item\em Set the value of an option by key, if the option does not exist it will be created. \end{DoxyCompactList}\item 
+capabilities2\+\_\+msgs\+::msg\+::\+Capability \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_af4cb9521061d29b8e77d19cd7b13cfdd}{to\+Msg}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{Parameter}} $>$ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}} = \{\}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+capability options for a capability runner given by interface and provider 
+
+
+\begin{DoxyParams}{Parameters}
+{\em interface} & the interface of the capability \\
+\hline
+{\em provider} & the provider of the capability \\
+\hline
+{\em options} & the options for the capability \\
+\hline
+\end{DoxyParams}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{structcapabilities2__events_1_1EventParameters_a57fdeb9d660eee744ef4bcd58e96339e}\label{structcapabilities2__events_1_1EventParameters_a57fdeb9d660eee744ef4bcd58e96339e} 
+\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!EventParameters@{EventParameters}}
+\index{EventParameters@{EventParameters}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
+\doxysubsubsection{\texorpdfstring{EventParameters()}{EventParameters()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Parameters\+::\+Event\+Parameters (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
+
+\Hypertarget{structcapabilities2__events_1_1EventParameters_a124050d50c5d5870b1e85697c33ba759}\label{structcapabilities2__events_1_1EventParameters_a124050d50c5d5870b1e85697c33ba759} 
+\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!EventParameters@{EventParameters}}
+\index{EventParameters@{EventParameters}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
+\doxysubsubsection{\texorpdfstring{EventParameters()}{EventParameters()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Parameters\+::\+Event\+Parameters (\begin{DoxyParamCaption}\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__events_1_1EventParameters_a06e1a6f60cb6c8830d6769532b1f3cdb}\label{structcapabilities2__events_1_1EventParameters_a06e1a6f60cb6c8830d6769532b1f3cdb} 
+\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!get\_value@{get\_value}}
+\index{get\_value@{get\_value}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
+\doxysubsubsection{\texorpdfstring{get\_value()}{get\_value()}}
+{\footnotesize\ttfamily std\+::any capabilities2\+\_\+events\+::\+Event\+Parameters\+::get\+\_\+value (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{key,  }\item[{std\+::any}]{default\+\_\+value }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Get the value of an option by key. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em key} & the key of the option to get the value of \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+std\+::any the value of the option, can be cast to the appropriate type based on the Option\+Type 
+\end{DoxyReturn}
+
+\begin{DoxyExceptions}{Exceptions}
+{\em \doxylink{structcapabilities2__events_1_1options__exception}{options\+\_\+exception}} & if the key is not found or if there is a type conversion error \\
+\hline
+\end{DoxyExceptions}
+\Hypertarget{structcapabilities2__events_1_1EventParameters_af3f6a280eb464e33f4f4ba7092a70cac}\label{structcapabilities2__events_1_1EventParameters_af3f6a280eb464e33f4f4ba7092a70cac} 
+\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!has\_value@{has\_value}}
+\index{has\_value@{has\_value}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
+\doxysubsubsection{\texorpdfstring{has\_value()}{has\_value()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+events\+::\+Event\+Parameters\+::has\+\_\+value (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{key }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Check if an option with the given key exists. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em key} & the key of the option to check \\
+\hline
+\end{DoxyParams}
+\begin{DoxyReturn}{Returns}
+true if the option exists, false otherwise 
+\end{DoxyReturn}
+\Hypertarget{structcapabilities2__events_1_1EventParameters_ac26732100aab80ff256b54636c57b85c}\label{structcapabilities2__events_1_1EventParameters_ac26732100aab80ff256b54636c57b85c} 
+\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!is\_empty@{is\_empty}}
+\index{is\_empty@{is\_empty}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
+\doxysubsubsection{\texorpdfstring{is\_empty()}{is\_empty()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+events\+::\+Event\+Parameters\+::is\+\_\+empty (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__events_1_1EventParameters_abc8bda9430434f26bb4db99e17455e5a}\label{structcapabilities2__events_1_1EventParameters_abc8bda9430434f26bb4db99e17455e5a} 
+\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!set\_value@{set\_value}}
+\index{set\_value@{set\_value}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
+\doxysubsubsection{\texorpdfstring{set\_value()}{set\_value()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Parameters\+::set\+\_\+value (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{key,  }\item[{const std\+::any \&}]{value,  }\item[{const \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} \&}]{type }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+Set the value of an option by key, if the option does not exist it will be created. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em key} & the key of the option to set the value of \\
+\hline
+{\em type} & the type of the option to set \\
+\hline
+{\em value} & the value to set, should be castable to the appropriate type based on the Option\+Type \\
+\hline
+\end{DoxyParams}
+
+\begin{DoxyExceptions}{Exceptions}
+{\em \doxylink{structcapabilities2__events_1_1options__exception}{options\+\_\+exception}} & if there is a type conversion error \\
+\hline
+\end{DoxyExceptions}
+\Hypertarget{structcapabilities2__events_1_1EventParameters_af4cb9521061d29b8e77d19cd7b13cfdd}\label{structcapabilities2__events_1_1EventParameters_af4cb9521061d29b8e77d19cd7b13cfdd} 
+\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!toMsg@{toMsg}}
+\index{toMsg@{toMsg}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
+\doxysubsubsection{\texorpdfstring{toMsg()}{toMsg()}}
+{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability capabilities2\+\_\+events\+::\+Event\+Parameters\+::to\+Msg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}\label{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308} 
+\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!options@{options}}
+\index{options@{options}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
+\doxysubsubsection{\texorpdfstring{options}{options}}
+{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{Parameter}}$>$ capabilities2\+\_\+events\+::\+Event\+Parameters\+::options = \{\}}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1Parameter.tex b/docs/latex/structcapabilities2__events_1_1Parameter.tex
new file mode 100644
index 0000000..e9fa9c4
--- /dev/null
+++ b/docs/latex/structcapabilities2__events_1_1Parameter.tex
@@ -0,0 +1,107 @@
+\doxysection{capabilities2\+\_\+events\+::Parameter Struct Reference}
+\hypertarget{structcapabilities2__events_1_1Parameter}{}\label{structcapabilities2__events_1_1Parameter}\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
+
+
+Key value pair for capability options.  
+
+
+
+
+{\ttfamily \#include "{}event\+\_\+parameters.\+hpp"{}}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a3fd3f8d62c0e49aa657535e3df9c8430}{Parameter}} ()=default
+\item 
+\mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a097dc936b8692fa57498b7975a3fe8a9}{Parameter}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Parameter \&msg)
+\item 
+std\+::any \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a3b30e4d048001e9cd6e25df5f8ebc392}{get\+\_\+value}} ()
+\item 
+void \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a7e297cd1d51c0c23a56146275f41c431}{set\+\_\+value}} (std\+::string new\+\_\+key, std\+::any new\+\_\+value, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} new\+\_\+type)
+\item 
+capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Parameter \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a40731837f170a632f96e0187c8138e7a}{to\+Msg}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a57b71a8358c3a4af184b1713a772474a}{key}}
+\item 
+std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a5cd5fb07b1a96468bdbed99bd904a234}{value}}
+\item 
+\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a63eaf7bcb8ab3f2a3839c9963563b546}{type}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+Key value pair for capability options. 
+
+
+\begin{DoxyParams}{Parameters}
+{\em key} & the key of the option \\
+\hline
+{\em value} & the value of the option \\
+\hline
+\end{DoxyParams}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{structcapabilities2__events_1_1Parameter_a3fd3f8d62c0e49aa657535e3df9c8430}\label{structcapabilities2__events_1_1Parameter_a3fd3f8d62c0e49aa657535e3df9c8430} 
+\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!Parameter@{Parameter}}
+\index{Parameter@{Parameter}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
+\doxysubsubsection{\texorpdfstring{Parameter()}{Parameter()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Parameter\+::\+Parameter (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
+
+\Hypertarget{structcapabilities2__events_1_1Parameter_a097dc936b8692fa57498b7975a3fe8a9}\label{structcapabilities2__events_1_1Parameter_a097dc936b8692fa57498b7975a3fe8a9} 
+\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!Parameter@{Parameter}}
+\index{Parameter@{Parameter}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
+\doxysubsubsection{\texorpdfstring{Parameter()}{Parameter()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Parameter\+::\+Parameter (\begin{DoxyParamCaption}\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Parameter \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__events_1_1Parameter_a3b30e4d048001e9cd6e25df5f8ebc392}\label{structcapabilities2__events_1_1Parameter_a3b30e4d048001e9cd6e25df5f8ebc392} 
+\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!get\_value@{get\_value}}
+\index{get\_value@{get\_value}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
+\doxysubsubsection{\texorpdfstring{get\_value()}{get\_value()}}
+{\footnotesize\ttfamily std\+::any capabilities2\+\_\+events\+::\+Parameter\+::get\+\_\+value (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__events_1_1Parameter_a7e297cd1d51c0c23a56146275f41c431}\label{structcapabilities2__events_1_1Parameter_a7e297cd1d51c0c23a56146275f41c431} 
+\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!set\_value@{set\_value}}
+\index{set\_value@{set\_value}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
+\doxysubsubsection{\texorpdfstring{set\_value()}{set\_value()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Parameter\+::set\+\_\+value (\begin{DoxyParamCaption}\item[{std\+::string}]{new\+\_\+key,  }\item[{std\+::any}]{new\+\_\+value,  }\item[{\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}}}]{new\+\_\+type }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__events_1_1Parameter_a40731837f170a632f96e0187c8138e7a}\label{structcapabilities2__events_1_1Parameter_a40731837f170a632f96e0187c8138e7a} 
+\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!toMsg@{toMsg}}
+\index{toMsg@{toMsg}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
+\doxysubsubsection{\texorpdfstring{toMsg()}{toMsg()}}
+{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Parameter capabilities2\+\_\+events\+::\+Parameter\+::to\+Msg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__events_1_1Parameter_a57b71a8358c3a4af184b1713a772474a}\label{structcapabilities2__events_1_1Parameter_a57b71a8358c3a4af184b1713a772474a} 
+\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!key@{key}}
+\index{key@{key}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
+\doxysubsubsection{\texorpdfstring{key}{key}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+events\+::\+Parameter\+::key}
+
+\Hypertarget{structcapabilities2__events_1_1Parameter_a63eaf7bcb8ab3f2a3839c9963563b546}\label{structcapabilities2__events_1_1Parameter_a63eaf7bcb8ab3f2a3839c9963563b546} 
+\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!type@{type}}
+\index{type@{type}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
+\doxysubsubsection{\texorpdfstring{type}{type}}
+{\footnotesize\ttfamily \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} capabilities2\+\_\+events\+::\+Parameter\+::type}
+
+\Hypertarget{structcapabilities2__events_1_1Parameter_a5cd5fb07b1a96468bdbed99bd904a234}\label{structcapabilities2__events_1_1Parameter_a5cd5fb07b1a96468bdbed99bd904a234} 
+\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!value@{value}}
+\index{value@{value}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
+\doxysubsubsection{\texorpdfstring{value}{value}}
+{\footnotesize\ttfamily std\+::vector$<$std\+::string$>$ capabilities2\+\_\+events\+::\+Parameter\+::value}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1event__exception.tex b/docs/latex/structcapabilities2__events_1_1event__exception.tex
new file mode 100644
index 0000000..a7b30eb
--- /dev/null
+++ b/docs/latex/structcapabilities2__events_1_1event__exception.tex
@@ -0,0 +1,64 @@
+\doxysection{capabilities2\+\_\+events\+::event\+\_\+exception Struct Reference}
+\hypertarget{structcapabilities2__events_1_1event__exception}{}\label{structcapabilities2__events_1_1event__exception}\index{capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}}
+
+
+event exception  
+
+
+
+
+{\ttfamily \#include "{}event\+\_\+base.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+events\+::event\+\_\+exception\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{structcapabilities2__events_1_1event__exception__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+events\+::event\+\_\+exception\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{structcapabilities2__events_1_1event__exception__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__events_1_1event__exception_ad7d805afcac28ab78f9323bd6a740962}{event\+\_\+exception}} (const std\+::string \&\mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}})
+\item 
+virtual const char \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}} () const noexcept override
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+event exception 
+
+Base class for event exceptions 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{structcapabilities2__events_1_1event__exception_ad7d805afcac28ab78f9323bd6a740962}\label{structcapabilities2__events_1_1event__exception_ad7d805afcac28ab78f9323bd6a740962} 
+\index{capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}!event\_exception@{event\_exception}}
+\index{event\_exception@{event\_exception}!capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}}
+\doxysubsubsection{\texorpdfstring{event\_exception()}{event\_exception()}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::event\+\_\+exception\+::event\+\_\+exception (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{what }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}\label{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3} 
+\index{capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}!what@{what}}
+\index{what@{what}!capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}}
+\doxysubsubsection{\texorpdfstring{what()}{what()}}
+{\footnotesize\ttfamily virtual const char \texorpdfstring{$\ast$}{*} capabilities2\+\_\+events\+::event\+\_\+exception\+::what (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}, {\ttfamily [noexcept]}}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__base_8hpp}{event\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.md5 b/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.md5
new file mode 100644
index 0000000..c5a8bf9
--- /dev/null
+++ b/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.md5
@@ -0,0 +1 @@
+fc245f8b7160ea179ff1ee08def4148c
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.pdf b/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.pdf
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index 0000000000000000000000000000000000000000..7f054582a2ad5451e34f34f423563c22e5e4622d
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new file mode 100644
index 0000000..8691fc6
--- /dev/null
+++ b/docs/latex/structcapabilities2__events_1_1options__exception.tex
@@ -0,0 +1,54 @@
+\doxysection{capabilities2\+\_\+events\+::options\+\_\+exception Struct Reference}
+\hypertarget{structcapabilities2__events_1_1options__exception}{}\label{structcapabilities2__events_1_1options__exception}\index{capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}}
+
+
+{\ttfamily \#include "{}event\+\_\+parameters.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+events\+::options\+\_\+exception\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{structcapabilities2__events_1_1options__exception__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+events\+::options\+\_\+exception\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=197pt]{structcapabilities2__events_1_1options__exception__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__events_1_1options__exception_af6cd097f7264ece12deaa7ae6cc9f0dc}{options\+\_\+exception}} (const std\+::string \&\mbox{\hyperlink{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532}{what}})
+\item 
+virtual const char \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532}{what}} () const noexcept override
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{structcapabilities2__events_1_1options__exception_af6cd097f7264ece12deaa7ae6cc9f0dc}\label{structcapabilities2__events_1_1options__exception_af6cd097f7264ece12deaa7ae6cc9f0dc} 
+\index{capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}!options\_exception@{options\_exception}}
+\index{options\_exception@{options\_exception}!capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}}
+\doxysubsubsection{\texorpdfstring{options\_exception()}{options\_exception()}}
+{\footnotesize\ttfamily capabilities2\+\_\+events\+::options\+\_\+exception\+::options\+\_\+exception (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{what }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532}\label{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532} 
+\index{capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}!what@{what}}
+\index{what@{what}!capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}}
+\doxysubsubsection{\texorpdfstring{what()}{what()}}
+{\footnotesize\ttfamily virtual const char \texorpdfstring{$\ast$}{*} capabilities2\+\_\+events\+::options\+\_\+exception\+::what (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}, {\ttfamily [noexcept]}}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.md5 b/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.md5
new file mode 100644
index 0000000..a203ac9
--- /dev/null
+++ b/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.md5
@@ -0,0 +1 @@
+bca15702886f5a50044ca1f49cb8f668
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.pdf b/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__events_1_1options__exception__inherit__graph.md5 b/docs/latex/structcapabilities2__events_1_1options__exception__inherit__graph.md5
new file mode 100644
index 0000000..a203ac9
--- /dev/null
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+bca15702886f5a50044ca1f49cb8f668
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diff --git a/docs/latex/structcapabilities2__events_1_1options__exception__inherit__graph.pdf b/docs/latex/structcapabilities2__events_1_1options__exception__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__runner_1_1resource.tex b/docs/latex/structcapabilities2__runner_1_1resource.tex
new file mode 100644
index 0000000..f263c10
--- /dev/null
+++ b/docs/latex/structcapabilities2__runner_1_1resource.tex
@@ -0,0 +1,49 @@
+\doxysection{capabilities2\+\_\+runner\+::resource Struct Reference}
+\hypertarget{structcapabilities2__runner_1_1resource}{}\label{structcapabilities2__runner_1_1resource}\index{capabilities2\_runner::resource@{capabilities2\_runner::resource}}
+
+
+resource definition  
+
+
+
+
+{\ttfamily \#include "{}runner\+\_\+base.\+hpp"{}}
+
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a31be624a9bd871d94918db90d774ae46}{name}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a94b6972f420c15250a370d44bd08ccc2}{resource\+\_\+type}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a1bebf375d0bb9439251e8ef393e837a5}{msg\+\_\+type}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+resource definition 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__runner_1_1resource_a1bebf375d0bb9439251e8ef393e837a5}\label{structcapabilities2__runner_1_1resource_a1bebf375d0bb9439251e8ef393e837a5} 
+\index{capabilities2\_runner::resource@{capabilities2\_runner::resource}!msg\_type@{msg\_type}}
+\index{msg\_type@{msg\_type}!capabilities2\_runner::resource@{capabilities2\_runner::resource}}
+\doxysubsubsection{\texorpdfstring{msg\_type}{msg\_type}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::resource\+::msg\+\_\+type}
+
+\Hypertarget{structcapabilities2__runner_1_1resource_a31be624a9bd871d94918db90d774ae46}\label{structcapabilities2__runner_1_1resource_a31be624a9bd871d94918db90d774ae46} 
+\index{capabilities2\_runner::resource@{capabilities2\_runner::resource}!name@{name}}
+\index{name@{name}!capabilities2\_runner::resource@{capabilities2\_runner::resource}}
+\doxysubsubsection{\texorpdfstring{name}{name}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::resource\+::name}
+
+\Hypertarget{structcapabilities2__runner_1_1resource_a94b6972f420c15250a370d44bd08ccc2}\label{structcapabilities2__runner_1_1resource_a94b6972f420c15250a370d44bd08ccc2} 
+\index{capabilities2\_runner::resource@{capabilities2\_runner::resource}!resource\_type@{resource\_type}}
+\index{resource\_type@{resource\_type}!capabilities2\_runner::resource@{capabilities2\_runner::resource}}
+\doxysubsubsection{\texorpdfstring{resource\_type}{resource\_type}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::resource\+::resource\+\_\+type}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__runner_1_1runner__exception.tex b/docs/latex/structcapabilities2__runner_1_1runner__exception.tex
new file mode 100644
index 0000000..3c192e6
--- /dev/null
+++ b/docs/latex/structcapabilities2__runner_1_1runner__exception.tex
@@ -0,0 +1,64 @@
+\doxysection{capabilities2\+\_\+runner\+::runner\+\_\+exception Struct Reference}
+\hypertarget{structcapabilities2__runner_1_1runner__exception}{}\label{structcapabilities2__runner_1_1runner__exception}\index{capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}}
+
+
+runner exception  
+
+
+
+
+{\ttfamily \#include "{}runner\+\_\+base.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+runner\+::runner\+\_\+exception\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=196pt]{structcapabilities2__runner_1_1runner__exception__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+runner\+::runner\+\_\+exception\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=196pt]{structcapabilities2__runner_1_1runner__exception__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_aa6373ae91bb89b6306491195465b2b07}{runner\+\_\+exception}} (const std\+::string \&\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}})
+\item 
+virtual const char \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}} () const noexcept override
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+runner exception 
+
+Base class for runner exceptions 
+
+\doxysubsection{Constructor \& Destructor Documentation}
+\Hypertarget{structcapabilities2__runner_1_1runner__exception_aa6373ae91bb89b6306491195465b2b07}\label{structcapabilities2__runner_1_1runner__exception_aa6373ae91bb89b6306491195465b2b07} 
+\index{capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}!runner\_exception@{runner\_exception}}
+\index{runner\_exception@{runner\_exception}!capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}}
+\doxysubsubsection{\texorpdfstring{runner\_exception()}{runner\_exception()}}
+{\footnotesize\ttfamily capabilities2\+\_\+runner\+::runner\+\_\+exception\+::runner\+\_\+exception (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{what }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}\label{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473} 
+\index{capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}!what@{what}}
+\index{what@{what}!capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}}
+\doxysubsubsection{\texorpdfstring{what()}{what()}}
+{\footnotesize\ttfamily virtual const char \texorpdfstring{$\ast$}{*} capabilities2\+\_\+runner\+::runner\+\_\+exception\+::what (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}, {\ttfamily [noexcept]}}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.md5 b/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.md5
new file mode 100644
index 0000000..357b137
--- /dev/null
+++ b/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.md5
@@ -0,0 +1 @@
+4c91277e37601a9cbaac0792c308a534
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diff --git a/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.pdf b/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__runner_1_1runner__exception__inherit__graph.pdf b/docs/latex/structcapabilities2__runner_1_1runner__exception__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__runner_1_1runner__opts.tex b/docs/latex/structcapabilities2__runner_1_1runner__opts.tex
new file mode 100644
index 0000000..d5f6ee9
--- /dev/null
+++ b/docs/latex/structcapabilities2__runner_1_1runner__opts.tex
@@ -0,0 +1,91 @@
+\doxysection{capabilities2\+\_\+runner\+::runner\+\_\+opts Struct Reference}
+\hypertarget{structcapabilities2__runner_1_1runner__opts}{}\label{structcapabilities2__runner_1_1runner__opts}\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
+
+
+runner options  
+
+
+
+
+{\ttfamily \#include "{}runner\+\_\+base.\+hpp"{}}
+
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}{interface}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369}{provider}}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}} $>$ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}{resources}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac09a8a96d66f433fdcd43aeae8217cef}{global\+\_\+namespace}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a574ca498d3677393093c36193cf108db}{started\+\_\+by}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb}{pid}}
+\item 
+int \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a42f3c1ecdad43cea48e2ae4df1bfcdbd}{input\+\_\+count}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+runner options 
+
+Contains the options required to start and maintain a consistent runner. normally loaded from the yaml file 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__runner_1_1runner__opts_ac09a8a96d66f433fdcd43aeae8217cef}\label{structcapabilities2__runner_1_1runner__opts_ac09a8a96d66f433fdcd43aeae8217cef} 
+\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!global\_namespace@{global\_namespace}}
+\index{global\_namespace@{global\_namespace}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
+\doxysubsubsection{\texorpdfstring{global\_namespace}{global\_namespace}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::global\+\_\+namespace}
+
+\Hypertarget{structcapabilities2__runner_1_1runner__opts_a42f3c1ecdad43cea48e2ae4df1bfcdbd}\label{structcapabilities2__runner_1_1runner__opts_a42f3c1ecdad43cea48e2ae4df1bfcdbd} 
+\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!input\_count@{input\_count}}
+\index{input\_count@{input\_count}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
+\doxysubsubsection{\texorpdfstring{input\_count}{input\_count}}
+{\footnotesize\ttfamily int capabilities2\+\_\+runner\+::runner\+\_\+opts\+::input\+\_\+count}
+
+\Hypertarget{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}\label{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc} 
+\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!interface@{interface}}
+\index{interface@{interface}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
+\doxysubsubsection{\texorpdfstring{interface}{interface}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::interface}
+
+\Hypertarget{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb}\label{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb} 
+\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!pid@{pid}}
+\index{pid@{pid}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
+\doxysubsubsection{\texorpdfstring{pid}{pid}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::pid}
+
+\Hypertarget{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369}\label{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369} 
+\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!provider@{provider}}
+\index{provider@{provider}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
+\doxysubsubsection{\texorpdfstring{provider}{provider}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::provider}
+
+\Hypertarget{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}\label{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948} 
+\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!resources@{resources}}
+\index{resources@{resources}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
+\doxysubsubsection{\texorpdfstring{resources}{resources}}
+{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}$>$ capabilities2\+\_\+runner\+::runner\+\_\+opts\+::resources}
+
+\Hypertarget{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}\label{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e} 
+\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!runner@{runner}}
+\index{runner@{runner}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
+\doxysubsubsection{\texorpdfstring{runner}{runner}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::runner}
+
+\Hypertarget{structcapabilities2__runner_1_1runner__opts_a574ca498d3677393093c36193cf108db}\label{structcapabilities2__runner_1_1runner__opts_a574ca498d3677393093c36193cf108db} 
+\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!started\_by@{started\_by}}
+\index{started\_by@{started\_by}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
+\doxysubsubsection{\texorpdfstring{started\_by}{started\_by}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::started\+\_\+by}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t.tex
new file mode 100644
index 0000000..f0dc183
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t.tex
@@ -0,0 +1,42 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1capability__model__t}{}\label{structcapabilities2__server_1_1models_1_1capability__model__t}\index{capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}}
+
+
+{\ttfamily \#include "{}running.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=226pt]{structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}\label{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918} 
+\index{capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}!interface@{interface}}
+\index{interface@{interface}!capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}}
+\doxysubsubsection{\texorpdfstring{interface}{interface}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t\+::interface}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}\label{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb} 
+\index{capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}!provider@{provider}}
+\index{provider@{provider}!capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}}
+\doxysubsubsection{\texorpdfstring{provider}{provider}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t\+::provider}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{running_8hpp}{running.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.md5
new file mode 100644
index 0000000..8d00ec2
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t.tex
new file mode 100644
index 0000000..2427a5c
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t.tex
@@ -0,0 +1,82 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t}{}\label{structcapabilities2__server_1_1models_1_1defineable__base__t}\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
+
+
+defineable base  
+
+
+
+
+{\ttfamily \#include "{}defineable\+\_\+base.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1}{to\+\_\+yaml}} () const
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}{defined}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\+\_\+str}} = "{}"{}
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}{valid}} = false
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+defineable base 
+
+store the definition of an implementation of a capability the definition is stored in a character format but may contain a specific behaviour language to define a provider specialise the definition later when the capability is run 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96} 
+\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!defined@{defined}}
+\index{defined@{defined}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{defined()}{defined()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::defined (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63} 
+\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!from\_yaml@{from\_yaml}}
+\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1} 
+\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a} 
+\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!definition\_str@{definition\_str}}
+\index{definition\_str@{definition\_str}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{definition\_str}{definition\_str}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::definition\+\_\+str = "{}"{}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0} 
+\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!valid@{valid}}
+\index{valid@{valid}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{valid}{valid}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::valid = false}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{defineable__base_8hpp}{defineable\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.md5
new file mode 100644
index 0000000..1521b63
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.md5
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t.tex
new file mode 100644
index 0000000..02e47e1
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t.tex
@@ -0,0 +1,133 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1header__model__t}{}\label{structcapabilities2__server_1_1models_1_1header__model__t}\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
+
+
+the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability  
+
+
+
+
+{\ttfamily \#include "{}header.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1header__model__t__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1header__model__t__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}{to\+\_\+yaml}} () const
+\item 
+const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}{to\+\_\+sql\+\_\+values}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}{to\+\_\+sql\+\_\+table}} ()
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+int \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba}{id}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5}{is\+\_\+deleted}} = false
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2}{date\+\_\+created}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e}{date\+\_\+modified}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}\label{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576} 
+\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!from\_yaml@{from\_yaml}}
+\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}\label{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608} 
+\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!to\_sql\_table@{to\_sql\_table}}
+\index{to\_sql\_table@{to\_sql\_table}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_sql\_table()}{to\_sql\_table()}}
+{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+table (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}\label{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1} 
+\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!to\_sql\_values@{to\_sql\_values}}
+\index{to\_sql\_values@{to\_sql\_values}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_sql\_values()}{to\_sql\_values()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+values (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}\label{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378} 
+\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}\label{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a} 
+\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!description@{description}}
+\index{description@{description}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
+\doxysubsubsection{\texorpdfstring{description}{description}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::description}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}\label{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f} 
+\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!name@{name}}
+\index{name@{name}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
+\doxysubsubsection{\texorpdfstring{name}{name}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::name}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}\label{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284} 
+\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!type@{type}}
+\index{type@{type}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
+\doxysubsubsection{\texorpdfstring{type}{type}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::type}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}\label{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf} 
+\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!version@{version}}
+\index{version@{version}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
+\doxysubsubsection{\texorpdfstring{version}{version}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::version}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.md5
new file mode 100644
index 0000000..ad972f8
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+++ b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.md5
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__inherit__graph.md5
new file mode 100644
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__inherit__graph.pdf
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HcmV?d00001

diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t.tex
new file mode 100644
index 0000000..29df970
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t.tex
@@ -0,0 +1,42 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1identifiable__base__t}{}\label{structcapabilities2__server_1_1models_1_1identifiable__base__t}\index{capabilities2\_server::models::identifiable\_base\_t@{capabilities2\_server::models::identifiable\_base\_t}}
+
+
+unique key for a row  
+
+
+
+
+{\ttfamily \#include "{}header.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=223pt]{structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+int \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba}{id}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+unique key for a row 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba}\label{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba} 
+\index{capabilities2\_server::models::identifiable\_base\_t@{capabilities2\_server::models::identifiable\_base\_t}!id@{id}}
+\index{id@{id}!capabilities2\_server::models::identifiable\_base\_t@{capabilities2\_server::models::identifiable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{id}{id}}
+{\footnotesize\ttfamily int capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t\+::id}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.md5
new file mode 100644
index 0000000..9d9f904
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.md5
@@ -0,0 +1 @@
+5449c0c9ed18936baa4c29a59e2423d7
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t.tex
new file mode 100644
index 0000000..80c1db7
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t.tex
@@ -0,0 +1,107 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t}{}\label{structcapabilities2__server_1_1models_1_1interface__model__t}\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
+
+
+interface model  
+
+
+
+
+{\ttfamily \#include "{}interface.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=233pt]{structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a379d6d70a00d7ed95c279bd2d38cd286}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ab4974dddde348826f754eeba41fab1d0}{to\+\_\+yaml}} () const
+\item 
+const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5}{to\+\_\+sql\+\_\+values}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a3e1b6a0fbb148703a6a2bfab6a4f2003}{to\+\_\+sql\+\_\+table}} ()
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{specification\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+interface model 
+
+the main representation of a capability mapping skill-\/like concepts to ROS-\/resources that usually make up a logical robot subsystem 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_a379d6d70a00d7ed95c279bd2d38cd286}\label{structcapabilities2__server_1_1models_1_1interface__model__t_a379d6d70a00d7ed95c279bd2d38cd286} 
+\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!from\_yaml@{from\_yaml}}
+\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_a3e1b6a0fbb148703a6a2bfab6a4f2003}\label{structcapabilities2__server_1_1models_1_1interface__model__t_a3e1b6a0fbb148703a6a2bfab6a4f2003} 
+\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!to\_sql\_table@{to\_sql\_table}}
+\index{to\_sql\_table@{to\_sql\_table}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_sql\_table()}{to\_sql\_table()}}
+{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+table (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5}\label{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5} 
+\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!to\_sql\_values@{to\_sql\_values}}
+\index{to\_sql\_values@{to\_sql\_values}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_sql\_values()}{to\_sql\_values()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+values (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_ab4974dddde348826f754eeba41fab1d0}\label{structcapabilities2__server_1_1models_1_1interface__model__t_ab4974dddde348826f754eeba41fab1d0} 
+\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}\label{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64} 
+\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!header@{header}}
+\index{header@{header}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{header}{header}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::header}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}\label{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07} 
+\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!interface@{interface}}
+\index{interface@{interface}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{interface}{interface}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{specification\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::interface}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{interface_8hpp}{interface.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.md5
new file mode 100644
index 0000000..c1a4c05
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.md5
@@ -0,0 +1 @@
+cc1d907c6b0b338ac9e1e30a2c2e5ea7
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph.md5
new file mode 100644
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph.pdf
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HcmV?d00001

diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t.tex
new file mode 100644
index 0000000..3713860
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t.tex
@@ -0,0 +1,50 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1modifiable__base__t}{}\label{structcapabilities2__server_1_1models_1_1modifiable__base__t}\index{capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}}
+
+
+base model for all models that can be modified  
+
+
+
+
+{\ttfamily \#include "{}header.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=223pt]{structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2}{date\+\_\+created}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e}{date\+\_\+modified}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+base model for all models that can be modified 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2}\label{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2} 
+\index{capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}!date\_created@{date\_created}}
+\index{date\_created@{date\_created}!capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{date\_created}{date\_created}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t\+::date\+\_\+created}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e}\label{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e} 
+\index{capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}!date\_modified@{date\_modified}}
+\index{date\_modified@{date\_modified}!capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{date\_modified}{date\_modified}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t\+::date\+\_\+modified}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.md5
new file mode 100644
index 0000000..91f1be4
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.md5
@@ -0,0 +1 @@
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.pdf
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HcmV?d00001

diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1predicate__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1predicate__model__t.tex
new file mode 100644
index 0000000..18fb916
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1predicate__model__t.tex
@@ -0,0 +1,73 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t}{}\label{structcapabilities2__server_1_1models_1_1predicate__model__t}\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
+
+
+predicate model type  
+
+
+
+
+{\ttfamily \#include "{}predicate.\+hpp"{}}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a913e6b62b99887f12ba12debea26d5ac}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_aac7a5018cdb4ffac44a5031358c7b392}{to\+\_\+yaml}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}{subject}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}{predicate}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828}{object}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+predicate model type 
+
+the predicate model is used to specify a relation between two capability resources subject -\/\texorpdfstring{$>$}{>} predicate -\/\texorpdfstring{$>$}{>} object 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_a913e6b62b99887f12ba12debea26d5ac}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_a913e6b62b99887f12ba12debea26d5ac} 
+\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!from\_yaml@{from\_yaml}}
+\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_aac7a5018cdb4ffac44a5031358c7b392}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_aac7a5018cdb4ffac44a5031358c7b392} 
+\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828} 
+\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!object@{object}}
+\index{object@{object}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
+\doxysubsubsection{\texorpdfstring{object}{object}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::object}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9} 
+\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!predicate@{predicate}}
+\index{predicate@{predicate}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
+\doxysubsubsection{\texorpdfstring{predicate}{predicate}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::predicate}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0} 
+\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!subject@{subject}}
+\index{subject@{subject}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
+\doxysubsubsection{\texorpdfstring{subject}{subject}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::subject}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{predicate_8hpp}{predicate.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t.tex
new file mode 100644
index 0000000..f43e9b6
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t.tex
@@ -0,0 +1,44 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1predicateable__base__t}{}\label{structcapabilities2__server_1_1models_1_1predicateable__base__t}\index{capabilities2\_server::models::predicateable\_base\_t@{capabilities2\_server::models::predicateable\_base\_t}}
+
+
+predicateable model base type  
+
+
+
+
+{\ttfamily \#include "{}predicateable\+\_\+base.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+predicateable model base type 
+
+base class for all models with relations contains a vector of relations (see \doxylink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}) 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}\label{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7} 
+\index{capabilities2\_server::models::predicateable\_base\_t@{capabilities2\_server::models::predicateable\_base\_t}!relations@{relations}}
+\index{relations@{relations}!capabilities2\_server::models::predicateable\_base\_t@{capabilities2\_server::models::predicateable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{relations}{relations}}
+{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t\+::relations}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{predicateable__base_8hpp}{predicateable\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.md5
new file mode 100644
index 0000000..c99aeb5
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.md5
@@ -0,0 +1 @@
+4ae756d40d142d602e65aae3c7457c71
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t.tex
new file mode 100644
index 0000000..1b6bb8c
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t.tex
@@ -0,0 +1,152 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t}{}\label{structcapabilities2__server_1_1models_1_1provider__model__t}\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+
+
+provider model  
+
+
+
+
+{\ttfamily \#include "{}provider.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1provider__model__t__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_aeaffd1a45ccb1f72dcbca71425ac57c3}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1a91763b3ebf0fe9fc9d38a0b9315fb9}{to\+\_\+yaml}} () const
+\item 
+const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f}{to\+\_\+sql\+\_\+values}} () const
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1}{to\+\_\+yaml}} () const
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}{defined}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1c7dc74c7eaa402394f4d9e8e917d337}{to\+\_\+sql\+\_\+table}} ()
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}}
+\item 
+std\+::map$<$ std\+::string, std\+::string $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\+\_\+on}}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\+\_\+str}} = "{}"{}
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}{valid}} = false
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+provider model 
+
+a provider model defines the implementation of a capability the provider can be specific to a robot implementation of a general capability 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_aeaffd1a45ccb1f72dcbca71425ac57c3}\label{structcapabilities2__server_1_1models_1_1provider__model__t_aeaffd1a45ccb1f72dcbca71425ac57c3} 
+\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!from\_yaml@{from\_yaml}}
+\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a1c7dc74c7eaa402394f4d9e8e917d337}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a1c7dc74c7eaa402394f4d9e8e917d337} 
+\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!to\_sql\_table@{to\_sql\_table}}
+\index{to\_sql\_table@{to\_sql\_table}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_sql\_table()}{to\_sql\_table()}}
+{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+table (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f} 
+\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!to\_sql\_values@{to\_sql\_values}}
+\index{to\_sql\_values@{to\_sql\_values}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_sql\_values()}{to\_sql\_values()}}
+{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+values (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a1a91763b3ebf0fe9fc9d38a0b9315fb9}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a1a91763b3ebf0fe9fc9d38a0b9315fb9} 
+\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}\label{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001} 
+\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!depends\_on@{depends\_on}}
+\index{depends\_on@{depends\_on}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+\doxysubsubsection{\texorpdfstring{depends\_on}{depends\_on}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::string$>$ capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::depends\+\_\+on}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0} 
+\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!header@{header}}
+\index{header@{header}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+\doxysubsubsection{\texorpdfstring{header}{header}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::header}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d} 
+\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!implements@{implements}}
+\index{implements@{implements}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+\doxysubsubsection{\texorpdfstring{implements}{implements}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::implements}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b} 
+\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!remappings@{remappings}}
+\index{remappings@{remappings}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+\doxysubsubsection{\texorpdfstring{remappings}{remappings}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::remappings}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26} 
+\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!runner@{runner}}
+\index{runner@{runner}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
+\doxysubsubsection{\texorpdfstring{runner}{runner}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::runner}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{provider_8hpp}{provider.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.md5
new file mode 100644
index 0000000..ca6406e
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+++ b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.md5
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__inherit__graph.md5
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t.tex
new file mode 100644
index 0000000..212a100
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t.tex
@@ -0,0 +1,53 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1remappable__base__t}{}\label{structcapabilities2__server_1_1models_1_1remappable__base__t}\index{capabilities2\_server::models::remappable\_base\_t@{capabilities2\_server::models::remappable\_base\_t}}
+
+
+remappable base model definition  
+
+
+
+
+{\ttfamily \#include "{}remappable\+\_\+base.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=203pt]{structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+remappable base model definition 
+
+base class for remappable models to inherit from 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}\label{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd} 
+\index{capabilities2\_server::models::remappable\_base\_t@{capabilities2\_server::models::remappable\_base\_t}!remappings@{remappings}}
+\index{remappings@{remappings}!capabilities2\_server::models::remappable\_base\_t@{capabilities2\_server::models::remappable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{remappings}{remappings}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t\+::remappings}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remappable__base_8hpp}{remappable\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.md5
new file mode 100644
index 0000000..40ce940
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.md5
@@ -0,0 +1 @@
+5ca15235373610092ba83cbbd763400b
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.md5
new file mode 100644
index 0000000..2e3bd05
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.md5
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remapping__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1remapping__model__t.tex
new file mode 100644
index 0000000..4921a48
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1remapping__model__t.tex
@@ -0,0 +1,71 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t}{}\label{structcapabilities2__server_1_1models_1_1remapping__model__t}\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
+
+
+{\ttfamily \#include "{}remapping.\+hpp"{}}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a169c348158aeb78da894c0c5dea81332}{from\+\_\+yaml\+\_\+detail\+\_\+iterator\+\_\+value}} (const YAML\+::detail\+::iterator\+\_\+value \&iter)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a399e580fe9ca87f3f79413693545452e}{to\+\_\+yaml}} () const
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a07a6910b05af84b8601fe8fd984b8932}{operator==}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} \&other) const
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a50910626d9a86e867108f51640c8d3b9}{operator!=}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} \&other) const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_ad797637f1fb60e5cceb5c614695353a3}{from}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a121b210905dbc80d5ed8904e0009579c}{to}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a169c348158aeb78da894c0c5dea81332}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a169c348158aeb78da894c0c5dea81332} 
+\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!from\_yaml\_detail\_iterator\_value@{from\_yaml\_detail\_iterator\_value}}
+\index{from\_yaml\_detail\_iterator\_value@{from\_yaml\_detail\_iterator\_value}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml\_detail\_iterator\_value()}{from\_yaml\_detail\_iterator\_value()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::from\+\_\+yaml\+\_\+detail\+\_\+iterator\+\_\+value (\begin{DoxyParamCaption}\item[{const YAML\+::detail\+::iterator\+\_\+value \&}]{iter }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a50910626d9a86e867108f51640c8d3b9}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a50910626d9a86e867108f51640c8d3b9} 
+\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!operator"!=@{operator"!=}}
+\index{operator"!=@{operator"!=}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
+\doxysubsubsection{\texorpdfstring{operator"!=()}{operator!=()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::operator!= (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} \&}]{other }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a07a6910b05af84b8601fe8fd984b8932}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a07a6910b05af84b8601fe8fd984b8932} 
+\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!operator==@{operator==}}
+\index{operator==@{operator==}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
+\doxysubsubsection{\texorpdfstring{operator==()}{operator==()}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::operator== (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} \&}]{other }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a399e580fe9ca87f3f79413693545452e}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a399e580fe9ca87f3f79413693545452e} 
+\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_ad797637f1fb60e5cceb5c614695353a3}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_ad797637f1fb60e5cceb5c614695353a3} 
+\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!from@{from}}
+\index{from@{from}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from}{from}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::from}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a121b210905dbc80d5ed8904e0009579c}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a121b210905dbc80d5ed8904e0009579c} 
+\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!to@{to}}
+\index{to@{to}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to}{to}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::to}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remapping_8hpp}{remapping.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappings__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1remappings__model__t.tex
new file mode 100644
index 0000000..4144c3a
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1remappings__model__t.tex
@@ -0,0 +1,71 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t}{}\label{structcapabilities2__server_1_1models_1_1remappings__model__t}\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
+
+
+{\ttfamily \#include "{}remapping.\+hpp"{}}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}{to\+\_\+yaml}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a1570369d1b89a3ba0a9cbff9419422cc}{parameters}}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a9b83cf9b0b6306e5580f9babb42b8a11}{topics}}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_aba5002e746519b1ca48238e6d26c2054}{services}}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a62e2be32cc2b051f7bdfba15ab17a95d}{actions}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8} 
+\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!from\_yaml@{from\_yaml}}
+\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc} 
+\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_a62e2be32cc2b051f7bdfba15ab17a95d}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_a62e2be32cc2b051f7bdfba15ab17a95d} 
+\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!actions@{actions}}
+\index{actions@{actions}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
+\doxysubsubsection{\texorpdfstring{actions}{actions}}
+{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::actions}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_a1570369d1b89a3ba0a9cbff9419422cc}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_a1570369d1b89a3ba0a9cbff9419422cc} 
+\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!parameters@{parameters}}
+\index{parameters@{parameters}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
+\doxysubsubsection{\texorpdfstring{parameters}{parameters}}
+{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::parameters}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_aba5002e746519b1ca48238e6d26c2054}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_aba5002e746519b1ca48238e6d26c2054} 
+\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!services@{services}}
+\index{services@{services}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
+\doxysubsubsection{\texorpdfstring{services}{services}}
+{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::services}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_a9b83cf9b0b6306e5580f9babb42b8a11}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_a9b83cf9b0b6306e5580f9babb42b8a11} 
+\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!topics@{topics}}
+\index{topics@{topics}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
+\doxysubsubsection{\texorpdfstring{topics}{topics}}
+{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::topics}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remapping_8hpp}{remapping.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1resource__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1resource__model__t.tex
new file mode 100644
index 0000000..8bff162
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1resource__model__t.tex
@@ -0,0 +1,71 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t}{}\label{structcapabilities2__server_1_1models_1_1resource__model__t}\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
+
+
+computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph  
+
+
+
+
+{\ttfamily \#include "{}resource.\+hpp"{}}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a46df60e201ca7d0bc6ff3938811a87d7}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_afe7ee416240acbd2582ebc50f31359ef}{to\+\_\+yaml}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}{name}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}{type}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}{description}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_a46df60e201ca7d0bc6ff3938811a87d7}\label{structcapabilities2__server_1_1models_1_1resource__model__t_a46df60e201ca7d0bc6ff3938811a87d7} 
+\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!from\_yaml@{from\_yaml}}
+\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_afe7ee416240acbd2582ebc50f31359ef}\label{structcapabilities2__server_1_1models_1_1resource__model__t_afe7ee416240acbd2582ebc50f31359ef} 
+\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}\label{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f} 
+\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!description@{description}}
+\index{description@{description}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
+\doxysubsubsection{\texorpdfstring{description}{description}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::description}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}\label{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674} 
+\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!name@{name}}
+\index{name@{name}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
+\doxysubsubsection{\texorpdfstring{name}{name}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::name}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}\label{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208} 
+\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!type@{type}}
+\index{type@{type}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
+\doxysubsubsection{\texorpdfstring{type}{type}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::type}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{resource_8hpp}{resource.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t.tex
new file mode 100644
index 0000000..39686d3
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t.tex
@@ -0,0 +1,139 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t}{}\label{structcapabilities2__server_1_1models_1_1run__config__model__t}\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+
+
+run configuration type  
+
+
+
+
+{\ttfamily \#include "{}run\+\_\+config.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=196pt]{structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\+\_\+runner\+::runner\+\_\+opts}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923}{to\+\_\+runner\+\_\+opts}} () const
+\item 
+const bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475}{is\+\_\+valid}} () const
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ab602bc027d2c75ddc51fdf190cd42442}{to\+\_\+yaml}} () const
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1}{to\+\_\+yaml}} () const
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}{defined}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}{provider}}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b}{global\+\_\+namespace}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\+\_\+by}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\+\_\+str}} = "{}"{}
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}{valid}} = false
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+run configuration type 
+
+This type represents the configuration required to actually run a capability this includes the name of the capability, the provider, and fully qualified resource names 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475} 
+\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!is\_valid@{is\_valid}}
+\index{is\_valid@{is\_valid}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+\doxysubsubsection{\texorpdfstring{is\_valid()}{is\_valid()}}
+{\footnotesize\ttfamily const bool capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::is\+\_\+valid (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923} 
+\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!to\_runner\_opts@{to\_runner\_opts}}
+\index{to\_runner\_opts@{to\_runner\_opts}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_runner\_opts()}{to\_runner\_opts()}}
+{\footnotesize\ttfamily const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\+\_\+runner\+::runner\+\_\+opts}} capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::to\+\_\+runner\+\_\+opts (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_ab602bc027d2c75ddc51fdf190cd42442}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_ab602bc027d2c75ddc51fdf190cd42442} 
+\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b} 
+\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!global\_namespace@{global\_namespace}}
+\index{global\_namespace@{global\_namespace}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+\doxysubsubsection{\texorpdfstring{global\_namespace}{global\_namespace}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::global\+\_\+namespace}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306} 
+\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!interface@{interface}}
+\index{interface@{interface}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+\doxysubsubsection{\texorpdfstring{interface}{interface}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::interface}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992} 
+\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!pid@{pid}}
+\index{pid@{pid}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+\doxysubsubsection{\texorpdfstring{pid}{pid}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::pid}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c} 
+\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!provider@{provider}}
+\index{provider@{provider}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+\doxysubsubsection{\texorpdfstring{provider}{provider}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::provider}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153} 
+\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!runner@{runner}}
+\index{runner@{runner}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+\doxysubsubsection{\texorpdfstring{runner}{runner}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::runner}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3} 
+\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!started\_by@{started\_by}}
+\index{started\_by@{started\_by}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
+\doxysubsubsection{\texorpdfstring{started\_by}{started\_by}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::started\+\_\+by}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{run__config_8hpp}{run\+\_\+config.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.md5
new file mode 100644
index 0000000..18410ab
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.md5
@@ -0,0 +1 @@
+d090cb3dfb4b624b55fbd29134857375
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.md5
new file mode 100644
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t.tex
new file mode 100644
index 0000000..4356485
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t.tex
@@ -0,0 +1,76 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1running__model__t}{}\label{structcapabilities2__server_1_1models_1_1running__model__t}\index{capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}}
+
+
+running capability model  
+
+
+
+
+{\ttfamily \#include "{}running.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=226pt]{structcapabilities2__server_1_1models_1_1running__model__t__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=226pt]{structcapabilities2__server_1_1models_1_1running__model__t__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a0037a0006d89c68a56be1ed1337f7c37}{started\+\_\+by}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a1c0cff01cc7973eb2f1ffa49ae2ad5b9}{pid}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+running capability model 
+
+the running model describes the run-\/time requirements of a capability. this is a recursive model that can have dependencies on other run specs. it is derived from interfaces, semantic interfaces, and providers. 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}\label{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029} 
+\index{capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}!dependencies@{dependencies}}
+\index{dependencies@{dependencies}!capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}}
+\doxysubsubsection{\texorpdfstring{dependencies}{dependencies}}
+{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+::dependencies}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1running__model__t_a1c0cff01cc7973eb2f1ffa49ae2ad5b9}\label{structcapabilities2__server_1_1models_1_1running__model__t_a1c0cff01cc7973eb2f1ffa49ae2ad5b9} 
+\index{capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}!pid@{pid}}
+\index{pid@{pid}!capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}}
+\doxysubsubsection{\texorpdfstring{pid}{pid}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+::pid}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1running__model__t_a0037a0006d89c68a56be1ed1337f7c37}\label{structcapabilities2__server_1_1models_1_1running__model__t_a0037a0006d89c68a56be1ed1337f7c37} 
+\index{capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}!started\_by@{started\_by}}
+\index{started\_by@{started\_by}!capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}}
+\doxysubsubsection{\texorpdfstring{started\_by}{started\_by}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+::started\+\_\+by}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{running_8hpp}{running.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.md5
new file mode 100644
index 0000000..5559f25
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.md5
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__inherit__graph.md5
new file mode 100644
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t.tex
new file mode 100644
index 0000000..f1fcfb5
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t.tex
@@ -0,0 +1,128 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
+
+
+semantic interface model  
+
+
+
+
+{\ttfamily \#include "{}semantic\+\_\+interface.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1semantic__interface__model__t__inherit__graph}
+\end{center}
+\end{figure}
+
+
+Collaboration diagram for capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a1c82841795835d4359d6bc1fd40b9f26}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a27bcd752bad7f0e68baaa7754a6221c5}{to\+\_\+yaml}} () const
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee}{to\+\_\+sql\+\_\+values}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Static Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+static const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd}{to\+\_\+sql\+\_\+table}} ()
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}}
+\item 
+std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\+\_\+namespace}}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}
+\end{DoxyCompactItemize}
+\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}}}
+\begin{DoxyCompactItemize}
+\item 
+std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+semantic interface model 
+
+a semantic interface redefines an interface in a semantic way this helps avoid resource collisions in the computation graph when using abstract capabilities such as when capabilities are shared between different robot implementations 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a1c82841795835d4359d6bc1fd40b9f26}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a1c82841795835d4359d6bc1fd40b9f26} 
+\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!from\_yaml@{from\_yaml}}
+\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd} 
+\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!to\_sql\_table@{to\_sql\_table}}
+\index{to\_sql\_table@{to\_sql\_table}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_sql\_table()}{to\_sql\_table()}}
+{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+table (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee} 
+\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!to\_sql\_values@{to\_sql\_values}}
+\index{to\_sql\_values@{to\_sql\_values}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_sql\_values()}{to\_sql\_values()}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+values (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a27bcd752bad7f0e68baaa7754a6221c5}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a27bcd752bad7f0e68baaa7754a6221c5} 
+\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b} 
+\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!global\_namespace@{global\_namespace}}
+\index{global\_namespace@{global\_namespace}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{global\_namespace}{global\_namespace}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::global\+\_\+namespace}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec} 
+\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!header@{header}}
+\index{header@{header}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{header}{header}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::header}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7} 
+\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!redefines@{redefines}}
+\index{redefines@{redefines}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{redefines}{redefines}}
+{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::redefines}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366} 
+\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!remappings@{remappings}}
+\index{remappings@{remappings}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
+\doxysubsubsection{\texorpdfstring{remappings}{remappings}}
+{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::remappings}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{semantic__interface_8hpp}{semantic\+\_\+interface.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.md5
new file mode 100644
index 0000000..3600b30
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.md5
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__inherit__graph.md5
new file mode 100644
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__inherit__graph.pdf
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HcmV?d00001

diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.tex
new file mode 100644
index 0000000..3015b55
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.tex
@@ -0,0 +1,42 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{}\label{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}\index{capabilities2\_server::models::soft\_deleteable\_base\_t@{capabilities2\_server::models::soft\_deleteable\_base\_t}}
+
+
+base model for all models that can be soft deleted  
+
+
+
+
+{\ttfamily \#include "{}header.\+hpp"{}}
+
+
+
+Inheritance diagram for capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=223pt]{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5}{is\+\_\+deleted}} = false
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+base model for all models that can be soft deleted 
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5}\label{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5} 
+\index{capabilities2\_server::models::soft\_deleteable\_base\_t@{capabilities2\_server::models::soft\_deleteable\_base\_t}!is\_deleted@{is\_deleted}}
+\index{is\_deleted@{is\_deleted}!capabilities2\_server::models::soft\_deleteable\_base\_t@{capabilities2\_server::models::soft\_deleteable\_base\_t}}
+\doxysubsubsection{\texorpdfstring{is\_deleted}{is\_deleted}}
+{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t\+::is\+\_\+deleted = false}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.md5
new file mode 100644
index 0000000..6b8a177
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.md5
@@ -0,0 +1 @@
+7fe96a3f9e7e651deda6f9d07a546c26
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1specification__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1specification__model__t.tex
new file mode 100644
index 0000000..0bf54d1
--- /dev/null
+++ b/docs/latex/structcapabilities2__server_1_1models_1_1specification__model__t.tex
@@ -0,0 +1,79 @@
+\doxysection{capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t Struct Reference}
+\hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t}{}\label{structcapabilities2__server_1_1models_1_1specification__model__t}\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
+
+
+interface specification type the specification model is the computation graph blueprint of a capability  
+
+
+
+
+{\ttfamily \#include "{}interface.\+hpp"{}}
+
+\doxysubsubsection*{Public Member Functions}
+\begin{DoxyCompactItemize}
+\item 
+void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a62197b4cea21b4597d900f8a13f5f908}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
+\item 
+YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_ad892ff5233a2990c8de643a8a18d4211}{to\+\_\+yaml}} () const
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Public Attributes}
+\begin{DoxyCompactItemize}
+\item 
+std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a7fbc888249194c37bbbcd6145cdcc272}{parameters}}
+\item 
+std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a77bb428b9a7290aae1c9d1180c3c93ac}{topics}}
+\item 
+std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a4902547120299a085eacca24a896c11f}{services}}
+\item 
+std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a4a842359980def295d1e9995e808d2ed}{actions}}
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Detailed Description}
+interface specification type the specification model is the computation graph blueprint of a capability 
+
+\doxysubsection{Member Function Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a62197b4cea21b4597d900f8a13f5f908}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a62197b4cea21b4597d900f8a13f5f908} 
+\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!from\_yaml@{from\_yaml}}
+\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
+\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
+{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_ad892ff5233a2990c8de643a8a18d4211}\label{structcapabilities2__server_1_1models_1_1specification__model__t_ad892ff5233a2990c8de643a8a18d4211} 
+\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!to\_yaml@{to\_yaml}}
+\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
+\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
+{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
+
+
+
+\doxysubsection{Member Data Documentation}
+\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a4a842359980def295d1e9995e808d2ed}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a4a842359980def295d1e9995e808d2ed} 
+\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!actions@{actions}}
+\index{actions@{actions}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
+\doxysubsubsection{\texorpdfstring{actions}{actions}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::actions}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a7fbc888249194c37bbbcd6145cdcc272}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a7fbc888249194c37bbbcd6145cdcc272} 
+\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!parameters@{parameters}}
+\index{parameters@{parameters}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
+\doxysubsubsection{\texorpdfstring{parameters}{parameters}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::parameters}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a4902547120299a085eacca24a896c11f}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a4902547120299a085eacca24a896c11f} 
+\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!services@{services}}
+\index{services@{services}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
+\doxysubsubsection{\texorpdfstring{services}{services}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::services}
+
+\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a77bb428b9a7290aae1c9d1180c3c93ac}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a77bb428b9a7290aae1c9d1180c3c93ac} 
+\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!topics@{topics}}
+\index{topics@{topics}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
+\doxysubsubsection{\texorpdfstring{topics}{topics}}
+{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::topics}
+
+
+
+The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
+\item 
+capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{interface_8hpp}{interface.\+hpp}}\end{DoxyCompactItemize}
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diff --git a/docs/latex/system__runners_8cpp.tex b/docs/latex/system__runners_8cpp.tex
new file mode 100644
index 0000000..eaf2f2a
--- /dev/null
+++ b/docs/latex/system__runners_8cpp.tex
@@ -0,0 +1,35 @@
+\doxysection{capabilities2\+\_\+runner/src/system/system\+\_\+runners.cpp File Reference}
+\hypertarget{system__runners_8cpp}{}\label{system__runners_8cpp}\index{capabilities2\_runner/src/system/system\_runners.cpp@{capabilities2\_runner/src/system/system\_runners.cpp}}
+{\ttfamily \#include $<$pluginlib/class\+\_\+list\+\_\+macros.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/system/get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/system/input\+\_\+multiplex\+\_\+runner.\+hpp$>$}\newline
+Include dependency graph for system\+\_\+runners.\+cpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{system__runners_8cpp__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+\mbox{\hyperlink{system__runners_8cpp_a17206555b3cc77986a56c860d68f7dd0}{PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS}} (\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}})
+\item 
+\mbox{\hyperlink{system__runners_8cpp_aaeef62a016f244f5c2d306cd6c880bbe}{PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS}} (\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}})
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Function Documentation}
+\Hypertarget{system__runners_8cpp_a17206555b3cc77986a56c860d68f7dd0}\label{system__runners_8cpp_a17206555b3cc77986a56c860d68f7dd0} 
+\index{system\_runners.cpp@{system\_runners.cpp}!PLUGINLIB\_EXPORT\_CLASS@{PLUGINLIB\_EXPORT\_CLASS}}
+\index{PLUGINLIB\_EXPORT\_CLASS@{PLUGINLIB\_EXPORT\_CLASS}!system\_runners.cpp@{system\_runners.cpp}}
+\doxysubsubsection{\texorpdfstring{PLUGINLIB\_EXPORT\_CLASS()}{PLUGINLIB\_EXPORT\_CLASS()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
+{\footnotesize\ttfamily PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}}]{,  }\item[{\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}]{ }\end{DoxyParamCaption})}
+
+\Hypertarget{system__runners_8cpp_aaeef62a016f244f5c2d306cd6c880bbe}\label{system__runners_8cpp_aaeef62a016f244f5c2d306cd6c880bbe} 
+\index{system\_runners.cpp@{system\_runners.cpp}!PLUGINLIB\_EXPORT\_CLASS@{PLUGINLIB\_EXPORT\_CLASS}}
+\index{PLUGINLIB\_EXPORT\_CLASS@{PLUGINLIB\_EXPORT\_CLASS}!system\_runners.cpp@{system\_runners.cpp}}
+\doxysubsubsection{\texorpdfstring{PLUGINLIB\_EXPORT\_CLASS()}{PLUGINLIB\_EXPORT\_CLASS()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
+{\footnotesize\ttfamily PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}}]{,  }\item[{\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}]{ }\end{DoxyParamCaption})}
+
diff --git a/docs/latex/system__runners_8cpp__incl.md5 b/docs/latex/system__runners_8cpp__incl.md5
new file mode 100644
index 0000000..d4c0ddc
--- /dev/null
+++ b/docs/latex/system__runners_8cpp__incl.md5
@@ -0,0 +1 @@
+f79d644b9b4ca7ecadde327f631fcda6
\ No newline at end of file
diff --git a/docs/latex/system__runners_8cpp__incl.pdf b/docs/latex/system__runners_8cpp__incl.pdf
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diff --git a/docs/latex/tabu_doxygen.sty b/docs/latex/tabu_doxygen.sty
new file mode 100644
index 0000000..3f17d1d
--- /dev/null
+++ b/docs/latex/tabu_doxygen.sty
@@ -0,0 +1,2557 @@
+%%
+%% This is file `tabu.sty',
+%% generated with the docstrip utility.
+%%
+%% The original source files were:
+%%
+%% tabu.dtx  (with options: `package')
+%% 
+%% This is a generated file.
+%% Copyright (FC) 2010-2011 - lppl
+%% 
+%% tabu : 2011/02/26 v2.8 - tabu : Flexible LaTeX tabulars
+%% 
+%% **********************************************************************************************
+%% \begin{tabu}               { preamble } => default target: \linewidth or \linegoal
+%% \begin{tabu} to     <dimen>{ preamble } => target specified
+%% \begin{tabu} spread <dimen>{ preamble } => target relative to the ``natural width''
+%% 
+%%  tabu works in text and in math modes.
+%% 
+%%  X columns: automatic width adjustment + horizontal and vertical alignment
+%%  \begin{tabu}   { X[4c] X[1c] X[-2ml]  }
+%% 
+%%  Horizontal lines and / or leaders:
+%%         \hline\hline                          => double horizontal line
+%%         \firsthline\hline                     => for nested tabulars
+%%         \lasthline\hline                      => for nested tabulars
+%%         \tabucline[line spec]{column-column}  => ``funny'' lines (dash/leader)
+%%  Automatic lines / leaders :
+%%         \everyrow{\hline\hline}
+%% 
+%%  Vertical lines and / or leaders:
+%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt blue] }
+%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt on 2pt off 4pt blue] }
+%% 
+%%  Fixed vertical spacing adjustment:
+%%         \extrarowheight=<dimen>     \extrarowdepth=<dimen>
+%%    or:     \extrarowsep=<dimen>               => may be prefixed by \global
+%% 
+%%  Dynamic vertical spacing adjustment:
+%%       \abovetabulinesep=<dimen>  \belowtabulinesep=<dimen>
+%%   or:      \tabulinesep=<dimen>               => may be prefixed by \global
+%% 
+%%  delarray.sty shortcuts: in math and text modes
+%%  \begin{tabu} ....        \({ preamble }\)
+%% 
+%%  Algorithms reports:
+%%            \tracingtabu=1             \tracingtabu=2
+%% 
+%% **********************************************************************************************
+%% 
+%% This work may be distributed and/or modified under the
+%% conditions of the LaTeX Project Public License, either
+%% version 1.3 of this license or (at your option) any later
+%% version. The latest version of this license is in
+%%    http://www.latex-project.org/lppl.txt
+%% 
+%% This work consists of the main source file tabu.dtx
+%% and the derived files
+%%    tabu.sty, tabu.pdf, tabu.ins
+%% 
+%% tabu : Flexible LaTeX tabulars
+%% lppl copyright 2010-2011 by FC <florent.chervet@free.fr>
+%% 
+
+\NeedsTeXFormat{LaTeX2e}[2005/12/01]
+\ProvidesPackage{tabu_doxygen}[2011/02/26 v2.8 - flexible LaTeX tabulars (FC), frozen version for doxygen]
+\RequirePackage{array}[2008/09/09]
+\RequirePackage{varwidth}[2009/03/30]
+\AtEndOfPackage{\tabu@AtEnd \let\tabu@AtEnd \@undefined}
+\let\tabu@AtEnd\@empty
+\def\TMP@EnsureCode#1={%
+    \edef\tabu@AtEnd{\tabu@AtEnd
+                     \catcode#1 \the\catcode#1}%
+    \catcode#1=%
+}% \TMP@EnsureCode
+\TMP@EnsureCode 33 = 12 % !
+\TMP@EnsureCode 58 = 12 % : (for siunitx)
+\TMP@EnsureCode124 = 12 % |
+\TMP@EnsureCode 36 =  3 % $ = math shift
+\TMP@EnsureCode 38 =  4 % & = tab alignment character
+\TMP@EnsureCode 32 = 10 % space
+\TMP@EnsureCode 94 =  7 % ^
+\TMP@EnsureCode 95 =  8 % _
+%% Constants --------------------------------------------------------
+\newcount \c@taburow        \def\thetaburow {\number\c@taburow}
+\newcount \tabu@nbcols
+\newcount \tabu@cnt
+\newcount \tabu@Xcol
+\let\tabu@start \@tempcnta
+\let\tabu@stop  \@tempcntb
+\newcount \tabu@alloc  \tabu@alloc=\m@ne
+\newcount \tabu@nested
+\def\tabu@alloc@{\global\advance\tabu@alloc \@ne \tabu@nested\tabu@alloc}
+\newdimen \tabu@target
+\newdimen \tabu@spreadtarget
+\newdimen \tabu@naturalX
+\newdimen \tabucolX
+\let\tabu@DELTA \@tempdimc
+\let\tabu@thick \@tempdima
+\let\tabu@on    \@tempdimb
+\let\tabu@off   \@tempdimc
+\newdimen \tabu@Xsum
+\newdimen \extrarowdepth
+\newdimen \abovetabulinesep
+\newdimen \belowtabulinesep
+\newdimen \tabustrutrule      \tabustrutrule \z@
+\newtoks \tabu@thebody
+\newtoks \tabu@footnotes
+\newsavebox \tabu@box
+\newsavebox \tabu@arstrutbox
+\newsavebox \tabu@hleads
+\newsavebox \tabu@vleads
+\newif \iftabu@colortbl
+\newif \iftabu@siunitx
+\newif \iftabu@measuring
+\newif \iftabu@spread
+\newif \iftabu@negcoef
+\newif \iftabu@everyrow
+\def\tabu@everyrowtrue {\global\let\iftabu@everyrow \iftrue}
+\def\tabu@everyrowfalse{\global\let\iftabu@everyrow \iffalse}
+\newif \iftabu@long
+\newif \iftabuscantokens
+\def\tabu@rescan {\tabu@verbatim \scantokens  }
+%% Utilities (for internal usage) -----------------------------------
+\def\tabu@gobblespace #1  {#1}
+\def\tabu@gobbletoken #1#2{#1}
+\def\tabu@gobbleX{\futurelet\@let@token \tabu@gobblex}
+\def\tabu@gobblex{\if ^^J\noexpand\@let@token \expandafter\@gobble
+                  \else\ifx \@sptoken\@let@token
+                    \expandafter\tabu@gobblespace\expandafter\tabu@gobbleX
+                  \fi\fi
+}% \tabu@gobblex
+\def\tabu@X{^^J}
+{\obeyspaces
+\global\let\tabu@spxiii= % saves an active space (for \ifx)
+\gdef\tabu@@spxiii{ }}
+\def\tabu@ifenvir {% only for \multicolumn
+    \expandafter\tabu@if@nvir\csname\@currenvir\endcsname
+}% \tabu@ifenvir
+\def\tabu@if@nvir #1{\csname @\ifx\tabu#1first\else
+                              \ifx\longtabu#1first\else
+                              second\fi\fi oftwo\endcsname
+}% \tabu@ifenvir
+\def\tabu@modulo #1#2{\numexpr\ifnum\numexpr#1=\z@ 0\else #1-(#1-(#2-1)/2)/(#2)*(#2)\fi}
+{\catcode`\&=3
+\gdef\tabu@strtrim  #1{% #1 = control sequence to trim
+    \ifodd 1\ifx #1\@empty \else \ifx #1\space \else 0\fi \fi
+            \let\tabu@c@l@r \@empty       \let#1\@empty
+    \else   \expandafter  \tabu@trimspaces  #1&#1\@nnil
+    \fi
+}% \tabu@strtrim
+\gdef\tabu@trimspaces #1&#2\@nnil{\let\tabu@c@l@r=#2\tabu@firstspace .#1& &#2}%
+\gdef\tabu@firstspace #1#2#3 &{\tabu@lastspace #2#3&}
+\gdef\tabu@lastspace #1&#2&#3{\def #3{#1}%
+    \ifx #3\tabu@c@l@r \def\tabu@c@l@r{\protect\color{#1}}\expandafter\remove@to@nnil \fi
+    \tabu@trimspaces #1&#3\@nnil}
+}% \catcode
+\def\tabu@sanitizearg #1#2{{%
+    \csname \ifcsname if@safe@actives\endcsname         % <babel>
+                      @safe@activestrue\else
+                      relax\fi       \endcsname
+    \edef#2{#1}\tabu@strtrim#2\@onelevel@sanitize#2%
+    \expandafter}\expandafter\def\expandafter#2\expandafter{#2}%
+}% \tabu@sanitizearg
+\def\tabu@textbar #1{\begingroup \endlinechar\m@ne \scantokens{\def\:{|}}%
+    \expandafter\endgroup \expandafter#1\:% !!! semi simple group !!!
+}% \tabu@textbar
+\def\tabu@everyrow@bgroup{\iftabu@everyrow \begingroup \else \noalign{\ifnum0=`}\fi \fi}
+\def\tabu@everyrow@egroup{%
+    \iftabu@everyrow \expandafter \endgroup \the\toks@
+    \else            \ifnum0=`{\fi}%
+    \fi
+}% \tabu@everyrow@egroup
+\def\tabu@arstrut {\global\setbox\@arstrutbox \hbox{\vrule
+    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
+    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
+    width  \z@}%
+}% \tabu@arstrut
+\def\tabu@rearstrut {%
+    \@tempdima \arraystretch\dimexpr\ht\strutbox+\extrarowheight \relax
+    \@tempdimb \arraystretch\dimexpr\dp\strutbox+\extrarowdepth  \relax
+    \ifodd 1\ifdim \ht\@arstrutbox=\@tempdima
+            \ifdim \dp\@arstrutbox=\@tempdimb 0 \fi\fi
+        \tabu@mkarstrut
+    \fi
+}% \tabu@rearstrut
+\def\tabu@@DBG #1{\ifdim\tabustrutrule>\z@ \color{#1}\fi}
+\def\tabu@DBG@arstrut {\global\setbox\@arstrutbox
+    \hbox to\z@{\hbox to\z@{\hss
+    {\tabu@DBG{cyan}\vrule
+    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
+    depth  \z@
+    width  \tabustrutrule}\kern-\tabustrutrule
+    {\tabu@DBG{pink}\vrule
+    height \z@
+    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
+    width \tabustrutrule}}}%
+}% \tabu@DBG@arstrut
+\def\tabu@save@decl{\toks\count@ \expandafter{\the\toks\expandafter\count@
+                                                              \@nextchar}}%
+\def\tabu@savedecl{\ifcat$\d@llarend\else
+       \let\save@decl \tabu@save@decl \fi % no inversion of tokens in text mode
+}% \tabu@savedecl
+\def\tabu@finalstrut #1{\unskip\ifhmode\nobreak\fi\vrule height\z@ depth\z@ width\z@}
+\newcommand*\tabuDisableCommands {\g@addto@macro\tabu@trialh@@k }
+\let\tabu@trialh@@k \@empty
+\def\tabu@nowrite #1#{{\afterassignment}\toks@}
+\let\tabu@write\write
+\let\tabu@immediate\immediate
+\def\tabu@WRITE{\begingroup
+   \def\immediate\write{\aftergroup\endgroup
+                  \tabu@immediate\tabu@write}%
+}% \tabu@WRITE
+\expandafter\def\expandafter\tabu@GenericError\expandafter{%
+                      \expandafter\tabu@WRITE\GenericError}
+\def\tabu@warn{\tabu@WRITE\PackageWarning{tabu}}
+\def\tabu@noxfootnote [#1]{\@gobble}
+\def\tabu@nocolor #1#{\@gobble}
+\newcommand*\tabu@norowcolor[2][]{}
+\def\tabu@maybesiunitx #1{\def\tabu@temp{#1}%
+                          \futurelet\@let@token \tabu@m@ybesiunitx}
+\def\tabu@m@ybesiunitx #1{\def\tabu@m@ybesiunitx {%
+    \ifx #1\@let@token \let\tabu@cellleft \@empty \let\tabu@cellright \@empty \fi
+    \tabu@temp}% \tabu@m@ybesiunitx
+}\expandafter\tabu@m@ybesiunitx \csname siunitx_table_collect_begin:Nn\endcsname
+\def\tabu@celllalign@def #1{\def\tabu@celllalign{\tabu@maybesiunitx{#1}}}%
+%% Fixed vertical spacing adjustment: \extrarowsep ------------------
+\newcommand*\extrarowsep{\edef\tabu@C@extra{\the\numexpr\tabu@C@extra+1}%
+    \iftabu@everyrow    \aftergroup\tabu@Gextra
+    \else               \aftergroup\tabu@n@Gextra
+    \fi
+    \@ifnextchar={\tabu@gobbletoken\tabu@extra} \tabu@extra
+}% \extrarowsep
+\def\tabu@extra {\@ifnextchar_%
+    {\tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}
+    {\ifx ^\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}%
+    \else   \let\tabu@temp \@empty
+            \afterassignment \tabu@setextrasep \extrarowdepth
+    \fi \tabu@temp}%
+}% \tabu@extra
+\def\tabu@setextra #1#2{\def\tabu@temp{\tabu@extr@#1#2}\afterassignment\tabu@temp#2}
+\def\tabu@extr@ #1#2{\@ifnextchar^%
+    {\tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}
+    {\ifx _\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}%
+    \else   \let\tabu@temp \@empty
+            \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
+    \fi \tabu@temp}%
+}% \tabu@extr@
+\def\tabu@setextrasep {\extrarowheight=\extrarowdepth
+    \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
+}% \tabu@setextrasep
+\def\tabu@Gextra{\ifx \tabu@G@extra\@empty \else {\tabu@Rextra}\fi}
+\def\tabu@n@Gextra{\ifx \tabu@G@extra\@empty \else \noalign{\tabu@Rextra}\fi}
+\def\tabu@Rextra{\tabu@Grestore \tabu@G@extra \tabu@C@extra}
+\let\tabu@C@extra \z@
+\let\tabu@G@extra \@empty
+%% Dynamic vertical spacing adjustment: \tabulinesep ----------------
+\newcommand*\tabulinesep{\edef\tabu@C@linesep{\the\numexpr\tabu@C@linesep+1}%
+    \iftabu@everyrow    \aftergroup\tabu@Glinesep
+    \else               \aftergroup\tabu@n@Glinesep
+    \fi
+    \@ifnextchar={\tabu@gobbletoken\tabu@linesep} \tabu@linesep
+}% \tabulinesep
+\def\tabu@linesep {\@ifnextchar_%
+    {\tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}
+    {\ifx ^\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}%
+     \else  \let\tabu@temp \@empty
+            \afterassignment \tabu@setlinesep \abovetabulinesep
+     \fi \tabu@temp}%
+}% \tabu@linesep
+\def\tabu@setsep #1#2{\def\tabu@temp{\tabu@sets@p#1#2}\afterassignment\tabu@temp#2}
+\def\tabu@sets@p #1#2{\@ifnextchar^%
+    {\tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}
+    {\ifx _\@let@token \def\tabu@temp{%
+            \tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}%
+    \else   \let\tabu@temp \@empty
+            \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
+    \fi \tabu@temp}%
+}% \tabu@sets@p
+\def\tabu@setlinesep {\belowtabulinesep=\abovetabulinesep
+    \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
+}% \tabu@setlinesep
+\def\tabu@Glinesep{\ifx \tabu@G@linesep\@empty \else {\tabu@Rlinesep}\fi}
+\def\tabu@n@Glinesep{\ifx \tabu@G@linesep\@empty \else \noalign{\tabu@Rlinesep}\fi}
+\def\tabu@Rlinesep{\tabu@Grestore \tabu@G@linesep \tabu@C@linesep}
+\let\tabu@C@linesep \z@
+\let\tabu@G@linesep \@empty
+%% \global\extrarowsep  and  \global\tabulinesep  -------------------
+\def\tabu@Gsave #1#2#3#4{\xdef#1{#1%
+    \toks#2{\toks\the\currentgrouplevel{\global#3\the#3\global#4\the#4}}}%
+}% \tabu@Gsave
+\def\tabu@Grestore#1#2{%
+    \toks#2{}#1\toks\currentgrouplevel\expandafter{\expandafter}\the\toks#2\relax
+    \ifcat$\the\toks\currentgrouplevel$\else
+        \global\let#1\@empty \global\let#2\z@
+        \the\toks\currentgrouplevel
+    \fi
+}% \tabu@Grestore
+%% Setting code for every row ---------------------------------------
+\newcommand*\everyrow{\tabu@everyrow@bgroup
+                      \tabu@start \z@ \tabu@stop \z@ \tabu@evrstartstop
+}% \everyrow
+\def\tabu@evrstartstop {\@ifnextchar^%
+    {\afterassignment \tabu@evrstartstop \tabu@stop=}%
+    {\ifx ^\@let@token
+            \afterassignment\tabu@evrstartstop \tabu@start=%
+     \else  \afterassignment\tabu@everyr@w     \toks@
+     \fi}%
+}% \tabu@evrstartstop
+\def\tabu@everyr@w {%
+    \xdef\tabu@everyrow{%
+        \noexpand\tabu@everyrowfalse
+        \let\noalign \relax
+        \noexpand\tabu@rowfontreset
+        \iftabu@colortbl \noexpand\tabu@rc@ \fi % \taburowcolors
+        \let\noexpand\tabu@docline \noexpand\tabu@docline@evr
+        \the\toks@
+        \noexpand\tabu@evrh@@k
+        \noexpand\tabu@rearstrut
+        \global\advance\c@taburow \@ne}%
+    \iftabu@everyrow \toks@\expandafter
+        {\expandafter\def\expandafter\tabu@evr@L\expandafter{\the\toks@}\ignorespaces}%
+    \else \xdef\tabu@evr@G{\the\toks@}%
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@everyr@w
+\def\tabu@evr {\def\tabu@evrh@@k}         % for internal use only
+\tabu@evr{}
+%% line style and leaders -------------------------------------------
+\newcommand*\newtabulinestyle [1]{%
+    {\@for \@tempa :=#1\do{\expandafter\tabu@newlinestyle \@tempa==\@nil}}%
+}% \newtabulinestyle
+\def\tabu@newlinestyle #1=#2=#3\@nil{\tabu@getline {#2}%
+    \tabu@sanitizearg {#1}\@tempa
+    \ifodd 1\ifx \@tempa\@empty \ifdefined\tabu@linestyle@ 0 \fi\fi
+    \global\expandafter\let
+        \csname tabu@linestyle@\@tempa \endcsname =\tabu@thestyle \fi
+}% \tabu@newlinestyle
+\newcommand*\tabulinestyle [1]{\tabu@everyrow@bgroup \tabu@getline{#1}%
+    \iftabu@everyrow
+        \toks@\expandafter{\expandafter \def \expandafter
+                    \tabu@ls@L\expandafter{\tabu@thestyle}\ignorespaces}%
+        \gdef\tabu@ls@{\tabu@ls@L}%
+    \else
+        \global\let\tabu@ls@G \tabu@thestyle
+        \gdef\tabu@ls@{\tabu@ls@G}%
+    \fi
+    \tabu@everyrow@egroup
+}% \tabulinestyle
+\newcommand*\taburulecolor{\tabu@everyrow@bgroup \tabu@textbar \tabu@rulecolor}
+\def\tabu@rulecolor #1{\toks@{}%
+    \def\tabu@temp #1##1#1{\tabu@ruledrsc{##1}}\@ifnextchar #1%
+                                                    \tabu@temp
+                                                 \tabu@rulearc
+}% \tabu@rulecolor
+\def\tabu@ruledrsc #1{\edef\tabu@temp{#1}\tabu@strtrim\tabu@temp
+    \ifx \tabu@temp\@empty \def\tabu@temp{\tabu@rule@drsc@ {}{}}%
+    \else \edef\tabu@temp{\noexpand\tabu@rule@drsc@ {}{\tabu@temp}}%
+    \fi
+    \tabu@temp
+}% \tabu@ruledrsc@
+\def\tabu@ruledrsc@   #1#{\tabu@rule@drsc@ {#1}}
+\def\tabu@rule@drsc@ #1#2{%
+    \iftabu@everyrow
+        \ifx \\#1#2\\\toks@{\let\CT@drsc@ \relax}%
+        \else        \toks@{\def\CT@drsc@{\color #1{#2}}}%
+        \fi
+    \else
+        \ifx \\#1#2\\\global\let\CT@drsc@ \relax
+        \else        \gdef\CT@drsc@{\color #1{#2}}%
+        \fi
+    \fi
+    \tabu@rulearc
+}% \tabu@rule@drsc@
+\def\tabu@rulearc    #1#{\tabu@rule@arc@ {#1}}
+\def\tabu@rule@arc@ #1#2{%
+    \iftabu@everyrow
+        \ifx \\#1#2\\\toks@\expandafter{\the\toks@ \def\CT@arc@{}}%
+        \else        \toks@\expandafter{\the\toks@ \def\CT@arc@{\color #1{#2}}}%
+        \fi
+        \toks@\expandafter{\the\toks@
+            \let\tabu@arc@L  \CT@arc@
+            \let\tabu@drsc@L \CT@drsc@
+            \ignorespaces}%
+    \else
+        \ifx \\#1#2\\\gdef\CT@arc@{}%
+        \else        \gdef\CT@arc@{\color #1{#2}}%
+        \fi
+        \global\let\tabu@arc@G  \CT@arc@
+        \global\let\tabu@drsc@G \CT@drsc@
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@rule@arc@
+\def\taburowcolors {\tabu@everyrow@bgroup \@testopt \tabu@rowcolors 1}
+\def\tabu@rowcolors [#1]#2#{\tabu@rowc@lors{#1}{#2}}
+\def\tabu@rowc@lors #1#2#3{%
+    \toks@{}\@defaultunits \count@      =\number0#2\relax \@nnil
+            \@defaultunits \tabu@start  =\number0#1\relax \@nnil
+    \ifnum \count@<\tw@ \count@=\tw@ \fi
+    \advance\tabu@start \m@ne
+    \ifnum \tabu@start<\z@ \tabu@start \z@ \fi
+    \tabu@rowcolorseries #3\in@..\in@ \@nnil
+}% \tabu@rowcolors
+\def\tabu@rowcolorseries #1..#2\in@ #3\@nnil {%
+    \ifx \in@#1\relax
+        \iftabu@everyrow \toks@{\def\tabu@rc@{}\let\tabu@rc@L \tabu@rc@}%
+        \else   \gdef\tabu@rc@{}\global\let\tabu@rc@G \tabu@rc@
+        \fi
+    \else
+        \ifx \\#2\\\tabu@rowcolorserieserror \fi
+        \tabu@sanitizearg{#1}\tabu@temp
+        \tabu@sanitizearg{#2}\@tempa
+        \advance\count@ \m@ne
+    \iftabu@everyrow
+        \def\tabu@rc@ ##1##2##3##4{\def\tabu@rc@{%
+            \ifnum ##2=\c@taburow
+                \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{##3}{##4}\fi
+            \ifnum \c@taburow<##2 \else
+                \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\z@
+                    \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
+                \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+                \rowcolor{tabu@rc@\the\tabu@nested}\fi}%
+        }\edef\x{\noexpand\tabu@rc@           {\the\count@}
+                                          {\the\tabu@start}
+                                               {\tabu@temp}
+                                                  {\@tempa}%
+                }\x
+        \toks@\expandafter{\expandafter\def\expandafter\tabu@rc@\expandafter{\tabu@rc@}}%
+        \toks@\expandafter{\the\toks@ \let\tabu@rc@L \tabu@rc@ \ignorespaces}%
+    \else   % inside \noalign
+        \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{\tabu@temp}{\@tempa}%
+        \expandafter\resetcolorseries\expandafter[\the\count@]{tabu@rcseries@\the\tabu@nested}%
+        \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+        \let\noalign \relax \rowcolor{tabu@rc@\the\tabu@nested}%
+        \def\tabu@rc@ ##1##2{\gdef\tabu@rc@{%
+            \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\@ne
+                \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
+            \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
+            \rowcolor{tabu@rc@\the\tabu@nested}}%
+        }\edef\x{\noexpand\tabu@rc@{\the\count@}{\the\c@taburow}}\x
+        \global\let\tabu@rc@G \tabu@rc@
+    \fi
+    \fi
+    \tabu@everyrow@egroup
+}% \tabu@rowcolorseries
+\tabuDisableCommands {\let\tabu@rc@ \@empty }
+\def\tabu@rowcolorserieserror {\PackageError{tabu}
+    {Invalid syntax for \string\taburowcolors
+    \MessageBreak Please look at the documentation!}\@ehd
+}% \tabu@rowcolorserieserror
+\newcommand*\tabureset {%
+    \tabulinesep=\z@ \extrarowsep=\z@ \extratabsurround=\z@
+    \tabulinestyle{}\everyrow{}\taburulecolor||{}\taburowcolors{}%
+}% \tabureset
+%% Parsing the line styles ------------------------------------------
+\def\tabu@getline #1{\begingroup
+    \csname \ifcsname if@safe@actives\endcsname         % <babel>
+                      @safe@activestrue\else
+                      relax\fi       \endcsname
+    \edef\tabu@temp{#1}\tabu@sanitizearg{#1}\@tempa
+    \let\tabu@thestyle \relax
+    \ifcsname tabu@linestyle@\@tempa \endcsname
+            \edef\tabu@thestyle{\endgroup
+                \def\tabu@thestyle{\expandafter\noexpand
+                    \csname tabu@linestyle@\@tempa\endcsname}%
+            }\tabu@thestyle
+    \else   \expandafter\tabu@definestyle \tabu@temp \@nil
+    \fi
+}% \tabu@getline
+\def\tabu@definestyle #1#2\@nil {\endlinechar \m@ne \makeatletter
+    \tabu@thick \maxdimen  \tabu@on \maxdimen   \tabu@off \maxdimen
+    \let\tabu@c@lon \@undefined  \let\tabu@c@loff \@undefined
+    \ifodd 1\ifcat .#1\else\ifcat\relax #1\else 0\fi\fi % catcode 12 or non expandable cs
+            \def\tabu@temp{\tabu@getparam{thick}}%
+    \else   \def\tabu@temp{\tabu@getparam{thick}\maxdimen}%
+    \fi
+    {%
+        \let\tabu@ \relax
+        \def\:{\obeyspaces \tabu@oXIII \tabu@commaXIII \edef\:}% (space active \: happy ;-))
+        \scantokens{\:{\tabu@temp #1#2 \tabu@\tabu@}}%
+                        \expandafter}\expandafter
+                                \def\expandafter\:\expandafter{\:}% line spec rewritten now ;-)
+    \def\;{\def\:}%
+    \scantokens\expandafter{\expandafter\;\expandafter{\:}}% space is now inactive (catcode 10)
+    \let\tabu@ \tabu@getcolor    \:%    all arguments are ready now ;-)
+    \ifdefined\tabu@c@lon \else \let\tabu@c@lon\@empty \fi
+    \ifx \tabu@c@lon\@empty \def\tabu@c@lon{\CT@arc@}\fi
+    \ifdefined\tabu@c@loff \else \let\tabu@c@loff \@empty        \fi
+    \ifdim \tabu@on=\maxdimen \ifdim \tabu@off<\maxdimen
+                                  \tabu@on \tabulineon        \fi\fi
+    \ifdim \tabu@off=\maxdimen \ifdim \tabu@on<\maxdimen
+                                  \tabu@off \tabulineoff      \fi\fi
+    \ifodd 1\ifdim \tabu@off=\maxdimen \ifdim \tabu@on=\maxdimen 0 \fi\fi
+            \in@true    % <leaders>
+    \else   \in@false   % <rule>
+    \fi
+    \ifdim\tabu@thick=\maxdimen \def\tabu@thick{\arrayrulewidth}%
+    \else                       \edef\tabu@thick{\the\tabu@thick}%
+    \fi
+    \edef \tabu@thestyle ##1##2{\endgroup
+        \def\tabu@thestyle{%
+            \ifin@  \noexpand\tabu@leadersstyle {\tabu@thick}
+                                                {\the\tabu@on}{##1}
+                                                {\the\tabu@off}{##2}%
+            \else   \noexpand\tabu@rulesstyle
+                            {##1\vrule width \tabu@thick}%
+                            {##1\leaders \hrule height \tabu@thick \hfil}%
+            \fi}%
+    }\expandafter \expandafter
+        \expandafter \tabu@thestyle \expandafter
+            \expandafter \expandafter
+                {\expandafter\tabu@c@lon\expandafter}\expandafter{\tabu@c@loff}%
+}% \tabu@definestyle
+{\catcode`\O=\active \lccode`\O=`\o \catcode`\,=\active
+    \lowercase{\gdef\tabu@oXIII {\catcode`\o=\active \let O=\tabu@oxiii}}
+    \gdef\tabu@commaXIII {\catcode`\,=\active \let ,=\space}
+}% \catcode
+\def\tabu@oxiii #1{%
+    \ifcase  \ifx n#1\z@ \else
+             \ifx f#1\@ne\else
+             \tw@       \fi\fi
+          \expandafter\tabu@onxiii
+    \or   \expandafter\tabu@ofxiii
+    \else o%
+    \fi#1}%
+\def\tabu@onxiii #1#2{%
+    \ifcase  \ifx  !#2\tw@          \else
+             \ifcat.\noexpand#2\z@  \else
+             \ifx \tabu@spxiii#2\@ne\else
+             \tw@               \fi\fi\fi
+          \tabu@getparam{on}#2\expandafter\@gobble
+    \or   \expandafter\tabu@onxiii    % (space is active)
+    \else o\expandafter\@firstofone
+    \fi{#1#2}}%
+\def\tabu@ofxiii #1#2{%
+    \ifx #2f\expandafter\tabu@offxiii
+    \else   o\expandafter\@firstofone
+    \fi{#1#2}}
+\def\tabu@offxiii #1#2{%
+    \ifcase \ifx  !#2\tw@           \else
+            \ifcat.\noexpand#2\z@   \else
+            \ifx\tabu@spxiii#2\@ne  \else
+            \tw@                \fi\fi\fi
+          \tabu@getparam{off}#2\expandafter\@gobble
+    \or   \expandafter\tabu@offxiii   % (space is active)
+    \else o\expandafter\@firstofone
+    \fi{#1#2}}
+\def\tabu@getparam #1{\tabu@ \csname tabu@#1\endcsname=}
+\def\tabu@getcolor #1{% \tabu@ <- \tabu@getcolor after \edef
+    \ifx \tabu@#1\else   % no more spec
+        \let\tabu@theparam=#1\afterassignment \tabu@getc@l@r #1\fi
+}% \tabu@getcolor
+\def\tabu@getc@l@r #1\tabu@ {%
+    \def\tabu@temp{#1}\tabu@strtrim \tabu@temp
+    \ifx \tabu@temp\@empty
+    \else%\ifcsname \string\color@\tabu@temp \endcsname  % if the color exists
+        \ifx \tabu@theparam \tabu@off   \let\tabu@c@loff \tabu@c@l@r
+        \else                           \let\tabu@c@lon  \tabu@c@l@r
+        \fi
+    %\else \tabu@warncolour{\tabu@temp}%
+    \fi%\fi
+    \tabu@ % next spec
+}% \tabu@getc@l@r
+\def\tabu@warncolour #1{\PackageWarning{tabu}
+    {Color #1 is not defined. Default color used}%
+}% \tabu@warncolour
+\def\tabu@leadersstyle #1#2#3#4#5{\def\tabu@leaders{{#1}{#2}{#3}{#4}{#5}}%
+    \ifx \tabu@leaders\tabu@leaders@G \else
+                \tabu@LEADERS{#1}{#2}{#3}{#4}{#5}\fi
+}% \tabu@leadersstyle
+\def\tabu@rulesstyle #1#2{\let\tabu@leaders \@undefined
+        \gdef\tabu@thevrule{#1}\gdef\tabu@thehrule{#2}%
+}% \tabu@rulesstyle
+%% The leaders boxes ------------------------------------------------
+\def\tabu@LEADERS #1#2#3#4#5{%% width, dash, dash color, gap, gap color
+    {\let\color \tabu@color % => during trials ->  \color = \tabu@nocolor
+    {%                      %    but the leaders boxes should have colors !
+    \def\@therule{\vrule}\def\@thick{height}\def\@length{width}%
+    \def\@box{\hbox}\def\@unbox{\unhbox}\def\@elt{\wd}%
+    \def\@skip{\hskip}\def\@ss{\hss}\def\tabu@leads{\tabu@hleads}%
+    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
+    \global\let\tabu@thehleaders \tabu@theleaders
+    }%
+    {%
+    \def\@therule{\hrule}\def\@thick{width}\def\@length{height}%
+    \def\@box{\vbox}\def\@unbox{\unvbox}\def\@elt{\ht}%
+    \def\@skip{\vskip}\def\@ss{\vss}\def\tabu@leads{\tabu@vleads}%
+    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
+    \global\let\tabu@thevleaders \tabu@theleaders
+    }%
+    \gdef\tabu@leaders@G{{#1}{#2}{#3}{#4}{#5}}%
+    }%
+}% \tabu@LEADERS
+\def\tabu@therule #1#2{\@therule \@thick#1\@length\dimexpr#2/2 \@depth\z@}
+\def\tabu@l@@d@rs #1#2#3#4#5{%% width, dash, dash color, gap, gap color
+    \global\setbox \tabu@leads=\@box{%
+        {#3\tabu@therule{#1}{#2}}%
+        \ifx\\#5\\\@skip#4\else{#5\tabu@therule{#1}{#4*2}}\fi
+        {#3\tabu@therule{#1}{#2}}}%
+    \global\setbox\tabu@leads=\@box to\@elt\tabu@leads{\@ss
+        {#3\tabu@therule{#1}{#2}}\@unbox\tabu@leads}%
+    \edef\tabu@theleaders ##1{\def\noexpand\tabu@theleaders {%
+        {##1\tabu@therule{#1}{#2}}%
+        \xleaders \copy\tabu@leads \@ss
+        \tabu@therule{0pt}{-#2}{##1\tabu@therule{#1}{#2}}}%
+    }\tabu@theleaders{#3}%
+}% \tabu@l@@d@rs
+%% \tabu \endtabu \tabu* \longtabu \endlongtabu \longtabu* ----------
+\newcommand*\tabu {\tabu@longfalse
+    \ifmmode \def\tabu@ {\array}\def\endtabu {\endarray}%
+    \else  \def\tabu@ {\tabu@tabular}\def\endtabu {\endtabular}\fi
+    \expandafter\let\csname tabu*\endcsname \tabu
+    \expandafter\def\csname endtabu*\endcsname{\endtabu}%
+    \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
+}% {tabu}
+\let\tabu@tabular \tabular % <For LyX: some users redefine \tabular...>
+\expandafter\def\csname tabu*\endcsname{\tabuscantokenstrue \tabu}
+\newcommand*\longtabu {\tabu@longtrue
+   \ifmmode\PackageError{tabu}{longtabu not allowed in math mode}\fi
+   \def\tabu@{\longtable}\def\endlongtabu{\endlongtable}%
+   \LTchunksize=\@M
+   \expandafter\let\csname tabu*\endcsname \tabu
+   \expandafter\def\csname endlongtabu*\endcsname{\endlongtabu}%
+   \let\LT@startpbox \tabu@LT@startpbox % \everypar{ array struts }
+   \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
+}% {longtabu}
+\expandafter\def\csname longtabu*\endcsname{\tabuscantokenstrue \longtabu}
+\def\tabu@nolongtabu{\PackageError{tabu}
+   {longtabu requires the longtable package}\@ehd}
+%% Read the target and  then : \tabular or \@array ------------------
+\def\tabu@settarget {\futurelet\@let@token \tabu@sett@rget }
+\def\tabu@sett@rget {\tabu@target \z@
+   \ifcase \ifx \bgroup\@let@token   \z@  \else
+           \ifx \@sptoken\@let@token \@ne \else
+           \if t\@let@token          \tw@ \else
+           \if s\@let@token          \thr@@\else
+           \z@\fi\fi\fi\fi
+         \expandafter\tabu@begin
+   \or   \expandafter\tabu@gobblespace\expandafter\tabu@settarget
+   \or   \expandafter\tabu@to
+   \or   \expandafter\tabu@spread
+   \fi
+}% \tabu@sett@rget
+\def\tabu@to to{\def\tabu@halignto{to}\tabu@gettarget}
+\def\tabu@spread spread{\tabu@spreadtrue\def\tabu@halignto{spread}\tabu@gettarget}
+\def\tabu@gettarget {\afterassignment\tabu@linegoaltarget \tabu@target }
+\def\tabu@linegoaltarget {\futurelet\tabu@temp \tabu@linegoalt@rget }
+\def\tabu@linegoalt@rget {%
+   \ifx \tabu@temp\LNGL@setlinegoal
+        \LNGL@setlinegoal \expandafter \@firstoftwo \fi % @gobbles \LNGL@setlinegoal
+   \tabu@begin
+}% \tabu@linegoalt@rget
+\def\tabu@begin #1#{%
+    \iftabu@measuring \expandafter\tabu@nestedmeasure \fi
+    \ifdim \tabu@target=\z@ \let\tabu@halignto \@empty
+    \else                   \edef\tabu@halignto{\tabu@halignto\the\tabu@target}%
+    \fi
+    \@testopt \tabu@tabu@ \tabu@aligndefault #1\@nil
+}% \tabu@begin
+\long\def\tabu@tabu@ [#1]#2\@nil #3{\tabu@setup
+   \def\tabu@align {#1}\def\tabu@savedpream{\NC@find #3}%
+   \tabu@ [\tabu@align ]#2{#3\tabu@rewritefirst }%
+}% \tabu@tabu@
+\def\tabu@nestedmeasure {%
+    \ifodd 1\iftabu@spread \else \ifdim\tabu@target=\z@ \else 0 \fi\fi\relax
+            \tabu@spreadtrue
+    \else   \begingroup \iffalse{\fi \ifnum0=`}\fi
+            \toks@{}\def\tabu@stack{b}%
+            \expandafter\tabu@collectbody\expandafter\tabu@quickrule
+                                         \expandafter\endgroup
+    \fi
+}% \tabu@nestedmeasure
+\def\tabu@quickrule {\indent\vrule height\z@ depth\z@ width\tabu@target}
+%% \tabu@setup  \tabu@init  \tabu@indent
+\def\tabu@setup{\tabu@alloc@
+    \ifcase \tabu@nested
+        \ifmmode \else \iftabu@spread\else \ifdim\tabu@target=\z@
+            \let\tabu@afterendpar \par
+        \fi\fi\fi
+        \def\tabu@aligndefault{c}\tabu@init \tabu@indent
+    \else       % <nested tabu>
+        \def\tabu@aligndefault{t}\let\tabudefaulttarget \linewidth
+    \fi
+    \let\tabu@thetarget \tabudefaulttarget \let\tabu@restored \@undefined
+    \edef\tabu@NC@list{\the\NC@list}\NC@list{\NC@do \tabu@rewritefirst}%
+    \everycr{}\let\@startpbox \tabu@startpbox % for nested tabu inside longtabu...
+              \let\@endpbox   \tabu@endpbox   % idem "    "    "    "    "    "
+              \let\@tabarray  \tabu@tabarray  % idem "    "    "    "    "    "
+    \tabu@setcleanup \tabu@setreset
+}% \tabu@setup
+\def\tabu@init{\tabu@starttimer \tabu@measuringfalse
+    \edef\tabu@hfuzz  {\the\dimexpr\hfuzz+1sp}\global\tabu@footnotes{}%
+    \let\firsthline    \tabu@firsthline   \let\lasthline      \tabu@lasthline
+    \let\firstline     \tabu@firstline    \let\lastline       \tabu@lastline
+    \let\hline         \tabu@hline        \let\@xhline        \tabu@xhline
+    \let\color         \tabu@color        \let\@arstrutbox    \tabu@arstrutbox
+    \iftabu@colortbl\else\let\LT@@hline   \tabu@LT@@hline \fi
+    \tabu@trivlist     %<restore \\=\@normalcr inside lists>
+    \let\@footnotetext \tabu@footnotetext \let\@xfootnotetext \tabu@xfootnotetext
+    \let\@xfootnote    \tabu@xfootnote    \let\centering      \tabu@centering
+    \let\raggedright   \tabu@raggedright  \let\raggedleft     \tabu@raggedleft
+    \let\tabudecimal   \tabu@tabudecimal  \let\Centering      \tabu@Centering
+    \let\RaggedRight   \tabu@RaggedRight  \let\RaggedLeft     \tabu@RaggedLeft
+    \let\justifying    \tabu@justifying   \let\rowfont        \tabu@rowfont
+    \let\fbox          \tabu@fbox         \let\color@b@x      \tabu@color@b@x
+    \let\tabu@@everycr \everycr           \let\tabu@@everypar \everypar
+    \let\tabu@prepnext@tokORI \prepnext@tok\let\prepnext@tok  \tabu@prepnext@tok
+    \let\tabu@multicolumnORI\multicolumn  \let\multicolumn    \tabu@multicolumn
+    \let\tabu@startpbox \@startpbox      % for nested tabu inside longtabu pfff !!!
+    \let\tabu@endpbox   \@endpbox        % idem  "    "    "    "    "    "    "
+    \let\tabu@tabarray  \@tabarray       % idem  "    "    "    "    "    "    "
+    \tabu@adl@fix      \let\endarray      \tabu@endarray % <fix> colortbl & arydshln (delarray)
+    \iftabu@colortbl\CT@everycr\expandafter{\expandafter\iftabu@everyrow \the\CT@everycr \fi}\fi
+}% \tabu@init
+\def\tabu@indent{% correction for indentation
+    \ifdim \parindent>\z@\ifx \linewidth\tabudefaulttarget
+    \everypar\expandafter{%
+        \the\everypar\everypar\expandafter{\the\everypar}%
+            \setbox\z@=\lastbox
+            \ifdim\wd\z@>\z@ \edef\tabu@thetarget
+                {\the\dimexpr -\wd\z@+\tabudefaulttarget}\fi
+            \box\z@}%
+    \fi\fi
+}% \tabu@indent
+\def\tabu@setcleanup {% saves last global assignments
+    \ifodd 1\ifmmode \else \iftabu@long \else 0\fi\fi\relax
+        \def\tabu@aftergroupcleanup{%
+                \def\tabu@aftergroupcleanup{\aftergroup\tabu@cleanup}}%
+    \else
+        \def\tabu@aftergroupcleanup{%
+                \aftergroup\aftergroup\aftergroup\tabu@cleanup
+                \let\tabu@aftergroupcleanup \relax}%
+    \fi
+    \let\tabu@arc@Gsave         \tabu@arc@G
+    \let\tabu@arc@G             \tabu@arc@L   % <init>
+    \let\tabu@drsc@Gsave        \tabu@drsc@G
+    \let\tabu@drsc@G            \tabu@drsc@L  % <init>
+    \let\tabu@ls@Gsave          \tabu@ls@G
+    \let\tabu@ls@G              \tabu@ls@L    % <init>
+    \let\tabu@rc@Gsave          \tabu@rc@G
+    \let\tabu@rc@G              \tabu@rc@L    % <init>
+    \let\tabu@evr@Gsave         \tabu@evr@G
+    \let\tabu@evr@G             \tabu@evr@L   % <init>
+    \let\tabu@celllalign@save   \tabu@celllalign
+    \let\tabu@cellralign@save   \tabu@cellralign
+    \let\tabu@cellleft@save     \tabu@cellleft
+    \let\tabu@cellright@save    \tabu@cellright
+    \let\tabu@@celllalign@save  \tabu@@celllalign
+    \let\tabu@@cellralign@save  \tabu@@cellralign
+    \let\tabu@@cellleft@save    \tabu@@cellleft
+    \let\tabu@@cellright@save   \tabu@@cellright
+    \let\tabu@rowfontreset@save \tabu@rowfontreset
+    \let\tabu@@rowfontreset@save\tabu@@rowfontreset
+    \let\tabu@rowfontreset      \@empty
+    \edef\tabu@alloc@save      {\the\tabu@alloc}%   restore at \tabu@reset
+    \edef\c@taburow@save       {\the\c@taburow}%
+    \edef\tabu@naturalX@save   {\the\tabu@naturalX}%
+    \let\tabu@naturalXmin@save  \tabu@naturalXmin
+    \let\tabu@naturalXmax@save  \tabu@naturalXmax
+    \let\tabu@mkarstrut@save    \tabu@mkarstrut
+    \edef\tabu@clarstrut{%
+        \extrarowheight \the\dimexpr \ht\@arstrutbox-\ht\strutbox \relax
+        \extrarowdepth \the\dimexpr \dp\@arstrutbox-\dp\strutbox \relax
+        \let\noexpand\@arraystretch \@ne \noexpand\tabu@rearstrut}%
+}% \tabu@setcleanup
+\def\tabu@cleanup {\begingroup
+    \globaldefs\@ne         \tabu@everyrowtrue
+    \let\tabu@arc@G         \tabu@arc@Gsave
+    \let\CT@arc@            \tabu@arc@G
+    \let\tabu@drsc@G        \tabu@drsc@Gsave
+    \let\CT@drsc@           \tabu@drsc@G
+    \let\tabu@ls@G          \tabu@ls@Gsave
+    \let\tabu@ls@           \tabu@ls@G
+    \let\tabu@rc@G          \tabu@rc@Gsave
+    \let\tabu@rc@           \tabu@rc@G
+    \let\CT@do@color        \relax
+    \let\tabu@evr@G         \tabu@evr@Gsave
+    \let\tabu@celllalign    \tabu@celllalign@save
+    \let\tabu@cellralign    \tabu@cellralign@save
+    \let\tabu@cellleft      \tabu@cellleft@save
+    \let\tabu@cellright     \tabu@cellright@save
+    \let\tabu@@celllalign   \tabu@@celllalign@save
+    \let\tabu@@cellralign   \tabu@@cellralign@save
+    \let\tabu@@cellleft     \tabu@@cellleft@save
+    \let\tabu@@cellright    \tabu@@cellright@save
+    \let\tabu@rowfontreset  \tabu@rowfontreset@save
+    \let\tabu@@rowfontreset \tabu@@rowfontreset@save
+    \tabu@naturalX         =\tabu@naturalX@save
+    \let\tabu@naturalXmax   \tabu@naturalXmax@save
+    \let\tabu@naturalXmin   \tabu@naturalXmin@save
+    \let\tabu@mkarstrut     \tabu@mkarstrut@save
+    \c@taburow             =\c@taburow@save
+    \ifcase \tabu@nested    \tabu@alloc \m@ne\fi
+    \endgroup               % <end of \globaldefs>
+    \ifcase \tabu@nested
+        \the\tabu@footnotes \global\tabu@footnotes{}%
+        \tabu@afterendpar   \tabu@elapsedtime
+    \fi
+    \tabu@clarstrut
+    \everyrow\expandafter   {\tabu@evr@G}%
+}% \tabu@cleanup
+\let\tabu@afterendpar \relax
+\def\tabu@setreset {%
+    \edef\tabu@savedparams {%         \relax for \tabu@message@save
+        \ifmmode \col@sep \the\arraycolsep
+        \else    \col@sep \the\tabcolsep \fi    \relax
+        \arrayrulewidth   \the\arrayrulewidth   \relax
+        \doublerulesep    \the\doublerulesep    \relax
+        \extratabsurround \the\extratabsurround \relax
+        \extrarowheight   \the\extrarowheight   \relax
+        \extrarowdepth    \the\extrarowdepth    \relax
+        \abovetabulinesep \the\abovetabulinesep \relax
+        \belowtabulinesep \the\belowtabulinesep \relax
+        \def\noexpand\arraystretch{\arraystretch}%
+        \ifdefined\minrowclearance \minrowclearance\the\minrowclearance\relax\fi}%
+    \begingroup
+        \@temptokena\expandafter{\tabu@savedparams}% => only for \savetabu / \usetabu
+        \ifx \tabu@arc@L\relax  \else \tabu@setsave \tabu@arc@L \fi
+        \ifx \tabu@drsc@L\relax \else \tabu@setsave \tabu@drsc@L \fi
+        \tabu@setsave \tabu@ls@L      \tabu@setsave \tabu@evr@L
+        \expandafter \endgroup \expandafter
+            \def\expandafter\tabu@saved@ \expandafter{\the\@temptokena
+                \let\tabu@arc@G  \tabu@arc@L
+                \let\tabu@drsc@G \tabu@drsc@L
+                \let\tabu@ls@G   \tabu@ls@L
+                \let\tabu@rc@G   \tabu@rc@L
+                \let\tabu@evr@G  \tabu@evr@L}%
+    \def\tabu@reset{\tabu@savedparams
+        \tabu@everyrowtrue  \c@taburow \z@
+        \let\CT@arc@        \tabu@arc@L
+        \let\CT@drsc@       \tabu@drsc@L
+        \let\tabu@ls@       \tabu@ls@L
+        \let\tabu@rc@       \tabu@rc@L
+        \global\tabu@alloc  \tabu@alloc@save
+        \everyrow\expandafter{\tabu@evr@L}}%
+}% \tabu@reset
+\def\tabu@setsave #1{\expandafter\tabu@sets@ve #1\@nil{#1}}
+\long\def\tabu@sets@ve #1\@nil #2{\@temptokena\expandafter{\the\@temptokena \def#2{#1}}}
+%% The Rewriting Process -------------------------------------------
+\def\tabu@newcolumntype #1{%
+    \expandafter\tabu@new@columntype
+        \csname NC@find@\string#1\expandafter\endcsname
+        \csname NC@rewrite@\string#1\endcsname
+        {#1}%
+}% \tabu@newcolumntype
+\def\tabu@new@columntype #1#2#3{%
+    \def#1##1#3{\NC@{##1}}%
+    \let#2\relax \newcommand*#2%
+}% \tabu@new@columntype
+\def\tabu@privatecolumntype #1{%
+    \expandafter\tabu@private@columntype
+        \csname NC@find@\string#1\expandafter\endcsname
+        \csname NC@rewrite@\string#1\expandafter\endcsname
+        \csname tabu@NC@find@\string#1\expandafter\endcsname
+        \csname tabu@NC@rewrite@\string#1\endcsname
+        {#1}%
+}% \tabu@privatecolumntype
+\def\tabu@private@columntype#1#2#3#4{%
+    \g@addto@macro\tabu@privatecolumns{\let#1#3\let#2#4}%
+    \tabu@new@columntype#3#4%
+}% \tabu@private@columntype
+\let\tabu@privatecolumns \@empty
+\newcommand*\tabucolumn [1]{\expandafter \def \expandafter
+    \tabu@highprioritycolumns\expandafter{\tabu@highprioritycolumns
+                                          \NC@do #1}}%
+\let\tabu@highprioritycolumns \@empty
+%% The  |  ``column'' : rewriting process --------------------------
+\tabu@privatecolumntype |{\tabu@rewritevline}
+\newcommand*\tabu@rewritevline[1][]{\tabu@vlinearg{#1}%
+                \expandafter \NC@find \tabu@rewritten}
+\def\tabu@lines #1{%
+    \ifx|#1\else \tabu@privatecolumntype #1{\tabu@rewritevline}\fi
+    \NC@list\expandafter{\the\NC@list \NC@do #1}%
+}% \tabu@lines@
+\def\tabu@vlinearg #1{%
+    \ifx\\#1\\\def\tabu@thestyle {\tabu@ls@}%
+    \else\tabu@getline {#1}%
+    \fi
+    \def\tabu@rewritten ##1{\def\tabu@rewritten{!{##1\tabu@thevline}}%
+    }\expandafter\tabu@rewritten\expandafter{\tabu@thestyle}%
+    \expandafter \tabu@keepls \tabu@thestyle \@nil
+}% \tabu@vlinearg
+\def\tabu@keepls #1\@nil{%
+    \ifcat $\@cdr #1\@nil $%
+    \ifx \relax#1\else
+    \ifx \tabu@ls@#1\else
+        \let#1\relax
+        \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
+                \tabu@savels\noexpand#1}\fi\fi\fi
+}% \tabu@keepls
+\def\tabu@thevline {\begingroup
+    \ifdefined\tabu@leaders
+        \setbox\@tempboxa=\vtop to\dimexpr
+                      \ht\@arstrutbox+\dp\@arstrutbox{{\tabu@thevleaders}}%
+        \ht\@tempboxa=\ht\@arstrutbox \dp\@tempboxa=\dp\@arstrutbox
+        \box\@tempboxa
+    \else
+                \tabu@thevrule
+    \fi             \endgroup
+}% \tabu@thevline
+\def\tabu@savels #1{%
+    \expandafter\let\csname\string#1\endcsname #1%
+    \expandafter\def\expandafter\tabu@reset\expandafter{\tabu@reset
+                                                    \tabu@resetls#1}}%
+\def\tabu@resetls #1{\expandafter\let\expandafter#1\csname\string#1\endcsname}%
+%% \multicolumn inside tabu environment -----------------------------
+\tabu@newcolumntype \tabu@rewritemulticolumn{%
+    \aftergroup \tabu@endrewritemulticolumn % after \@mkpream group
+    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
+    \tabu@savedecl
+    \tabu@privatecolumns
+    \NC@list\expandafter{\the\expandafter\NC@list \tabu@NC@list}%
+    \let\tabu@savels \relax
+    \NC@find
+}% \tabu@rewritemulticolumn
+\def\tabu@endrewritemulticolumn{\gdef\tabu@mkpreambuffer{}\endgroup}
+\def\tabu@multicolumn{\tabu@ifenvir \tabu@multic@lumn \tabu@multicolumnORI}
+\long\def\tabu@multic@lumn #1#2#3{\multispan{#1}\begingroup
+    \tabu@everyrowtrue
+    \NC@list{\NC@do \tabu@rewritemulticolumn}%
+    \expandafter\@gobbletwo % gobbles \multispan{#1}
+         \tabu@multicolumnORI{#1}{\tabu@rewritemulticolumn #2}%
+                {\iftabuscantokens \tabu@rescan \else \expandafter\@firstofone \fi
+                {#3}}%
+}% \tabu@multic@lumn
+%% The X column(s): rewriting process -----------------------------
+\tabu@privatecolumntype X[1][]{\begingroup \tabu@siunitx{\endgroup \tabu@rewriteX {#1}}}
+\def\tabu@nosiunitx #1{#1{}{}\expandafter \NC@find \tabu@rewritten }
+\def\tabu@siunitx   #1{\@ifnextchar \bgroup
+                     {\tabu@rewriteX@Ss{#1}}
+                      {\tabu@nosiunitx{#1}}}
+\def\tabu@rewriteX@Ss #1#2{\@temptokena{}%
+    \@defaultunits \let\tabu@temp =#2\relax\@nnil
+    \ifodd 1\ifx S\tabu@temp \else \ifx s\tabu@temp \else 0 \fi\fi
+        \def\NC@find{\def\NC@find >####1####2<####3\relax{#1 {####1}{####3}%
+            }\expandafter\NC@find \the\@temptokena \relax
+        }\expandafter\NC@rewrite@S \@gobble #2\relax
+    \else \tabu@siunitxerror
+    \fi
+    \expandafter \NC@find \tabu@rewritten
+}% \tabu@rewriteX@Ss
+\def\tabu@siunitxerror {\PackageError{tabu}{Not a S nor s column !
+        \MessageBreak X column can only embed siunitx S or s columns}\@ehd
+}% \tabu@siunitxerror
+\def\tabu@rewriteX #1#2#3{\tabu@Xarg {#1}{#2}{#3}%
+    \iftabu@measuring
+    \else \tabu@measuringtrue % first X column found in the preamble
+        \let\@halignto \relax   \let\tabu@halignto \relax
+        \iftabu@spread \tabu@spreadtarget \tabu@target \tabu@target \z@
+        \else          \tabu@spreadtarget \z@ \fi
+        \ifdim \tabu@target=\z@
+                \setlength\tabu@target \tabu@thetarget
+                \tabu@message{\tabu@message@defaulttarget}%
+        \else   \tabu@message{\tabu@message@target}\fi
+    \fi
+}% \tabu@rewriteX
+\def\tabu@rewriteXrestore #1#2#3{\let\@halignto \relax
+                                \def\tabu@rewritten{l}}
+\def\tabu@Xarg #1#2#3{%
+   \advance\tabu@Xcol \@ne      \let\tabu@Xlcr  \@empty
+   \let\tabu@Xdisp    \@empty   \let\tabu@Xmath \@empty
+    \ifx\\#1\\%    <shortcut when no option>
+         \def\tabu@rewritten{p}\tabucolX \p@        % <default coef = 1>
+    \else
+         \let\tabu@rewritten \@empty   \let\tabu@temp \@empty  \tabucolX \z@
+         \tabu@Xparse {}#1\relax
+    \fi
+    \tabu@Xrewritten{#2}{#3}%
+}% \tabu@Xarg
+\def\tabu@Xparse #1{\futurelet\@let@token \tabu@Xtest}
+\expandafter\def\expandafter\tabu@Xparsespace\space{\tabu@Xparse{}}
+\def\tabu@Xtest{%
+   \ifcase \ifx \relax\@let@token \z@ \else
+           \if ,\@let@token \m@ne\else
+           \if p\@let@token 1\else
+           \if m\@let@token 2\else
+           \if b\@let@token 3\else
+           \if l\@let@token 4\else
+           \if c\@let@token 5\else
+           \if r\@let@token 6\else
+           \if j\@let@token 7\else
+           \if L\@let@token 8\else
+           \if C\@let@token 9\else
+           \if R\@let@token 10\else
+           \if J\@let@token 11\else
+           \ifx \@sptoken\@let@token 12\else
+           \if .\@let@token 13\else
+           \if -\@let@token 13\else
+           \ifcat $\@let@token 14\else
+           15\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
+   \or \tabu@Xtype {p}%
+   \or \tabu@Xtype {m}%
+   \or \tabu@Xtype {b}%
+   \or \tabu@Xalign \raggedright\relax
+   \or \tabu@Xalign \centering\relax
+   \or \tabu@Xalign \raggedleft\relax
+   \or \tabu@Xalign \tabu@justify\relax
+   \or \tabu@Xalign \RaggedRight\raggedright
+   \or \tabu@Xalign \Centering\centering
+   \or \tabu@Xalign \RaggedLeft\raggedleft
+   \or \tabu@Xalign \justifying\tabu@justify
+   \or \expandafter \tabu@Xparsespace
+   \or \expandafter \tabu@Xcoef
+   \or \expandafter \tabu@Xm@th
+   \or \tabu@Xcoef{}%
+   \else\expandafter \tabu@Xparse
+   \fi
+}% \tabu@Xtest
+\def\tabu@Xalign #1#2{%
+    \ifx \tabu@Xlcr\@empty \else \PackageWarning{tabu}
+       {Duplicate horizontal alignment specification}\fi
+    \ifdefined#1\def\tabu@Xlcr{#1}\let#1\relax
+    \else       \def\tabu@Xlcr{#2}\let#2\relax\fi
+    \expandafter\tabu@Xparse
+}% \tabu@Xalign
+\def\tabu@Xtype #1{%
+    \ifx \tabu@rewritten\@empty \else \PackageWarning{tabu}
+            {Duplicate vertical alignment specification}\fi
+    \def\tabu@rewritten{#1}\expandafter\tabu@Xparse
+}% \tabu@Xtype
+\def\tabu@Xcoef#1{\edef\tabu@temp{\tabu@temp#1}%
+    \afterassignment\tabu@Xc@ef \tabu@cnt\number\if-#10\fi
+}% \tabu@Xcoef
+\def\tabu@Xc@ef{\advance\tabucolX \tabu@temp\the\tabu@cnt\p@
+    \tabu@Xparse{}%
+}% \tabu@Xc@ef
+\def\tabu@Xm@th #1{\futurelet \@let@token \tabu@Xd@sp}
+\def\tabu@Xd@sp{\let\tabu@Xmath=$%
+    \ifx $\@let@token \def\tabu@Xdisp{\displaystyle}%
+            \expandafter\tabu@Xparse
+    \else   \expandafter\tabu@Xparse\expandafter{\expandafter}%
+    \fi
+}% \tabu@Xd@sp
+\def\tabu@Xrewritten {%
+   \ifx  \tabu@rewritten\@empty \def\tabu@rewritten{p}\fi
+   \ifdim \tabucolX<\z@         \tabu@negcoeftrue
+   \else\ifdim \tabucolX=\z@    \tabucolX \p@
+   \fi\fi
+   \edef\tabu@temp{{\the\tabu@Xcol}{\tabu@strippt\tabucolX}}%
+   \edef\tabu@Xcoefs{\tabu@Xcoefs    \tabu@      \tabu@temp}%
+   \edef\tabu@rewritten ##1##2{\def\noexpand\tabu@rewritten{%
+        >{\tabu@Xlcr \ifx$\tabu@Xmath$\tabu@Xdisp\fi ##1}%
+                    \tabu@rewritten {\tabu@hsize \tabu@temp}%
+        <{##2\ifx$\tabu@Xmath$\fi}}%
+   }\tabu@rewritten
+}% \tabu@Xrewritten
+\def\tabu@hsize #1#2{%
+    \ifdim #2\p@<\z@
+        \ifdim \tabucolX=\maxdimen \tabu@wd{#1}\else
+        \ifdim \tabu@wd{#1}<-#2\tabucolX \tabu@wd{#1}\else -#2\tabucolX\fi
+        \fi
+   \else #2\tabucolX
+   \fi
+}% \tabu@hsize
+%% \usetabu  and  \preamble: rewriting process ---------------------
+\tabu@privatecolumntype \usetabu [1]{%
+    \ifx\\#1\\\tabu@saveerr{}\else
+        \@ifundefined{tabu@saved@\string#1}
+            {\tabu@saveerr{#1}}
+            {\let\tabu@rewriteX \tabu@rewriteXrestore
+             \csname tabu@saved@\string#1\expandafter\endcsname\expandafter\@ne}%
+    \fi
+}% \NC@rewrite@\usetabu
+\tabu@privatecolumntype \preamble [1]{%
+    \ifx\\#1\\\tabu@saveerr{}\else
+        \@ifundefined{tabu@saved@\string#1}
+            {\tabu@saveerr{#1}}
+            {\csname tabu@saved@\string#1\expandafter\endcsname\expandafter\z@}%
+    \fi
+}% \NC@rewrite@\preamble
+%% Controlling the rewriting process -------------------------------
+\tabu@newcolumntype \tabu@rewritefirst{%
+    \iftabu@long    \aftergroup \tabu@longpream  % <the whole implementation is here !>
+    \else           \aftergroup \tabu@pream
+    \fi
+    \let\tabu@          \relax      \let\tabu@hsize     \relax
+    \let\tabu@Xcoefs    \@empty     \let\tabu@savels    \relax
+    \tabu@Xcol          \z@         \tabu@cnt           \tw@
+    \gdef\tabu@mkpreambuffer{\tabu@{}}\tabu@measuringfalse
+    \global\setbox\@arstrutbox \box\@arstrutbox
+    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
+    \NC@list\expandafter{\the\NC@list \NC@do X}%
+    \iftabu@siunitx     % <siunitx S and s columns>
+            \NC@list\expandafter{\the\NC@list \NC@do S\NC@do s}\fi
+    \NC@list\expandafter{\the\expandafter\NC@list \tabu@highprioritycolumns}%
+    \expandafter\def\expandafter\tabu@NC@list\expandafter{%
+                    \the\expandafter\NC@list \tabu@NC@list}%    % * | X S <original>
+    \NC@list\expandafter{\expandafter \NC@do \expandafter\usetabu
+                         \expandafter \NC@do \expandafter\preamble
+                         \the\NC@list \NC@do \tabu@rewritemiddle
+                                      \NC@do \tabu@rewritelast}%
+    \tabu@savedecl
+    \tabu@privatecolumns
+    \edef\tabu@prev{\the\@temptokena}\NC@find \tabu@rewritemiddle
+}% NC@rewrite@\tabu@rewritefirst
+\tabu@newcolumntype \tabu@rewritemiddle{%
+    \edef\tabu@temp{\the\@temptokena}\NC@find \tabu@rewritelast
+}% \NC@rewrite@\tabu@rewritemiddle
+\tabu@newcolumntype \tabu@rewritelast{%
+    \ifx \tabu@temp\tabu@prev   \advance\tabu@cnt \m@ne
+            \NC@list\expandafter{\tabu@NC@list \NC@do \tabu@rewritemiddle
+                                               \NC@do \tabu@rewritelast}%
+    \else \let\tabu@prev\tabu@temp
+    \fi
+    \ifcase \tabu@cnt   \expandafter\tabu@endrewrite
+    \else               \expandafter\NC@find \expandafter\tabu@rewritemiddle
+    \fi
+}% \NC@rewrite@\tabu@rewritelast
+%% Choosing the strategy --------------------------------------------
+\def\tabu@endrewrite {%
+    \let\tabu@temp \NC@find
+    \ifx \@arrayright\relax \let\@arrayright \@empty  \fi
+    \count@=%
+        \ifx \@finalstrut\tabu@finalstrut \z@ % outer in mode 0 print
+             \iftabu@measuring
+                \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
+                    \tabu@target        \csname tabu@\the\tabu@nested.T\endcsname
+                    \tabucolX           \csname tabu@\the\tabu@nested.X\endcsname
+                    \edef\@halignto {\ifx\@arrayright\@empty to\tabu@target\fi}}%
+             \fi
+        \else\iftabu@measuring        4       % X columns
+                \xdef\tabu@mkpreambuffer{\tabu@{\tabu@mkpreambuffer
+                    \tabu@target        \the\tabu@target
+                    \tabu@spreadtarget  \the\tabu@spreadtarget}%
+                    \def\noexpand\tabu@Xcoefs{\tabu@Xcoefs}%
+                    \edef\tabu@halignto{\ifx \@arrayright\@empty to\tabu@target\fi}}%
+                 \let\tabu@Xcoefs \relax
+             \else\ifcase\tabu@nested \thr@@  % outer, no X
+                                      \global\let\tabu@afterendpar \relax
+                  \else               \@ne    % inner, no X, outer in mode 1 or 2
+                  \fi
+                  \ifdefined\tabu@usetabu
+                  \else \ifdim\tabu@target=\z@
+                  \else \let\tabu@temp \tabu@extracolsep
+                  \fi\fi
+             \fi
+        \fi
+    \xdef\tabu@mkpreambuffer{\count@ \the\count@ \tabu@mkpreambuffer}%
+    \tabu@temp
+}% \tabu@endrewrite
+\def\tabu@extracolsep{\@defaultunits    \expandafter\let
+    \expandafter\tabu@temp \expandafter=\the\@temptokena \relax\@nnil
+    \ifx \tabu@temp\@sptoken
+        \expandafter\tabu@gobblespace \expandafter\tabu@extracolsep
+    \else
+        \edef\tabu@temp{\noexpand\NC@find
+            \if |\noexpand\tabu@temp        @%
+            \else\if !\noexpand\tabu@temp   @%
+            \else                           !%
+            \fi\fi
+            {\noexpand\extracolsep\noexpand\@flushglue}}%
+    \fi
+    \tabu@temp
+}% \tabu@extrac@lsep
+%% Implementing the strategy ----------------------------------------
+\long\def\tabu@pream #1\@preamble {%
+    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
+    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
+    \ifdefined\tabu@usetabu \tabu@usetabu \tabu@target \z@ \fi
+    \let\tabu@savedpreamble \@preamble
+    \global\let\tabu@elapsedtime \relax
+    \tabu@thebody ={#1\tabu@aftergroupcleanup}%
+    \tabu@thebody =\expandafter{\the\expandafter\tabu@thebody
+                                                \@preamble}%
+    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
+    \tabu@select
+}% \tabu@pream
+\long\def\tabu@longpream #1\LT@bchunk #2\LT@bchunk{%
+    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
+    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
+    \let\tabu@savedpreamble \@preamble
+    \global\let\tabu@elapsedtime \relax
+    \tabu@thebody ={#1\LT@bchunk #2\tabu@aftergroupcleanup \LT@bchunk}%
+    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
+    \tabu@select
+}% \tabu@longpream
+\def\tabu@select {%
+    \ifnum\tabu@nested>\z@ \tabuscantokensfalse \fi
+    \ifnum \count@=\@ne \iftabu@measuring \count@=\tw@ \fi\fi
+    \ifcase \count@
+        \global\let\tabu@elapsedtime \relax
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble       % vertical adjustment (inherited from outer)
+    \or      % exit in vertical measure + struts per cell because no X and outer in mode 3
+        \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
+        \def\tabu@cellralign{\tabu@verticalspacing}%
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble
+    \or                            % exit without measure because no X and outer in mode 4
+        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
+        \tabu@seteverycr
+        \expandafter \tabuthepreamble
+    \else                                   % needs trials
+        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
+        \tabu@savecounters
+        \expandafter \tabu@setstrategy
+    \fi
+}% \tabu@select
+\def\tabu@@ {\gdef\tabu@mkpreambuffer}
+%% Protections to set up before trials ------------------------------
+\def\tabu@setstrategy {\begingroup  % <trials group>
+    \tabu@trialh@@k    \tabu@cnt    \z@  % number of trials
+    \hbadness          \@M          \let\hbadness          \@tempcnta
+    \hfuzz             \maxdimen    \let\hfuzz             \@tempdima
+    \let\write         \tabu@nowrite\let\GenericError      \tabu@GenericError
+    \let\savetabu      \@gobble     \let\tabudefaulttarget \linewidth
+    \let\@footnotetext \@gobble     \let\@xfootnote        \tabu@xfootnote
+    \let\color         \tabu@nocolor\let\rowcolor          \tabu@norowcolor
+    \let\tabu@aftergroupcleanup \relax % only after the last trial
+    \tabu@mkpreambuffer
+    \ifnum \count@>\thr@@ \let\@halignto \@empty  \tabucolX@init
+                          \def\tabu@lasttry{\m@ne\p@}\fi
+    \begingroup \iffalse{\fi \ifnum0=`}\fi
+        \toks@{}\def\tabu@stack{b}\iftabuscantokens \endlinechar=10 \obeyspaces \fi %
+                                  \tabu@collectbody \tabu@strategy %
+}% \tabu@setstrategy
+\def\tabu@savecounters{%
+    \def\@elt ##1{\csname c@##1\endcsname\the\csname c@##1\endcsname}%
+    \edef\tabu@clckpt {\begingroup \globaldefs=\@ne \cl@@ckpt \endgroup}\let\@elt \relax
+}% \tabu@savecounters
+\def\tabucolX@init {%  \tabucolX <= \tabu@target / (sum coefs > 0)
+    \dimen@ \z@ \tabu@Xsum \z@ \tabucolX \z@ \let\tabu@ \tabu@Xinit \tabu@Xcoefs
+    \ifdim \dimen@>\z@
+        \@tempdima \dimexpr \tabu@target *\p@/\dimen@ + \tabu@hfuzz\relax
+        \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
+    \fi
+}% \tabucolX@init
+\def\tabu@Xinit #1#2{\tabu@Xcol #1 \advance \tabu@Xsum
+    \ifdim #2\p@>\z@ #2\p@  \advance\dimen@ #2\p@
+    \else           -#2\p@  \tabu@negcoeftrue
+                            \@tempdima \dimexpr \tabu@target*\p@/\dimexpr-#2\p@\relax \relax
+                            \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
+                            \tabu@wddef{#1}{0pt}%
+    \fi
+}% \tabu@Xinit
+%% Collecting the environment body ----------------------------------
+\long\def\tabu@collectbody #1#2\end #3{%
+    \edef\tabu@stack{\tabu@pushbegins #2\begin\end\expandafter\@gobble\tabu@stack}%
+    \ifx \tabu@stack\@empty
+        \toks@\expandafter{\expandafter\tabu@thebody\expandafter{\the\toks@ #2}%
+                \def\tabu@end@envir{\end{#3}}%
+                \iftabuscantokens
+                    \iftabu@long \def\tabu@endenvir {\end{#3}\tabu@gobbleX}%
+                    \else        \def\tabu@endenvir {\let\endarray \@empty
+                                                     \end{#3}\tabu@gobbleX}%
+                    \fi
+                \else           \def\tabu@endenvir  {\end{#3}}\fi}%
+        \let\tabu@collectbody \tabu@endofcollect
+    \else\def\tabu@temp{#3}%
+        \ifx \tabu@temp\@empty \toks@\expandafter{\the\toks@ #2\end }%
+        \else \ifx\tabu@temp\tabu@@spxiii \toks@\expandafter{\the\toks@ #2\end #3}%
+        \else \ifx\tabu@temp\tabu@X \toks@\expandafter{\the\toks@ #2\end #3}%
+        \else \toks@\expandafter{\the\toks@ #2\end{#3}}%
+        \fi\fi\fi
+    \fi
+    \tabu@collectbody{#1}%
+}% \tabu@collectbody
+\long\def\tabu@pushbegins#1\begin#2{\ifx\end#2\else b\expandafter\tabu@pushbegins\fi}%
+\def\tabu@endofcollect #1{\ifnum0=`{}\fi
+                          \expandafter\endgroup \the\toks@  #1%
+}% \tabu@endofcollect
+%% The trials: switching between strategies -------------------------
+\def\tabu@strategy {\relax  % stops \count@ assignment !
+    \ifcase\count@          % case 0 = print with vertical adjustment (outer is finished)
+        \expandafter \tabu@endoftrials
+    \or                     % case 1 = exit in vertical measure (outer in mode 3)
+        \expandafter\xdef\csname tabu@\the\tabu@nested.T\endcsname{\the\tabu@target}%
+        \expandafter\xdef\csname tabu@\the\tabu@nested.X\endcsname{\the\tabucolX}%
+        \expandafter \tabu@endoftrials
+    \or                     % case 2 = exit with a rule replacing the table (outer in mode 4)
+        \expandafter \tabu@quickend
+    \or                     % case 3 = outer is in mode 3 because of no X
+        \begingroup
+            \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
+            \def\tabu@cellralign{\tabu@verticalspacing}%
+            \expandafter \tabu@measuring
+    \else                   % case 4 = horizontal measure
+        \begingroup
+            \global\let\tabu@elapsedtime \tabu@message@etime
+            \long\def\multicolumn##1##2##3{\multispan{##1}}%
+            \let\tabu@startpboxORI \@startpbox
+            \iftabu@spread
+                    \def\tabu@naturalXmax {\z@}%
+                    \let\tabu@naturalXmin \tabu@naturalXmax
+                    \tabu@evr{\global\tabu@naturalX \z@}%
+                    \let\@startpbox \tabu@startpboxmeasure
+            \else\iftabu@negcoef
+                    \let\@startpbox \tabu@startpboxmeasure
+            \else   \let\@startpbox \tabu@startpboxquick
+            \fi\fi
+            \expandafter \tabu@measuring
+    \fi
+}% \tabu@strategy
+\def\tabu@measuring{\expandafter \tabu@trial \expandafter
+                                                \count@ \the\count@ \tabu@endtrial
+}% \tabu@measuring
+\def\tabu@trial{\iftabu@long \tabu@longtrial \else \tabu@shorttrial \fi}
+\def\tabu@shorttrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
+    \ifx \tabu@savecounters\relax \else
+                \let\tabu@savecounters \relax \tabu@clckpt \fi
+    $\iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
+       \expandafter{\expandafter \tabuthepreamble
+                         \the\tabu@thebody
+                         \csname tabu@adl@endtrial\endcsname
+                         \endarray}$\egroup             % got \tabu@box
+}% \tabu@shorttrial
+\def\tabu@longtrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
+    \ifx \tabu@savecounters\relax \else
+                \let\tabu@savecounters \relax \tabu@clckpt \fi
+    \iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
+       \expandafter{\expandafter \tabuthepreamble
+                         \the\tabu@thebody
+                         \tabuendlongtrial}\egroup      % got \tabu@box
+}% \tabu@longtrial
+\def\tabuendlongtrial{% no @ allowed for \scantokens
+    \LT@echunk  \global\setbox\@ne \hbox{\unhbox\@ne}\kern\wd\@ne
+                \LT@get@widths
+}% \tabuendlongtrial
+\def\tabu@adl@endtrial{% <arydshln in nested trials - problem for global column counters!>
+    \crcr \noalign{\global\adl@ncol \tabu@nbcols}}% anything global is crap, junky and fails !
+\def\tabu@seteverycr {\tabu@reset
+    \everycr \expandafter{\the\everycr  \tabu@everycr}%
+    \let\everycr \tabu@noeverycr                      % <for ialign>
+}% \tabu@seteverycr
+\def\tabu@noeverycr{{\aftergroup\tabu@restoreeverycr \afterassignment}\toks@}
+\def\tabu@restoreeverycr {\let\everycr \tabu@@everycr}
+\def\tabu@everycr {\iftabu@everyrow \noalign{\tabu@everyrow}\fi}
+\def\tabu@endoftrials {%
+    \iftabuscantokens   \expandafter\@firstoftwo
+    \else               \expandafter\@secondoftwo
+    \fi
+        {\expandafter \tabu@closetrialsgroup \expandafter
+         \tabu@rescan \expandafter{%
+                    \expandafter\tabuthepreamble
+                        \the\expandafter\tabu@thebody
+                                    \iftabu@long \else \endarray \fi}}
+        {\expandafter\tabu@closetrialsgroup \expandafter
+                    \tabuthepreamble
+                        \the\tabu@thebody}%
+                                        \tabu@endenvir      % Finish !
+}% \tabu@endoftrials
+\def\tabu@closetrialsgroup {%
+    \toks@\expandafter{\tabu@endenvir}%
+    \edef\tabu@bufferX{\endgroup
+        \tabucolX       \the\tabucolX
+        \tabu@target    \the\tabu@target
+        \tabu@cnt       \the\tabu@cnt
+        \def\noexpand\tabu@endenvir{\the\toks@}%
+        %Quid de \@halignto = \tabu@halignto ??
+    }% \tabu@bufferX
+    \tabu@bufferX
+    \ifcase\tabu@nested % print out (outer in mode 0)
+        \global\tabu@cnt \tabu@cnt
+        \tabu@evr{\tabu@verticaldynamicadjustment}%
+        \tabu@celllalign@def{\everypar{}}\let\tabu@cellralign \@empty
+        \let\@finalstrut \tabu@finalstrut
+    \else               % vertical measure of nested tabu
+        \tabu@evr{\tabu@verticalinit}%
+        \tabu@celllalign@def{\tabu@verticalmeasure}%
+        \def\tabu@cellralign{\tabu@verticalspacing}%
+    \fi
+    \tabu@clckpt \let\@halignto \tabu@halignto
+    \let\@halignto \@empty
+    \tabu@seteverycr
+    \ifdim \tabustrutrule>\z@ \ifnum\tabu@nested=\z@
+        \setbox\@arstrutbox \box\voidb@x % force \@arstrutbox to be rebuilt (visible struts)
+    \fi\fi
+}% \tabu@closetrialsgroup
+\def\tabu@quickend {\expandafter \endgroup \expandafter
+                        \tabu@target \the\tabu@target \tabu@quickrule
+                        \let\endarray \relax \tabu@endenvir
+}% \tabu@quickend
+\def\tabu@endtrial {\relax      % stops \count@ assignment !
+    \ifcase \count@ \tabu@err   % case 0 = impossible here
+    \or             \tabu@err   % case 1 = impossible here
+    \or             \tabu@err   % case 2 = impossible here
+    \or                         % case 3 = outer goes into mode 0
+        \def\tabu@bufferX{\endgroup}\count@ \z@
+    \else                       % case 4 = outer goes into mode 3
+        \iftabu@spread  \tabu@spreadarith % inner into mode 1 (outer in mode 3)
+        \else           \tabu@arith       %              or 2 (outer in mode 4)
+        \fi
+        \count@=%
+            \ifcase\tabu@nested     \thr@@  % outer goes into mode 3
+            \else\iftabu@measuring  \tw@    % outer is in mode 4
+            \else                   \@ne    % outer is in mode 3
+            \fi\fi
+        \edef\tabu@bufferX{\endgroup
+                           \tabucolX        \the\tabucolX
+                           \tabu@target     \the\tabu@target}%
+    \fi
+    \expandafter \tabu@bufferX \expandafter
+                                    \count@ \the\count@  \tabu@strategy
+}% \tabu@endtrial
+\def\tabu@err{\errmessage{(tabu) Internal impossible error! (\count@=\the\count@)}}
+%% The algorithms: compute the widths / stop or go on ---------------
+\def\tabu@arithnegcoef {%
+    \@tempdima \z@ \dimen@ \z@ \let\tabu@ \tabu@arith@negcoef \tabu@Xcoefs
+}% \tabu@arithnegcoef
+\def\tabu@arith@negcoef #1#2{%
+    \ifdim #2\p@>\z@    \advance\dimen@     #2\p@       % saturated by definition
+                        \advance\@tempdima  #2\tabucolX
+    \else
+        \ifdim -#2\tabucolX <\tabu@wd{#1}% c_i X < natural width <= \tabu@target-> saturated
+                        \advance\dimen@     -#2\p@
+                        \advance\@tempdima  -#2\tabucolX
+        \else
+                        \advance\@tempdima \tabu@wd{#1}% natural width <= c_i X => neutralised
+                        \ifdim \tabu@wd{#1}<\tabu@target \else % neutralised
+                        \advance\dimen@     -#2\p@ % saturated (natural width = tabu@target)
+                        \fi
+        \fi
+    \fi
+}% \tabu@arith@negcoef
+\def\tabu@givespace #1#2{% here \tabu@DELTA < \z@
+    \ifdim \@tempdima=\z@
+        \tabu@wddef{#1}{\the\dimexpr -\tabu@DELTA*\p@/\tabu@Xsum}%
+    \else
+        \tabu@wddef{#1}{\the\dimexpr \tabu@hsize{#1}{#2}
+                    *(\p@ -\tabu@DELTA*\p@/\@tempdima)/\p@\relax}%
+    \fi
+}% \tabu@givespace
+\def\tabu@arith {\advance\tabu@cnt \@ne
+    \ifnum \tabu@cnt=\@ne \tabu@message{\tabu@titles}\fi
+    \tabu@arithnegcoef
+    \@tempdimb \dimexpr \wd\tabu@box -\@tempdima \relax % <incompressible material>
+    \tabu@DELTA = \dimexpr \wd\tabu@box - \tabu@target \relax
+    \tabu@message{\tabu@message@arith}%
+    \ifdim \tabu@DELTA <\tabu@hfuzz
+        \ifdim \tabu@DELTA<\z@          % wd (tabu)<\tabu@target ?
+            \let\tabu@ \tabu@givespace \tabu@Xcoefs
+            \advance\@tempdima \@tempdimb \advance\@tempdima -\tabu@DELTA % for message
+        \else   % already converged: nothing to do but nearly impossible...
+        \fi
+        \tabucolX \maxdimen
+        \tabu@measuringfalse
+    \else                               % need for narrower X columns
+        \tabucolX =\dimexpr (\@tempdima -\tabu@DELTA) *\p@/\tabu@Xsum \relax
+        \tabu@measuringtrue
+        \@whilesw \iftabu@measuring\fi {%
+            \advance\tabu@cnt \@ne
+            \tabu@arithnegcoef
+            \tabu@DELTA =\dimexpr \@tempdima+\@tempdimb -\tabu@target \relax % always < 0 here
+            \tabu@message{\tabu@header
+                \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
+                \tabu@msgalign \@tempdima+\@tempdimb { }{ }{ }{ }{ }\@@
+                \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
+                \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
+                \ifdim -\tabu@DELTA<\tabu@hfuzz \tabu@spaces target ok\else
+                \tabu@msgalign \dimexpr -\tabu@DELTA *\p@/\dimen@ {}{}{}{}{}\@@
+                \fi}%
+            \ifdim -\tabu@DELTA<\tabu@hfuzz
+                \advance\@tempdima \@tempdimb % for message
+                \tabu@measuringfalse
+            \else
+                \advance\tabucolX \dimexpr -\tabu@DELTA *\p@/\dimen@ \relax
+            \fi
+        }%
+    \fi
+    \tabu@message{\tabu@message@reached}%
+    \edef\tabu@bufferX{\endgroup \tabu@cnt    \the\tabu@cnt
+                                 \tabucolX    \the\tabucolX
+                                 \tabu@target \the\tabu@target}%
+}% \tabu@arith
+\def\tabu@spreadarith {%
+    \dimen@ \z@ \@tempdima \tabu@naturalXmax \let\tabu@ \tabu@spread@arith \tabu@Xcoefs
+    \edef\tabu@naturalXmin {\the\dimexpr\tabu@naturalXmin*\dimen@/\p@}%
+    \@tempdimc =\dimexpr \wd\tabu@box -\tabu@naturalXmax+\tabu@naturalXmin \relax
+    \iftabu@measuring
+        \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
+        \edef\tabu@bufferX{\endgroup \tabucolX \the\tabucolX \tabu@target\the\tabu@target}%
+    \else
+        \tabu@message{\tabu@message@spreadarith}%
+        \ifdim \dimexpr \@tempdimc+\tabu@spreadtarget >\tabu@target
+            \tabu@message{(tabu) spread
+                \ifdim \@tempdimc>\tabu@target useless here: default target used%
+                \else too large: reduced to fit default target\fi.}%
+        \else
+            \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
+            \tabu@message{(tabu) spread: New target set to \the\tabu@target^^J}%
+        \fi
+        \begingroup \let\tabu@wddef \@gobbletwo
+            \@tempdimb \@tempdima
+            \tabucolX@init
+            \tabu@arithnegcoef
+            \wd\tabu@box =\dimexpr \wd\tabu@box +\@tempdima-\@tempdimb \relax
+        \expandafter\endgroup \expandafter\tabucolX \the\tabucolX
+        \tabu@arith
+    \fi
+}% \tabu@spreadarith
+\def\tabu@spread@arith #1#2{%
+    \ifdim #2\p@>\z@ \advance\dimen@ #2\p@
+    \else            \advance\@tempdima \tabu@wd{#1}\relax
+    \fi
+}% \tabu@spread@arith
+%% Reporting in the .log file ---------------------------------------
+\def\tabu@message@defaulttarget{%
+    \ifnum\tabu@nested=\z@^^J(tabu) Default target:
+    \ifx\tabudefaulttarget\linewidth    \string\linewidth
+        \ifdim \tabu@thetarget=\linewidth \else
+            -\the\dimexpr\linewidth-\tabu@thetarget\fi  =
+    \else\ifx\tabudefaulttarget\linegoal\string\linegoal=
+    \fi\fi
+    \else (tabu) Default target (nested): \fi
+    \the\tabu@target \on@line
+    \ifnum\tabu@nested=\z@ , page \the\c@page\fi}
+\def\tabu@message@target {^^J(tabu) Target specified:
+   \the\tabu@target \on@line, page \the\c@page}
+\def\tabu@message@arith {\tabu@header
+    \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
+    \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{ }\@@
+    \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
+    \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
+    \ifdim \tabu@DELTA<\tabu@hfuzz giving space\else
+    \tabu@msgalign \dimexpr (\@tempdima-\tabu@DELTA) *\p@/\tabu@Xsum -\tabucolX {}{}{}{}{}\@@
+    \fi
+}% \tabu@message@arith
+\def\tabu@message@spreadarith {\tabu@spreadheader
+   \tabu@msgalign \tabu@spreadtarget { }{ }{ }{ }{}\@@
+   \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{}\@@
+   \tabu@msgalign -\tabu@naturalXmax { }{}{}{}{}\@@
+   \tabu@msgalign \tabu@naturalXmin { }{ }{ }{ }{}\@@
+   \tabu@msgalign \ifdim \dimexpr\@tempdimc>\tabu@target \tabu@target
+                  \else  \@tempdimc+\tabu@spreadtarget \fi
+                  {}{}{}{}{}\@@}
+\def\tabu@message@negcoef #1#2{
+    \tabu@spaces\tabu@spaces\space * #1. X[\rem@pt#2]:
+    \space width = \tabu@wd {#1}
+        \expandafter\string\csname tabu@\the\tabu@nested.W\number#1\endcsname
+    \ifdim -\tabu@pt#2\tabucolX<\tabu@target
+    < \number-\rem@pt#2 X
+    = \the\dimexpr -\tabu@pt#2\tabucolX \relax
+    \else
+    <= \the\tabu@target\space < \number-\rem@pt#2 X\fi}
+\def\tabu@message@reached{\tabu@header
+     ******* Reached Target:
+            hfuzz = \tabu@hfuzz\on@line\space *******}
+\def\tabu@message@etime{\edef\tabu@stoptime{\the\pdfelapsedtime}%
+    \tabu@message{(tabu)\tabu@spaces Time elapsed during measure:
+    \the\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax sec
+    \the\numexpr\numexpr(\tabu@stoptime-\tabu@starttime)
+    -\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax*65536\relax
+    *1000/65536\relax ms \tabu@spaces(\the\tabu@cnt\space
+                                        cycle\ifnum\tabu@cnt>\@ne s\fi)^^J^^J}}
+\def\tabu@message@verticalsp {%
+    \ifdim \@tempdima>\tabu@ht
+        \ifdim \@tempdimb>\tabu@dp
+        \expandafter\expandafter\expandafter\string\tabu@ht =
+            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@
+        \expandafter\expandafter\expandafter\string\tabu@dp =
+            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J%
+        \else
+        \expandafter\expandafter\expandafter\string\tabu@ht =
+            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@^^J%
+        \fi
+    \else\ifdim \@tempdimb>\tabu@dp
+        \tabu@spaces\tabu@spaces\tabu@spaces
+        \expandafter\expandafter\expandafter\string\tabu@dp =
+            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J\fi
+    \fi
+}% \tabu@message@verticalsp
+\edef\tabu@spaces{\@spaces}
+\def\tabu@strippt{\expandafter\tabu@pt\the}
+{\@makeother\P \@makeother\T\lowercase{\gdef\tabu@pt #1PT{#1}}}
+\def\tabu@msgalign{\expandafter\tabu@msg@align\the\dimexpr}
+\def\tabu@msgalign@PT{\expandafter\tabu@msg@align\romannumeral-`\0\tabu@strippt}
+\def\do #1{%
+    \def\tabu@msg@align##1.##2##3##4##5##6##7##8##9\@@{%
+    \ifnum##1<10 #1 #1\else
+    \ifnum##1<100 #1 \else
+    \ifnum##1<\@m #1\fi\fi\fi
+    ##1.##2##3##4##5##6##7##8#1}%
+    \def\tabu@header{(tabu) \ifnum\tabu@cnt<10 #1\fi\the\tabu@cnt) }%
+    \def\tabu@titles{\ifnum \tabu@nested=\z@
+      (tabu) Try#1 #1 tabu X #1 #1 #1tabu Width #1 #1 Target
+                  #1 #1 #1 Coefs #1 #1 #1 Update^^J\fi}%
+    \def\tabu@spreadheader{%
+      (tabu) Try#1 #1 Spread #1 #1 tabu Width #1 #1 #1 Nat. X #1 #1 #1 #1Nat. Min.
+                                                      #1 New Target^^J%
+      (tabu) sprd}
+    \def\tabu@message@save {\begingroup
+        \def\x ####1{\tabu@msg@align ####1{ }{ }{ }{ }{}\@@}
+        \def\z ####1{\expandafter\x\expandafter{\romannumeral-`\0\tabu@strippt
+                                                     \dimexpr####1\p@{ }{ }}}%
+        \let\color \relax \def\tabu@rulesstyle ####1####2{\detokenize{####1}}%
+        \let\CT@arc@ \relax \let\@preamble \@gobble
+        \let\tabu@savedpream  \@firstofone
+        \let\tabu@savedparams \@firstofone
+        \def\tabu@target ####1\relax   {(tabu) target #1 #1 #1 #1 #1 = \x{####1}^^J}%
+        \def\tabucolX ####1\relax      {(tabu) X columns width#1 = \x{####1}^^J}%
+        \def\tabu@nbcols ####1\relax   {(tabu) Number of columns: \z{####1}^^J}%
+        \def\tabu@aligndefault    ####1{(tabu) Default alignment: #1 #1 ####1^^J}%
+        \def\col@sep ####1\relax       {(tabu) column sep #1 #1 #1 = \x{####1}^^J}%
+        \def\arrayrulewidth ####1\relax{(tabu) arrayrulewidth #1 = \x{####1}}%
+        \def\doublerulesep ####1\relax { doublerulesep = \x{####1}^^J}%
+        \def\extratabsurround####1\relax{(tabu) extratabsurround = \x{####1}^^J}%
+        \def\extrarowheight ####1\relax{(tabu) extrarowheight #1 = \x{####1}}%
+        \def\extrarowdepth ####1\relax {extrarowdepth = \x{####1}^^J}%
+        \def\abovetabulinesep####1\relax{(tabu) abovetabulinesep=\x{####1} }%
+        \def\belowtabulinesep####1\relax{ belowtabulinesep=\x{####1}^^J}%
+        \def\arraystretch         ####1{(tabu) arraystretch #1 #1 = \z{####1}^^J}%
+        \def\minrowclearance####1\relax{(tabu) minrowclearance #1 = \x{####1}^^J}%
+        \def\tabu@arc@L           ####1{(tabu) taburulecolor #1 #1 = ####1^^J}%
+        \def\tabu@drsc@L          ####1{(tabu) tabudoublerulecolor=  ####1^^J}%
+        \def\tabu@evr@L           ####1{(tabu) everyrow #1 #1 #1 #1 = \detokenize{####1}^^J}%
+        \def\tabu@ls@L            ####1{(tabu) line style = \detokenize{####1}^^J}%
+        \def\NC@find ####1\@nil{(tabu) tabu preamble#1 #1 = \detokenize{####1}^^J}%
+        \def\tabu@wddef####1####2{(tabu) Natural width ####1 = \x{####2}^^J}%
+        \let\edef \@gobbletwo \let\def \@empty \let\let \@gobbletwo
+        \tabu@message{%
+         (tabu) \string\savetabu{\tabu@temp}: \on@line^^J%
+         \tabu@usetabu \@nil^^J}%
+        \endgroup}
+}\do{ }
+%% Measuring the natural width (varwidth) - store the results -------
+\def\tabu@startpboxmeasure #1{\bgroup   % entering \vtop
+    \edef\tabu@temp{\expandafter\@secondoftwo \ifx\tabu@hsize #1\else\relax\fi}%
+    \ifodd 1\ifx \tabu@temp\@empty 0 \else      % starts with \tabu@hsize ?
+            \iftabu@spread           \else      % if spread -> measure
+            \ifdim \tabu@temp\p@>\z@ 0 \fi\fi\fi% if coef>0 -> do not measure
+        \let\@startpbox \tabu@startpboxORI      % restore immediately (nesting)
+        \tabu@measuringtrue                     % for the quick option...
+        \tabu@Xcol =\expandafter\@firstoftwo\ifx\tabu@hsize #1\fi
+        \ifdim \tabu@temp\p@>\z@ \ifdim \tabu@temp\tabucolX<\tabu@target
+                                        \tabu@target=\tabu@temp\tabucolX \fi\fi
+        \setbox\tabu@box  \hbox \bgroup
+            \begin{varwidth}\tabu@target
+                \let\FV@ListProcessLine \tabu@FV@ListProcessLine  % \hbox to natural width...
+                \narrowragged \arraybackslash \parfillskip \@flushglue
+                \ifdefined\pdfadjustspacing \pdfadjustspacing\z@ \fi
+                \bgroup \aftergroup\tabu@endpboxmeasure
+                \ifdefined \cellspacetoplimit \tabu@cellspacepatch \fi
+    \else \expandafter\@gobble
+                            \tabu@startpboxquick{#1}% \@gobble \bgroup
+    \fi
+}% \tabu@startpboxmeasure
+\def\tabu@cellspacepatch{\def\bcolumn##1\@nil{}\let\ecolumn\@empty
+                                          \bgroup\color@begingroup}
+\def\tabu@endpboxmeasure {%
+    \@finalstrut \@arstrutbox
+                    \end{varwidth}\egroup    % <got my \tabu@box>
+    \ifdim \tabu@temp\p@ <\z@   % neg coef
+        \ifdim \tabu@wd\tabu@Xcol <\wd\tabu@box
+            \tabu@wddef\tabu@Xcol {\the\wd\tabu@box}%
+            \tabu@debug{\tabu@message@endpboxmeasure}%
+        \fi
+    \else                       % spread coef>0
+        \global\advance \tabu@naturalX \wd\tabu@box
+        \@tempdima =\dimexpr \wd\tabu@box *\p@/\dimexpr \tabu@temp\p@\relax \relax
+        \ifdim \tabu@naturalXmax <\tabu@naturalX
+            \xdef\tabu@naturalXmax {\the\tabu@naturalX}\fi
+        \ifdim \tabu@naturalXmin <\@tempdima
+            \xdef\tabu@naturalXmin {\the\@tempdima}\fi
+    \fi
+   \box\tabu@box \egroup % end of \vtop (measure) restore \tabu@target
+}% \tabu@endpboxmeasure
+\def\tabu@wddef #1{\expandafter\xdef
+                   \csname tabu@\the\tabu@nested.W\number#1\endcsname}
+\def\tabu@wd    #1{\csname tabu@\the\tabu@nested.W\number#1\endcsname}
+\def\tabu@message@endpboxmeasure{\tabu@spaces\tabu@spaces<-> % <-> save natural wd
+    \the\tabu@Xcol. X[\tabu@temp]:
+    target = \the\tabucolX \space
+    \expandafter\expandafter\expandafter\string\tabu@wd\tabu@Xcol
+    =\tabu@wd\tabu@Xcol
+}% \tabu@message@endpboxmeasure
+\def\tabu@startpboxquick {\bgroup
+    \let\@startpbox \tabu@startpboxORI  % restore immediately
+    \let\tabu \tabu@quick               % \begin is expanded before...
+    \expandafter\@gobble \@startpbox    % gobbles \bgroup
+}% \tabu@startpboxquick
+\def\tabu@quick {\begingroup \iffalse{\fi \ifnum0=`}\fi
+    \toks@{}\def\tabu@stack{b}\tabu@collectbody \tabu@endquick
+}% \tabu@quick
+\def\tabu@endquick {%
+    \ifodd 1\ifx\tabu@end@envir\tabu@endtabu  \else
+            \ifx\tabu@end@envir\tabu@endtabus \else 0\fi\fi\relax
+            \endgroup
+    \else   \let\endtabu \relax
+            \tabu@end@envir
+    \fi
+}% \tabu@quick
+\def\tabu@endtabu   {\end{tabu}}
+\def\tabu@endtabus  {\end{tabu*}}
+%% Measuring the heights and depths - store the results -------------
+\def\tabu@verticalmeasure{\everypar{}%
+    \ifnum \currentgrouptype>12         % 14=semi-simple, 15=math shift group
+        \setbox\tabu@box =\hbox\bgroup
+            \let\tabu@verticalspacing \tabu@verticalsp@lcr
+            \d@llarbegin                % after \hbox ...
+    \else
+        \edef\tabu@temp{\ifnum\currentgrouptype=5\vtop
+                        \else\ifnum\currentgrouptype=12\vcenter
+                        \else\vbox\fi\fi}%
+        \setbox\tabu@box \hbox\bgroup$\tabu@temp \bgroup
+            \let\tabu@verticalspacing \tabu@verticalsp@pmb
+    \fi
+}% \tabu@verticalmeasure
+\def\tabu@verticalsp@lcr{%
+    \d@llarend \egroup       % <got my \tabu@box>
+    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
+    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
+        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
+    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
+    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
+    \noindent\vrule height\@tempdima depth\@tempdimb
+}% \tabu@verticalsp@lcr
+\def\tabu@verticalsp@pmb{% inserts struts as needed
+    \par \expandafter\egroup
+            \expandafter$\expandafter
+                    \egroup \expandafter
+                            \@tempdimc \the\prevdepth
+    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
+    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
+        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
+    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
+    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
+    \let\@finalstrut \@gobble
+    \hrule height\@tempdima depth\@tempdimb width\hsize
+%%    \box\tabu@box
+}% \tabu@verticalsp@pmb
+
+\def\tabu@verticalinit{%
+    \ifnum \c@taburow=\z@ \tabu@rearstrut \fi       % after \tabu@reset !
+    \advance\c@taburow \@ne
+    \tabu@htdef{\the\ht\@arstrutbox}\tabu@dpdef{\the\dp\@arstrutbox}%
+    \advance\c@taburow \m@ne
+}% \tabu@verticalinit
+\def\tabu@htdef {\expandafter\xdef \csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
+\def\tabu@ht                      {\csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
+\def\tabu@dpdef {\expandafter\xdef \csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
+\def\tabu@dp                      {\csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
+\def\tabu@verticaldynamicadjustment {%
+    \advance\c@taburow \@ne
+        \extrarowheight \dimexpr\tabu@ht - \ht\strutbox
+        \extrarowdepth  \dimexpr\tabu@dp - \dp\strutbox
+        \let\arraystretch \@empty
+    \advance\c@taburow \m@ne
+}% \tabu@verticaldynamicadjustment
+\def\tabuphantomline{\crcr \noalign{%
+    {\globaldefs \@ne
+        \setbox\@arstrutbox     \box\voidb@x
+        \let\tabu@@celllalign   \tabu@celllalign
+        \let\tabu@@cellralign   \tabu@cellralign
+        \let\tabu@@cellleft     \tabu@cellleft
+        \let\tabu@@cellright    \tabu@cellright
+        \let\tabu@@thevline     \tabu@thevline
+        \let\tabu@celllalign    \@empty
+        \let\tabu@cellralign    \@empty
+        \let\tabu@cellright     \@empty
+        \let\tabu@cellleft      \@empty
+        \let\tabu@thevline      \relax}%
+    \edef\tabu@temp{\tabu@multispan \tabu@nbcols{\noindent &}}%
+    \toks@\expandafter{\tabu@temp \noindent\tabu@everyrowfalse \cr
+        \noalign{\tabu@rearstrut
+            {\globaldefs\@ne
+                \let\tabu@celllalign \tabu@@celllalign
+                \let\tabu@cellralign \tabu@@cellralign
+                \let\tabu@cellleft   \tabu@@cellleft
+                \let\tabu@cellright  \tabu@@cellright
+                \let\tabu@thevline   \tabu@@thevline}}}%
+    \expandafter}\the\toks@
+}% \tabuphantomline
+%% \firsthline and \lasthline corrections ---------------------------
+\def\tabu@firstline {\tabu@hlineAZ  \tabu@firsthlinecorrection     {}}
+\def\tabu@firsthline{\tabu@hlineAZ  \tabu@firsthlinecorrection \hline}
+\def\tabu@lastline  {\tabu@hlineAZ  \tabu@lasthlinecorrection      {}}
+\def\tabu@lasthline {\tabu@hlineAZ  \tabu@lasthlinecorrection  \hline}
+\def\tabu@hline {% replaces \hline if no colortbl (see \AtBeginDocument)
+    \noalign{\ifnum0=`}\fi
+    {\CT@arc@\hrule height\arrayrulewidth}%
+    \futurelet \tabu@temp \tabu@xhline
+}% \tabu@hline
+\def\tabu@xhline{%
+    \ifx \tabu@temp \hline
+        {\ifx \CT@drsc@\relax \vskip
+         \else\ifx \CT@drsc@\@empty \vskip
+         \else \CT@drsc@\hrule height
+         \fi\fi
+         \doublerulesep}%
+    \fi
+    \ifnum0=`{\fi}%
+}% \tabu@xhline
+\def\tabu@hlineAZ #1#2{\noalign{\ifnum0=`}\fi \dimen@ \z@ \count@ \z@
+    \toks@{}\def\tabu@hlinecorrection{#1}\def\tabu@temp{#2}%
+    \tabu@hlineAZsurround
+}% \tabu@hlineAZ
+\newcommand*\tabu@hlineAZsurround[1][\extratabsurround]{%
+    \extratabsurround #1\let\tabucline \tabucline@scan
+    \let\hline     \tabu@hlinescan \let\firsthline \hline
+    \let\cline     \tabu@clinescan \let\lasthline  \hline
+    \expandafter \futurelet \expandafter \tabu@temp
+                \expandafter \tabu@nexthlineAZ \tabu@temp
+}% \tabu@hlineAZsurround
+\def\tabu@hlinescan   {\tabu@thick \arrayrulewidth \tabu@xhlineAZ \hline}
+\def\tabu@clinescan #1{\tabu@thick \arrayrulewidth \tabu@xhlineAZ {\cline{#1}}}
+\def\tabucline@scan{\@testopt \tabucline@sc@n {}}
+\def\tabucline@sc@n #1[#2]{\tabu@xhlineAZ {\tabucline[{#1}]{#2}}}
+\def\tabu@nexthlineAZ{%
+    \ifx \tabu@temp\hline \else
+    \ifx \tabu@temp\cline \else
+    \ifx \tabu@temp\tabucline \else
+         \tabu@hlinecorrection
+    \fi\fi\fi
+}% \tabu@nexthlineAZ
+\def\tabu@xhlineAZ #1{%
+    \toks@\expandafter{\the\toks@ #1}%
+    \@tempdimc \tabu@thick                  % The last line width
+    \ifcase\count@ \@tempdimb \tabu@thick   % The first line width
+    \else \advance\dimen@ \dimexpr \tabu@thick+\doublerulesep \relax
+    \fi
+    \advance\count@ \@ne    \futurelet \tabu@temp \tabu@nexthlineAZ
+}% \tabu@xhlineAZ
+\def\tabu@firsthlinecorrection{% \count@ = number of \hline -1
+    \@tempdima \dimexpr \ht\@arstrutbox+\dimen@
+    \edef\firsthline{%      <local in \noalign>
+        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
+                    height \the\dimexpr\@tempdima+\extratabsurround
+                    depth  \dp\@arstrutbox
+                    width  \tabustrutrule}\hss}\cr
+        \noalign{\vskip -\the\dimexpr   \@tempdima+\@tempdimb
+                                        +\dp\@arstrutbox \relax}%
+        \the\toks@
+   }\ifnum0=`{\fi
+            \expandafter}\firsthline % we are then !
+}% \tabu@firsthlinecorrection
+\def\tabu@lasthlinecorrection{%
+    \@tempdima \dimexpr  \dp\@arstrutbox+\dimen@+\@tempdimb+\@tempdimc
+    \edef\lasthline{%   <local in \noalign>
+        \the\toks@
+        \noalign{\vskip -\the\dimexpr\dimen@+\@tempdimb+\dp\@arstrutbox}%
+        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
+                    depth \the\dimexpr \dp\@arstrutbox+\@tempdimb+\dimen@
+                                       +\extratabsurround-\@tempdimc
+                    height \z@
+                    width \tabustrutrule}\hss}\cr
+    }\ifnum0=`{\fi
+            \expandafter}\lasthline % we are then !
+}% \tabu@lasthlinecorrection
+\def\tabu@LT@@hline{%
+    \ifx\LT@next\hline
+        \global\let\LT@next \@gobble
+        \ifx \CT@drsc@\relax
+            \gdef\CT@LT@sep{%
+                \noalign{\penalty-\@medpenalty\vskip\doublerulesep}}%
+        \else
+            \gdef\CT@LT@sep{%
+                \multispan\LT@cols{%
+                \CT@drsc@\leaders\hrule\@height\doublerulesep\hfill}\cr}%
+        \fi
+    \else
+        \global\let\LT@next\empty
+        \gdef\CT@LT@sep{%
+            \noalign{\penalty-\@lowpenalty\vskip-\arrayrulewidth}}%
+    \fi
+    \ifnum0=`{\fi}%
+    \multispan\LT@cols
+        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+    \CT@LT@sep
+    \multispan\LT@cols
+        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
+    \noalign{\penalty\@M}%
+    \LT@next
+}% \tabu@LT@@hline
+%% Horizontal lines : \tabucline ------------------------------------
+\let\tabu@start \@tempcnta
+\let\tabu@stop  \@tempcntb
+\newcommand*\tabucline{\noalign{\ifnum0=`}\fi \tabu@cline}
+\newcommand*\tabu@cline[2][]{\tabu@startstop{#2}%
+   \ifnum \tabu@stop<\z@   \toks@{}%
+   \else \tabu@clinearg{#1}\tabu@thestyle
+        \edef\tabucline{\toks@{%
+            \ifnum \tabu@start>\z@ \omit
+                  \tabu@multispan\tabu@start {\span\omit}&\fi
+            \omit \tabu@multispan\tabu@stop {\span\omit}%
+                                        \tabu@thehline\cr
+        }}\tabucline
+        \tabu@tracinglines{(tabu:tabucline) Style: #1^^J\the\toks@^^J^^J}%
+    \fi
+    \futurelet \tabu@temp \tabu@xcline
+}% \tabu@cline
+\def\tabu@clinearg #1{%
+    \ifx\\#1\\\let\tabu@thestyle \tabu@ls@
+    \else \@defaultunits \expandafter\let\expandafter\@tempa
+                                    \romannumeral-`\0#1\relax \@nnil
+        \ifx \hbox\@tempa           \tabu@clinebox{#1}%
+        \else\ifx \box\@tempa       \tabu@clinebox{#1}%
+        \else\ifx \vbox\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \vtop\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \copy\@tempa      \tabu@clinebox{#1}%
+        \else\ifx \leaders\@tempa   \tabu@clineleads{#1}%
+        \else\ifx \cleaders\@tempa  \tabu@clineleads{#1}%
+        \else\ifx \xleaders\@tempa  \tabu@clineleads{#1}%
+        \else\tabu@getline {#1}%
+        \fi\fi\fi\fi\fi\fi\fi\fi
+    \fi
+}% \tabu@clinearg
+\def\tabu@clinebox #1{\tabu@clineleads{\xleaders#1\hss}}
+\def\tabu@clineleads #1{%
+    \let\tabu@thestyle \relax \let\tabu@leaders \@undefined
+    \gdef\tabu@thehrule{#1}}
+\def\tabu@thehline{\begingroup
+    \ifdefined\tabu@leaders
+            \noexpand\tabu@thehleaders
+    \else   \noexpand\tabu@thehrule
+    \fi            \endgroup
+}% \tabu@thehline
+\def\tabu@xcline{%
+    \ifx \tabu@temp\tabucline
+        \toks@\expandafter{\the\toks@ \noalign
+        {\ifx\CT@drsc@\relax \vskip
+         \else \CT@drsc@\hrule height
+         \fi
+         \doublerulesep}}%
+    \fi
+    \tabu@docline
+}% \tabu@xcline
+\def\tabu@docline {\ifnum0=`{\fi \expandafter}\the\toks@}
+\def\tabu@docline@evr {\xdef\tabu@doclineafter{\the\toks@}%
+              \ifnum0=`{\fi}\aftergroup\tabu@doclineafter}
+\def\tabu@multispan #1#2{%
+    \ifnum\numexpr#1>\@ne #2\expandafter\tabu@multispan
+    \else                   \expandafter\@gobbletwo
+    \fi  {#1-1}{#2}%
+}% \tabu@multispan
+\def\tabu@startstop #1{\tabu@start@stop #1\relax 1-\tabu@nbcols \@nnil}
+\def\tabu@start@stop #1-#2\@nnil{%
+   \@defaultunits   \tabu@start\number 0#1\relax    \@nnil
+   \@defaultunits   \tabu@stop \number 0#2\relax    \@nnil
+   \tabu@stop   \ifnum \tabu@start>\tabu@nbcols     \m@ne
+                \else\ifnum \tabu@stop=\z@          \tabu@nbcols
+                \else\ifnum \tabu@stop>\tabu@nbcols \tabu@nbcols
+                \else                               \tabu@stop
+                \fi\fi\fi
+   \advance\tabu@start \m@ne
+   \ifnum \tabu@start>\z@ \advance\tabu@stop -\tabu@start \fi
+}% \tabu@start@stop
+%% Numbers: siunitx S columns  (and \tabudecimal) -------------------
+\def\tabu@tabudecimal #1{%
+    \def\tabu@decimal{#1}\@temptokena{}%
+    \let\tabu@getdecimal@ \tabu@getdecimal@ignorespaces
+    \tabu@scandecimal
+}% \tabu@tabudecimal
+\def\tabu@scandecimal{\futurelet \tabu@temp \tabu@getdecimal@}
+\def\tabu@skipdecimal#1{#1\tabu@scandecimal}
+\def\tabu@getdecimal@ignorespaces{%
+    \ifcase 0\ifx\tabu@temp\ignorespaces\else
+             \ifx\tabu@temp\@sptoken1\else
+             2\fi\fi\relax
+            \let\tabu@getdecimal@ \tabu@getdecimal
+            \expandafter\tabu@skipdecimal
+    \or     \expandafter\tabu@gobblespace\expandafter\tabu@scandecimal
+    \else   \expandafter\tabu@skipdecimal
+    \fi
+}% \tabu@getdecimal@ignorespaces
+\def\tabu@get@decimal#1{\@temptokena\expandafter{\the\@temptokena #1}%
+                        \tabu@scandecimal}
+\def\do#1{%
+    \def\tabu@get@decimalspace#1{%
+        \@temptokena\expandafter{\the\@temptokena #1}\tabu@scandecimal}%
+}\do{ }
+\let\tabu@@tabudecimal \tabu@tabudecimal
+\def\tabu@getdecimal{%
+   \ifcase    0\ifx 0\tabu@temp\else
+               \ifx 1\tabu@temp\else
+               \ifx 2\tabu@temp\else
+               \ifx 3\tabu@temp\else
+               \ifx 4\tabu@temp\else
+               \ifx 5\tabu@temp\else
+               \ifx 6\tabu@temp\else
+               \ifx 7\tabu@temp\else
+               \ifx 8\tabu@temp\else
+               \ifx 9\tabu@temp\else
+               \ifx .\tabu@temp\else
+               \ifx ,\tabu@temp\else
+               \ifx -\tabu@temp\else
+               \ifx +\tabu@temp\else
+               \ifx e\tabu@temp\else
+               \ifx E\tabu@temp\else
+               \ifx\tabu@cellleft\tabu@temp1\else
+               \ifx\ignorespaces\tabu@temp1\else
+               \ifx\@sptoken\tabu@temp2\else
+            3\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
+       \expandafter\tabu@get@decimal
+   \or \expandafter\tabu@skipdecimal
+   \or \expandafter\tabu@get@decimalspace
+   \else\expandafter\tabu@printdecimal
+   \fi
+}% \tabu@getdecimal
+\def\tabu@printdecimal{%
+    \edef\tabu@temp{\the\@temptokena}%
+    \ifx\tabu@temp\@empty\else
+    \ifx\tabu@temp\space\else
+        \expandafter\tabu@decimal\expandafter{\the\@temptokena}%
+    \fi\fi
+}% \tabu@printdecimal
+%% Verbatim inside X columns ----------------------------------------
+\def\tabu@verbatim{%
+    \let\verb \tabu@verb
+    \let\FV@DefineCheckEnd \tabu@FV@DefineCheckEnd
+}% \tabu@verbatim
+\let\tabu@ltx@verb \verb
+\def\tabu@verb{\@ifstar {\tabu@ltx@verb*} \tabu@ltx@verb}
+\def\tabu@fancyvrb {%
+    \def\tabu@FV@DefineCheckEnd ##1{%
+        \def\tabu@FV@DefineCheckEnd{%
+            ##1% <original definition (if fancyvrb is loaded)>
+            \let\FV@CheckEnd     \tabu@FV@CheckEnd
+            \let\FV@@CheckEnd    \tabu@FV@@CheckEnd
+            \let\FV@@@CheckEnd   \tabu@FV@@@CheckEnd
+            \edef\FV@EndScanning{%
+            \def\noexpand\next{\noexpand\end{\FV@EnvironName}}%
+                \global\let\noexpand\FV@EnvironName\relax
+                \noexpand\next}%
+            \xdef\FV@EnvironName{\detokenize\expandafter{\FV@EnvironName}}}%
+    }\expandafter\tabu@FV@DefineCheckEnd\expandafter{\FV@DefineCheckEnd}
+}% \tabu@fancyvrb
+\def\tabu@FV@CheckEnd  #1{\expandafter\FV@@CheckEnd \detokenize{#1\end{}}\@nil}
+\edef\tabu@FV@@@CheckEnd {\detokenize{\end{}}}
+\begingroup
+\catcode`\[1      \catcode`\]2
+\@makeother\{     \@makeother\}
+   \edef\x[\endgroup
+      \def\noexpand\tabu@FV@@CheckEnd ##1\detokenize[\end{]##2\detokenize[}]##3%
+   ]\x               \@nil{\def\@tempa{#2}\def\@tempb{#3}}
+\def\tabu@FV@ListProcessLine #1{%
+  \hbox {%to \hsize{%
+    \kern\leftmargin
+    \hbox {%to \linewidth{%
+      \FV@LeftListNumber
+      \FV@LeftListFrame
+      \FancyVerbFormatLine{#1}\hss
+%% DG/SR modification begin - Jan. 28, 1998 (for numbers=right add-on)
+%%      \FV@RightListFrame}%
+      \FV@RightListFrame
+      \FV@RightListNumber}%
+%% DG/SR modification end
+    \hss}}
+%% \savetabu --------------------------------------------------------
+\newcommand*\savetabu[1]{\noalign{%
+    \tabu@sanitizearg{#1}\tabu@temp
+    \ifx \tabu@temp\@empty  \tabu@savewarn{}{The tabu will not be saved}\else
+        \@ifundefined{tabu@saved@\tabu@temp}{}{\tabu@savewarn{#1}{Overwriting}}%
+        \ifdefined\tabu@restored \expandafter\let
+            \csname tabu@saved@\tabu@temp \endcsname \tabu@restored
+        \else {\tabu@save}%
+        \fi
+    \fi}%
+}% \savetabu
+\def\tabu@save {%
+    \toks0\expandafter{\tabu@saved@}%
+    \iftabu@negcoef
+        \let\tabu@wddef \relax \let\tabu@ \tabu@savewd \edef\tabu@savewd{\tabu@Xcoefs}%
+        \toks0\expandafter{\the\toks\expandafter0\tabu@savewd}\fi
+    \toks1\expandafter{\tabu@savedpream}%
+    \toks2\expandafter{\tabu@savedpreamble}%
+    \let\@preamble \relax
+    \let\tabu@savedpream \relax \let\tabu@savedparams \relax
+    \edef\tabu@preamble{%
+        \def\noexpand\tabu@aligndefault{\tabu@align}%
+        \def\tabu@savedparams {\noexpand\the\toks0}%
+        \def\tabu@savedpream  {\noexpand\the\toks1}}%
+    \edef\tabu@usetabu{%
+        \def\@preamble {\noexpand\the\toks2}%
+        \tabu@target \the\tabu@target \relax
+        \tabucolX    \the\tabucolX    \relax
+        \tabu@nbcols \the\tabu@nbcols \relax
+        \def\noexpand\tabu@aligndefault{\tabu@align}%
+        \def\tabu@savedparams {\noexpand\the\toks0}%
+        \def\tabu@savedpream  {\noexpand\the\toks1}}%
+    \let\tabu@aligndefault \relax \let\@sharp \relax
+    \edef\@tempa{\noexpand\tabu@s@ved
+                          {\tabu@usetabu}
+                         {\tabu@preamble}
+                            {\the\toks1}}\@tempa
+    \tabu@message@save
+}% \tabu@save
+\long\def\tabu@s@ved #1#2#3{%
+    \def\tabu@usetabu{#1}% <for \tabu@message@save>
+    \expandafter\gdef\csname tabu@saved@\tabu@temp\endcsname ##1{%
+        \ifodd ##1%     \usetabu
+            \tabu@measuringfalse \tabu@spreadfalse  % Just in case...
+            \gdef\tabu@usetabu {%
+                \ifdim \tabu@target>\z@ \tabu@warn@usetabu \fi
+                \global\let\tabu@usetabu \@undefined
+                \def\@halignto {to\tabu@target}%
+                #1%
+                \ifx \tabu@align\tabu@aligndefault@text
+                \ifnum \tabu@nested=\z@
+                       \let\tabu@align \tabu@aligndefault \fi\fi}%
+        \else     %     \preamble
+            \gdef\tabu@preamble {%
+                \global\let\tabu@preamble \@undefined
+                #2%
+                \ifx \tabu@align\tabu@aligndefault@text
+                \ifnum \tabu@nested=\z@
+                       \let\tabu@align \tabu@aligndefault \fi\fi}%
+        \fi
+        #3}%
+}% \tabu@s@ved
+\def\tabu@aligndefault@text {\tabu@aligndefault}%
+\def\tabu@warn@usetabu {\PackageWarning{tabu}
+    {Specifying a target with \string\usetabu\space is useless
+    \MessageBreak The target cannot be changed!}}
+\def\tabu@savewd #1#2{\ifdim #2\p@<\z@ \tabu@wddef{#1}{\tabu@wd{#1}}\fi}
+\def\tabu@savewarn#1#2{\PackageInfo{tabu}
+    {User-name `#1' already used for \string\savetabu
+    \MessageBreak #2}}%
+\def\tabu@saveerr#1{\PackageError{tabu}
+    {User-name `#1' is unknown for \string\usetabu
+    \MessageBreak I cannot restore an unknown preamble!}\@ehd}
+%% \rowfont ---------------------------------------------------------
+\newskip \tabu@cellskip
+\def\tabu@rowfont{\ifdim \baselineskip=\z@\noalign\fi
+                    {\ifnum0=`}\fi    \tabu@row@font}
+\newcommand*\tabu@row@font[2][]{%
+    \ifnum7=\currentgrouptype
+        \global\let\tabu@@cellleft    \tabu@cellleft
+        \global\let\tabu@@cellright   \tabu@cellright
+        \global\let\tabu@@celllalign  \tabu@celllalign
+        \global\let\tabu@@cellralign  \tabu@cellralign
+        \global\let\tabu@@rowfontreset\tabu@rowfontreset
+    \fi
+    \global\let\tabu@rowfontreset \tabu@rowfont@reset
+    \expandafter\gdef\expandafter\tabu@cellleft\expandafter{\tabu@cellleft #2}%
+    \ifcsname tabu@cell@#1\endcsname       % row alignment
+            \csname tabu@cell@#1\endcsname \fi
+    \ifnum0=`{\fi}% end of group / noalign group
+}% \rowfont
+\def\tabu@ifcolorleavevmode #1{\let\color \tabu@leavevmodecolor #1\let\color\tabu@color}%
+\def\tabu@rowfont@reset{%
+    \global\let\tabu@rowfontreset \tabu@@rowfontreset
+    \global\let\tabu@cellleft     \tabu@@cellleft
+    \global\let\tabu@cellright    \tabu@@cellright
+    \global\let\tabu@cellfont     \@empty
+    \global\let\tabu@celllalign   \tabu@@celllalign
+    \global\let\tabu@cellralign   \tabu@@cellralign
+}% \tabu@@rowfontreset
+\let\tabu@rowfontreset \@empty     % overwritten \AtBeginDocument if colortbl
+%% \tabu@prepnext@tok -----------------------------------------------
+\newif \iftabu@cellright
+\def\tabu@prepnext@tok{%
+    \ifnum \count@<\z@   % <first initialisation>
+            \@tempcnta  \@M   % <not initialized by array.sty>
+            \tabu@nbcols\z@
+            \let\tabu@fornoopORI \@fornoop
+            \tabu@cellrightfalse
+    \else
+        \ifcase \numexpr \count@-\@tempcnta \relax % (case 0): prev. token is left
+                \advance \tabu@nbcols \@ne
+                \iftabu@cellright % before-previous token is right and is finished
+                    \tabu@cellrightfalse % <only once>
+                    \tabu@righttok
+                \fi
+                \tabu@lefttok
+        \or                     % (case 1) previous token is right
+                \tabu@cellrighttrue \let\@fornoop \tabu@lastnoop
+        \else % special column: do not change the token
+                \iftabu@cellright    % before-previous token is right
+                    \tabu@cellrightfalse
+                    \tabu@righttok
+                \fi
+        \fi % \ifcase
+    \fi
+    \tabu@prepnext@tokORI
+}% \tabu@prepnext@tok
+\long\def\tabu@lastnoop#1\@@#2#3{\tabu@lastn@@p #2\@nextchar \in@\in@@}
+\def\tabu@lastn@@p #1\@nextchar #2#3\in@@{%
+    \ifx \in@#2\else
+        \let\@fornoop \tabu@fornoopORI
+        \xdef\tabu@mkpreambuffer{\tabu@nbcols\the\tabu@nbcols \tabu@mkpreambuffer}%
+        \toks0\expandafter{\expandafter\tabu@everyrowtrue \the\toks0}%
+        \expandafter\prepnext@tok
+    \fi
+}% \tabu@lastnoop
+\def\tabu@righttok{%
+    \advance \count@ \m@ne
+    \toks\count@\expandafter {\the\toks\count@ \tabu@cellright \tabu@cellralign}%
+    \advance \count@ \@ne
+}% \tabu@righttok
+\def\tabu@lefttok{\toks\count@\expandafter{\expandafter\tabu@celllalign
+                                    \the\toks\count@ \tabu@cellleft}% after because of $
+}% \tabu@lefttok
+%% Neutralisation of glues ------------------------------------------
+\let\tabu@cellleft   \@empty
+\let\tabu@cellright  \@empty
+\tabu@celllalign@def{\tabu@cellleft}%
+\let\tabu@cellralign \@empty
+\def\tabu@cell@align #1#2#3{%
+    \let\tabu@maybesiunitx \toks@ \tabu@celllalign
+    \global \expandafter \tabu@celllalign@def \expandafter {\the\toks@ #1}%
+    \toks@\expandafter{\tabu@cellralign #2}%
+    \xdef\tabu@cellralign{\the\toks@}%
+    \toks@\expandafter{\tabu@cellleft #3}%
+    \xdef\tabu@cellleft{\the\toks@}%
+}% \tabu@cell@align
+\def\tabu@cell@l{% force alignment to left
+   \tabu@cell@align
+      {\tabu@removehfil \raggedright \tabu@cellleft}% left
+      {\tabu@flush1\tabu@ignorehfil}%                 right
+      \raggedright
+}% \tabu@cell@l
+\def\tabu@cell@c{% force alignment to center
+   \tabu@cell@align
+      {\tabu@removehfil \centering \tabu@flush{.5}\tabu@cellleft}
+      {\tabu@flush{.5}\tabu@ignorehfil}
+      \centering
+}% \tabu@cell@c
+\def\tabu@cell@r{% force alignment to right
+   \tabu@cell@align
+      {\tabu@removehfil \raggedleft \tabu@flush1\tabu@cellleft}
+      \tabu@ignorehfil
+      \raggedleft
+}% \tabu@cell@r
+\def\tabu@cell@j{% force justification (for p, m, b columns)
+      \tabu@cell@align
+         {\tabu@justify\tabu@cellleft}
+         {}
+         \tabu@justify
+}% \tabu@cell@j
+\def\tabu@justify{%
+   \leftskip\z@skip \@rightskip\leftskip \rightskip\@rightskip
+   \parfillskip\@flushglue
+}% \tabu@justify
+%% ragged2e settings
+\def\tabu@cell@L{% force alignment to left (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \RaggedRight \tabu@cellleft}
+      {\tabu@flush 1\tabu@ignorehfil}
+      \RaggedRight
+}% \tabu@cell@L
+\def\tabu@cell@C{% force alignment to center (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \Centering \tabu@flush{.5}\tabu@cellleft}
+      {\tabu@flush{.5}\tabu@ignorehfil}
+      \Centering
+}% \tabu@cell@C
+\def\tabu@cell@R{% force alignment to right (ragged2e)
+   \tabu@cell@align
+      {\tabu@removehfil \RaggedLeft \tabu@flush 1\tabu@cellleft}
+      \tabu@ignorehfil
+      \RaggedLeft
+}% \tabu@cell@R
+\def\tabu@cell@J{% force justification (ragged2e)
+   \tabu@cell@align
+      {\justifying \tabu@cellleft}
+      {}
+      \justifying
+}% \tabu@cell@J
+\def\tabu@flush#1{%
+    \iftabu@colortbl      % colortbl uses \hfill rather than \hfil
+        \hskip \ifnum13<\currentgrouptype \stretch{#1}%
+        \else  \ifdim#1pt<\p@ \tabu@cellskip
+        \else  \stretch{#1}
+        \fi\fi \relax
+    \else                % array.sty
+        \ifnum 13<\currentgrouptype
+                \hfil \hskip1sp \relax  \fi
+    \fi
+}% \tabu@flush
+\let\tabu@hfil  \hfil
+\let\tabu@hfill \hfill
+\let\tabu@hskip \hskip
+\def\tabu@removehfil{%
+    \iftabu@colortbl
+        \unkern \tabu@cellskip =\lastskip
+        \ifnum\gluestretchorder\tabu@cellskip =\tw@ \hskip-\tabu@cellskip
+        \else \tabu@cellskip \z@skip
+        \fi
+    \else
+        \ifdim\lastskip=1sp\unskip\fi
+        \ifnum\gluestretchorder\lastskip =\@ne
+            \hfilneg % \hfilneg for array.sty but not for colortbl...
+        \fi
+    \fi
+}% \tabu@removehfil
+\def\tabu@ignorehfil{\aftergroup \tabu@nohfil}
+\def\tabu@nohfil{% \hfil -> do nothing + restore original \hfil
+   \def\hfil{\let\hfil \tabu@hfil}%   local to (alignment template) group
+}% \tabu@nohfil
+\def\tabu@colortblalignments {% if colortbl
+    \def\tabu@nohfil{%
+        \def\hfil  {\let\hfil \tabu@hfil}% local to (alignment template) group
+        \def\hfill {\let\hfill \tabu@hfill}% (colortbl uses \hfill) pfff...
+        \def\hskip ####1\relax{\let\hskip \tabu@hskip}}% local
+}% \tabu@colortblalignments
+%% Taking care of footnotes and hyperfootnotes ----------------------
+\long\def\tabu@footnotetext #1{%
+   \edef\@tempa{\the\tabu@footnotes
+      \noexpand\footnotetext [\the\csname c@\@mpfn\endcsname]}%
+   \global\tabu@footnotes\expandafter{\@tempa {#1}}}%
+\long\def\tabu@xfootnotetext [#1]#2{%
+   \global\tabu@footnotes\expandafter{\the\tabu@footnotes
+                               \footnotetext [{#1}]{#2}}}
+\let\tabu@xfootnote \@xfootnote
+\long\def\tabu@Hy@ftntext{\tabu@Hy@ftntxt {\the \c@footnote }}
+\long\def\tabu@Hy@xfootnote [#1]{%
+   \begingroup
+      \value\@mpfn #1\relax
+      \protected@xdef \@thefnmark  {\thempfn}%
+   \endgroup
+   \@footnotemark \tabu@Hy@ftntxt {#1}%
+}% \tabu@Hy@xfootnote
+\long\def\tabu@Hy@ftntxt #1#2{%
+    \edef\@tempa{%
+        \the\tabu@footnotes
+        \begingroup
+            \value\@mpfn #1\relax
+            \noexpand\protected@xdef\noexpand\@thefnmark {\noexpand\thempfn}%
+            \expandafter \noexpand \expandafter
+                \tabu@Hy@footnotetext \expandafter{\Hy@footnote@currentHref}%
+    }%
+    \global\tabu@footnotes\expandafter{\@tempa {#2}%
+                                         \endgroup}%
+}% \tabu@Hy@ftntxt
+\long\def\tabu@Hy@footnotetext #1#2{%
+    \H@@footnotetext{%
+        \ifHy@nesting
+            \hyper@@anchor {#1}{#2}%
+        \else
+            \Hy@raisedlink{%
+                \hyper@@anchor {#1}{\relax}%
+            }%
+            \def\@currentHref {#1}%
+            \let\@currentlabelname \@empty
+            #2%
+        \fi
+    }%
+}% \tabu@Hy@footnotetext
+%% No need for \arraybackslash ! ------------------------------------
+\def\tabu@latextwoe {%
+\def\tabu@temp##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
+\tabu@temp \tabu@centering   \centering   \arraybackslash
+\tabu@temp \tabu@raggedleft  \raggedleft  \arraybackslash
+\tabu@temp \tabu@raggedright \raggedright \arraybackslash
+}% \tabu@latextwoe
+\def\tabu@raggedtwoe {%
+\def\tabu@temp ##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
+\tabu@temp \tabu@Centering   \Centering   \arraybackslash
+\tabu@temp \tabu@RaggedLeft  \RaggedLeft  \arraybackslash
+\tabu@temp \tabu@RaggedRight \RaggedRight \arraybackslash
+\tabu@temp \tabu@justifying  \justifying  \arraybackslash
+}% \tabu@raggedtwoe
+\def\tabu@normalcrbackslash{\let\\\@normalcr}
+\def\tabu@trivlist{\expandafter\def\expandafter\@trivlist\expandafter{%
+                       \expandafter\tabu@normalcrbackslash \@trivlist}}
+%% Utilities: \fbox  \fcolorbox  and \tabudecimal -------------------
+\def\tabu@fbox      {\leavevmode\afterassignment\tabu@beginfbox \setbox\@tempboxa\hbox}
+\def\tabu@beginfbox {\bgroup \kern\fboxsep
+                     \bgroup\aftergroup\tabu@endfbox}
+\def\tabu@endfbox   {\kern\fboxsep\egroup\egroup
+                     \@frameb@x\relax}
+\def\tabu@color@b@x #1#2{\leavevmode \bgroup
+    \def\tabu@docolor@b@x{#1{#2\color@block{\wd\z@}{\ht\z@}{\dp\z@}\box\z@}}%
+    \afterassignment\tabu@begincolor@b@x \setbox\z@ \hbox
+}% \tabu@color@b@x
+\def\tabu@begincolor@b@x {\kern\fboxsep \bgroup
+       \aftergroup\tabu@endcolor@b@x \set@color}
+\def\tabu@endcolor@b@x {\kern\fboxsep \egroup
+    \dimen@\ht\z@ \advance\dimen@ \fboxsep \ht\z@ \dimen@
+    \dimen@\dp\z@ \advance\dimen@ \fboxsep \dp\z@ \dimen@
+    \tabu@docolor@b@x \egroup
+}% \tabu@endcolor@b@x
+%% Corrections (arydshln, delarray, colortbl) -----------------------
+\def\tabu@fix@arrayright {%% \@arrayright is missing from \endarray
+    \iftabu@colortbl
+        \ifdefined\adl@array  % <colortbl + arydshln>
+        \def\tabu@endarray{%
+            \adl@endarray \egroup \adl@arrayrestore \CT@end \egroup %<original>
+            \@arrayright      % <FC>
+            \gdef\@preamble{}}% <FC>
+        \else                 % <colortbl / no arydshln>
+        \def\tabu@endarray{%
+            \crcr \egroup \egroup    %<original>
+            \@arrayright             % <FC>
+            \gdef\@preamble{}\CT@end}%
+        \fi
+    \else
+        \ifdefined\adl@array  % <arydshln / no colortbl>
+        \def\tabu@endarray{%
+            \adl@endarray \egroup \adl@arrayrestore \egroup %<original>
+            \@arrayright      % <FC>
+            \gdef\@preamble{}}% <FC>
+    \else                   % <no arydshln / no colotbl + \@arrayright missing>
+        \PackageWarning{tabu}
+        {\string\@arrayright\space is missing from the
+        \MessageBreak definition of \string\endarray.
+        \MessageBreak Compatibility with delarray.sty is broken.}%
+    \fi\fi
+}% \tabu@fix@arrayright
+\def\tabu@adl@xarraydashrule #1#2#3{%
+     \ifnum\@lastchclass=\adl@class@start\else
+     \ifnum\@lastchclass=\@ne\else
+     \ifnum\@lastchclass=5 \else % <FC> @-arg (class 5) and !-arg (class 1)
+             \adl@leftrulefalse \fi\fi           % must be treated the same
+     \fi
+     \ifadl@zwvrule\else \ifadl@inactive\else
+             \@addtopreamble{\vrule\@width\arrayrulewidth
+                     \@height\z@ \@depth\z@}\fi \fi
+     \ifadl@leftrule
+             \@addtopreamble{\adl@vlineL{\CT@arc@}{\adl@dashgapcolor}%
+                     {\number#1}#3}%
+     \else   \@addtopreamble{\adl@vlineR{\CT@arc@}{\adl@dashgapcolor}%
+                     {\number#2}#3}
+     \fi
+}% \tabu@adl@xarraydashrule
+\def\tabu@adl@act@endpbox {%
+    \unskip \ifhmode \nobreak \fi    \@finalstrut \@arstrutbox
+    \egroup \egroup
+    \adl@colhtdp \box\adl@box \hfil
+}% \tabu@adl@act@endpbox
+\def\tabu@adl@fix {%
+    \let\adl@xarraydashrule \tabu@adl@xarraydashrule % <fix> arydshln
+    \let\adl@act@endpbox    \tabu@adl@act@endpbox    % <fix> arydshln
+    \let\adl@act@@endpbox   \tabu@adl@act@endpbox    % <fix> arydshln
+    \let\@preamerror        \@preamerr               % <fix> arydshln
+}% \tabu@adl@fix
+%% Correction for longtable' \@startbox definition ------------------
+%%    => \everypar is ``missing'' : TeX should be in vertical mode
+\def\tabu@LT@startpbox #1{%
+    \bgroup
+        \let\@footnotetext\LT@p@ftntext
+        \setlength\hsize{#1}%
+        \@arrayparboxrestore
+        \everypar{%
+            \vrule \@height \ht\@arstrutbox \@width \z@
+            \everypar{}}%
+}% \tabu@LT@startpbox
+%% \tracingtabu  and  the package options ------------------
+\DeclareOption{delarray}{\AtEndOfPackage{\RequirePackage{delarray}}}
+\DeclareOption{linegoal}{%
+   \AtEndOfPackage{%
+      \RequirePackage{linegoal}[2010/12/07]%
+      \let\tabudefaulttarget \linegoal% \linegoal is \linewidth if not pdfTeX
+}}
+\DeclareOption{scantokens}{\tabuscantokenstrue}
+\DeclareOption{debugshow}{\AtEndOfPackage{\tracingtabu=\tw@}}
+\def\tracingtabu {\begingroup\@ifnextchar=%
+    {\afterassignment\tabu@tracing\count@}
+    {\afterassignment\tabu@tracing\count@1\relax}}
+\def\tabu@tracing{\expandafter\endgroup
+    \expandafter\tabu@tr@cing \the\count@ \relax
+}% \tabu@tracing
+\def\tabu@tr@cing #1\relax {%
+    \ifnum#1>\thr@@ \let\tabu@tracinglines\message
+    \else           \let\tabu@tracinglines\@gobble
+    \fi
+    \ifnum#1>\tw@   \let\tabu@DBG        \tabu@@DBG
+                    \def\tabu@mkarstrut {\tabu@DBG@arstrut}%
+                    \tabustrutrule      1.5\p@
+    \else           \let\tabu@DBG        \@gobble
+                    \def\tabu@mkarstrut {\tabu@arstrut}%
+                    \tabustrutrule      \z@
+    \fi
+    \ifnum#1>\@ne   \let\tabu@debug      \message
+    \else           \let\tabu@debug      \@gobble
+    \fi
+    \ifnum#1>\z@
+        \let\tabu@message             \message
+        \let\tabu@tracing@save        \tabu@message@save
+        \let\tabu@starttimer          \tabu@pdftimer
+    \else
+        \let\tabu@message             \@gobble
+        \let\tabu@tracing@save        \@gobble
+        \let\tabu@starttimer          \relax
+    \fi
+}% \tabu@tr@cing
+%% Setup \AtBeginDocument
+\AtBeginDocument{\tabu@AtBeginDocument}
+\def\tabu@AtBeginDocument{\let\tabu@AtBeginDocument \@undefined
+    \ifdefined\arrayrulecolor   \tabu@colortbltrue       % <colortbl>
+                                \tabu@colortblalignments % different glues are used
+    \else                       \tabu@colortblfalse \fi
+    \ifdefined\CT@arc@ \else \let\CT@arc@  \relax \fi
+    \ifdefined\CT@drsc@\else \let\CT@drsc@ \relax \fi
+    \let\tabu@arc@L \CT@arc@ \let\tabu@drsc@L \CT@drsc@
+    \ifodd 1\ifcsname siunitx_table_collect_begin:Nn\endcsname   % <siunitx: ok>
+            \expandafter\ifx
+                \csname siunitx_table_collect_begin:Nn\endcsname\relax 0\fi\fi\relax
+            \tabu@siunitxtrue
+    \else   \let\tabu@maybesiunitx   \@firstofone                % <not siunitx: setup>
+            \let\tabu@siunitx        \tabu@nosiunitx
+            \tabu@siunitxfalse
+    \fi
+    \ifdefined\adl@array        % <arydshln>
+    \else     \let\tabu@adl@fix \relax
+              \let\tabu@adl@endtrial \@empty \fi
+    \ifdefined\longtable        % <longtable>
+    \else     \let\longtabu \tabu@nolongtabu \fi
+    \ifdefined\cellspacetoplimit \tabu@warn@cellspace\fi
+    \csname\ifcsname ifHy@hyperfootnotes\endcsname % <hyperfootnotes>
+            ifHy@hyperfootnotes\else iffalse\fi\endcsname
+        \let\tabu@footnotetext \tabu@Hy@ftntext
+        \let\tabu@xfootnote    \tabu@Hy@xfootnote \fi
+    \ifdefined\FV@DefineCheckEnd% <fancyvrb>
+            \tabu@fancyvrb  \fi
+    \ifdefined\color            % <color / xcolor>
+        \let\tabu@color \color
+        \def\tabu@leavevmodecolor ##1{%
+            \def\tabu@leavevmodecolor {\leavevmode ##1}%
+        }\expandafter\tabu@leavevmodecolor\expandafter{\color}%
+    \else
+        \let\tabu@color           \tabu@nocolor
+        \let\tabu@leavevmodecolor \@firstofone \fi
+    \tabu@latextwoe
+    \ifdefined\@raggedtwoe@everyselectfont    % <ragged2e>
+        \tabu@raggedtwoe
+    \else
+        \let\tabu@cell@L \tabu@cell@l
+        \let\tabu@cell@R \tabu@cell@r
+        \let\tabu@cell@C \tabu@cell@c
+        \let\tabu@cell@J \tabu@cell@j   \fi
+    \expandafter\in@ \expandafter\@arrayright \expandafter{\endarray}%
+    \ifin@ \let\tabu@endarray \endarray
+    \else  \tabu@fix@arrayright \fi% <fix for colortbl & arydshln (delarray)>
+    \everyrow{}%
+}% \tabu@AtBeginDocument
+\def\tabu@warn@cellspace{%
+    \PackageWarning{tabu}{%
+                  Package cellspace has some limitations
+    \MessageBreak And redefines some macros of array.sty.
+    \MessageBreak Please use \string\tabulinesep\space to control
+    \MessageBreak vertical spacing of lines inside tabu environment}%
+}% \tabu@warn@cellspace
+%% tabu Package initialisation
+\tabuscantokensfalse
+\let\tabu@arc@G         \relax
+\let\tabu@drsc@G        \relax
+\let\tabu@evr@G         \@empty
+\let\tabu@rc@G          \@empty
+\def\tabu@ls@G          {\tabu@linestyle@}%
+\let\tabu@@rowfontreset \@empty % <init>
+\let\tabu@@celllalign   \@empty
+\let\tabu@@cellralign   \@empty
+\let\tabu@@cellleft     \@empty
+\let\tabu@@cellright    \@empty
+\def\tabu@naturalXmin   {\z@}
+\def\tabu@naturalXmax   {\z@}
+\let\tabu@rowfontreset  \@empty
+\def\tabulineon {4pt}\let\tabulineoff \tabulineon
+\tabu@everyrowtrue
+\ifdefined\pdfelapsedtime                   % <pdfTeX>
+        \def\tabu@pdftimer {\xdef\tabu@starttime{\the\pdfelapsedtime}}%
+\else   \let\tabu@pdftimer \relax \let\tabu@message@etime \relax
+\fi
+\tracingtabu=\z@
+\newtabulinestyle {=\maxdimen}% creates the 'factory' settings \tabu@linestyle@
+\tabulinestyle{}
+\taburowcolors{}
+\let\tabudefaulttarget  \linewidth
+\ProcessOptions*                % \ProcessOptions* is quicker !
+\endinput
+%%
+%% End of file `tabu.sty'.
diff --git a/docs/latex/terminal__usage_8md.tex b/docs/latex/terminal__usage_8md.tex
new file mode 100644
index 0000000..d8a4a52
--- /dev/null
+++ b/docs/latex/terminal__usage_8md.tex
@@ -0,0 +1,2 @@
+\doxysection{capabilities2\+\_\+server/docs/terminal\+\_\+usage.md File Reference}
+\hypertarget{terminal__usage_8md}{}\label{terminal__usage_8md}\index{capabilities2\_server/docs/terminal\_usage.md@{capabilities2\_server/docs/terminal\_usage.md}}
diff --git a/docs/latex/test_8cpp.tex b/docs/latex/test_8cpp.tex
new file mode 100644
index 0000000..29801f1
--- /dev/null
+++ b/docs/latex/test_8cpp.tex
@@ -0,0 +1,26 @@
+\doxysection{capabilities2\+\_\+server/test/test.cpp File Reference}
+\hypertarget{test_8cpp}{}\label{test_8cpp}\index{capabilities2\_server/test/test.cpp@{capabilities2\_server/test/test.cpp}}
+{\ttfamily \#include $<$iostream$>$}\newline
+{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+server.\+hpp$>$}\newline
+Include dependency graph for test.\+cpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{test_8cpp__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Functions}
+\begin{DoxyCompactItemize}
+\item 
+int \mbox{\hyperlink{test_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}{main}} (int argc, char \texorpdfstring{$\ast$}{*}\texorpdfstring{$\ast$}{*}argv)
+\end{DoxyCompactItemize}
+
+
+\doxysubsection{Function Documentation}
+\Hypertarget{test_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}\label{test_8cpp_a3c04138a5bfe5d72780bb7e82a18e627} 
+\index{test.cpp@{test.cpp}!main@{main}}
+\index{main@{main}!test.cpp@{test.cpp}}
+\doxysubsubsection{\texorpdfstring{main()}{main()}}
+{\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc,  }\item[{char \texorpdfstring{$\ast$}{*}\texorpdfstring{$\ast$}{*}}]{argv }\end{DoxyParamCaption})}
+
diff --git a/docs/latex/test_8cpp__incl.md5 b/docs/latex/test_8cpp__incl.md5
new file mode 100644
index 0000000..aa91007
--- /dev/null
+++ b/docs/latex/test_8cpp__incl.md5
@@ -0,0 +1 @@
+5cd9b86cb9640eea66290ecf15b6a808
\ No newline at end of file
diff --git a/docs/latex/test_8cpp__incl.pdf b/docs/latex/test_8cpp__incl.pdf
new file mode 100644
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diff --git a/docs/latex/threadtrigger__runner_8hpp.tex b/docs/latex/threadtrigger__runner_8hpp.tex
new file mode 100644
index 0000000..ac48856
--- /dev/null
+++ b/docs/latex/threadtrigger__runner_8hpp.tex
@@ -0,0 +1,34 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/threadtrigger\+\_\+runner.hpp File Reference}
+\hypertarget{threadtrigger__runner_8hpp}{}\label{threadtrigger__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/threadtrigger\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/threadtrigger\_runner.hpp}}
+{\ttfamily \#include $<$chrono$>$}\newline
+{\ttfamily \#include $<$map$>$}\newline
+{\ttfamily \#include $<$atomic$>$}\newline
+{\ttfamily \#include $<$mutex$>$}\newline
+{\ttfamily \#include $<$thread$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+events/uuid\+\_\+generator.\+hpp$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+code.\+hpp$>$}\newline
+Include dependency graph for threadtrigger\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{threadtrigger__runner_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{threadtrigger__runner_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}
+\begin{DoxyCompactList}\small\item\em add threaded trigger execution to the runner \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/threadtrigger__runner_8hpp__dep__incl.md5 b/docs/latex/threadtrigger__runner_8hpp__dep__incl.md5
new file mode 100644
index 0000000..c3701f2
--- /dev/null
+++ b/docs/latex/threadtrigger__runner_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+ad18fd76bf3e83f2c95fe3ac0fd8474e
\ No newline at end of file
diff --git a/docs/latex/threadtrigger__runner_8hpp__dep__incl.pdf b/docs/latex/threadtrigger__runner_8hpp__dep__incl.pdf
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diff --git a/docs/latex/threadtrigger__runner_8hpp_source.tex b/docs/latex/threadtrigger__runner_8hpp_source.tex
new file mode 100644
index 0000000..a3bd589
--- /dev/null
+++ b/docs/latex/threadtrigger__runner_8hpp_source.tex
@@ -0,0 +1,112 @@
+\doxysection{threadtrigger\+\_\+runner.\+hpp}
+\hypertarget{threadtrigger__runner_8hpp_source}{}\label{threadtrigger__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/threadtrigger\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/threadtrigger\_runner.hpp}}
+\mbox{\hyperlink{threadtrigger__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <chrono>}}
+\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <map>}}
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <atomic>}}
+\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <mutex>}}
+\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <thread>}}
+\DoxyCodeLine{00008\ }
+\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
+\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{uuid__generator_8hpp}{capabilities2\_events/uuid\_generator.hpp}}>}}
+\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_code.hpp>}}
+\DoxyCodeLine{00012\ }
+\DoxyCodeLine{00013\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00014\ \{}
+\DoxyCodeLine{00015\ }
+\DoxyCodeLine{00020\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}}
+\DoxyCodeLine{00021\ \{}
+\DoxyCodeLine{00022\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00030\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\_from\_thread\_id}}(\textcolor{keyword}{const}\ std::string\&\ thread\_id)}
+\DoxyCodeLine{00031\ \ \ \{}
+\DoxyCodeLine{00032\ \ \ \ \ \textcolor{comment}{//\ extract\ bond\_id\ from\ thread\_id\ (format:\ "{}bond\_id/trigger\_id"{})}}
+\DoxyCodeLine{00033\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ slash\_pos\ =\ thread\_id.find(\textcolor{charliteral}{'/'});}
+\DoxyCodeLine{00034\ \ \ \ \ std::string\ bond\_id\ =\ (slash\_pos\ !=\ std::string::npos)\ ?\ thread\_id.substr(0,\ slash\_pos)\ :\ thread\_id;}
+\DoxyCodeLine{00035\ \ \ \ \ \textcolor{keywordflow}{return}\ bond\_id;}
+\DoxyCodeLine{00036\ \ \ \}}
+\DoxyCodeLine{00037\ }
+\DoxyCodeLine{00044\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\_from\_thread\_id}}(\textcolor{keyword}{const}\ std::string\&\ thread\_id)}
+\DoxyCodeLine{00045\ \ \ \{}
+\DoxyCodeLine{00046\ \ \ \ \ \textcolor{comment}{//\ extract\ instance\_id\ from\ thread\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
+\DoxyCodeLine{00047\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ slash\_pos\ =\ thread\_id.find(\textcolor{charliteral}{'/'});}
+\DoxyCodeLine{00048\ \ \ \ \ std::string\ instance\_id\ =\ (slash\_pos\ !=\ std::string::npos)\ ?\ thread\_id.substr(slash\_pos\ +\ 1)\ :\ \textcolor{stringliteral}{"{}"{}};}
+\DoxyCodeLine{00049\ \ \ \ \ \textcolor{keywordflow}{return}\ instance\_id;}
+\DoxyCodeLine{00050\ \ \ \}}
+\DoxyCodeLine{00051\ }
+\DoxyCodeLine{00052\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00053\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{ThreadTriggerRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}(),\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}}(),\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\_}}(),\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\_should\_stop\_}}(false)}
+\DoxyCodeLine{00054\ \ \ \{}
+\DoxyCodeLine{00055\ \ \ \}}
+\DoxyCodeLine{00056\ }
+\DoxyCodeLine{00057\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\string~ThreadTriggerRunner}}()}
+\DoxyCodeLine{00058\ \ \ \{}
+\DoxyCodeLine{00059\ \ \ \ \ \textcolor{comment}{//\ stop\ any\ running\ threads\ on\ destruction}}
+\DoxyCodeLine{00060\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7}{stop\_execution}}(std::chrono::milliseconds(500));}
+\DoxyCodeLine{00061\ \ \ \}}
+\DoxyCodeLine{00062\ }
+\DoxyCodeLine{00073\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id,}
+\DoxyCodeLine{00074\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ instance\_id)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00075\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00076\ \ \ \ \ \textcolor{comment}{//\ namespace\ the\ thread\ id\ with\ bond\ id\ for\ later}}
+\DoxyCodeLine{00077\ \ \ \ \ \textcolor{comment}{//\ could\ list\ all\ threads\ related\ to\ a\ bond\ if\ needed}}
+\DoxyCodeLine{00078\ \ \ \ \ std::string\ thread\_id\ =\ bond\_id\ +\ \textcolor{stringliteral}{"{}/"{}}\ +\ instance\_id;}
+\DoxyCodeLine{00079\ }
+\DoxyCodeLine{00080\ \ \ \ \ \textcolor{comment}{//\ start\ execution\ thread}}
+\DoxyCodeLine{00081\ \ \ \ \ \{}
+\DoxyCodeLine{00082\ \ \ \ \ \ \ std::scoped\_lock\ lock(\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\_}});}
+\DoxyCodeLine{00083\ \ \ \ \ \ \ \textcolor{comment}{//\ TODO:\ consider\ emitting\ on\ start\ event\ here}}
+\DoxyCodeLine{00084\ \ \ \ \ \ \ \textcolor{comment}{//\ emit\_event(bond\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::ON\_STARTED,\ updated\_on\_started(parameters));}}
+\DoxyCodeLine{00085\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}}[thread\_id]\ =\ std::thread(\&\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{ThreadTriggerRunner::execution}},\ \textcolor{keyword}{this},\ parameters,\ thread\_id);}
+\DoxyCodeLine{00086\ \ \ \ \ \}}
+\DoxyCodeLine{00087\ }
+\DoxyCodeLine{00088\ \ \ \ \ \textcolor{comment}{//\ emit\ trigger\ event}}
+\DoxyCodeLine{00089\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(bond\_id,\ instance\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::TRIGGERED);}
+\DoxyCodeLine{00090\ }
+\DoxyCodeLine{00091\ \ \ \ \ \textcolor{comment}{//\ BUG:\ thread\ management?}}
+\DoxyCodeLine{00092\ }
+\DoxyCodeLine{00093\ \ \ \ \ \textcolor{comment}{//\ TODO:\ consider\ emitting\ on\ stop\ event\ here}}
+\DoxyCodeLine{00094\ \ \ \ \ \textcolor{comment}{//\ emit\_event(bond\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::ON\_STOPPED,\ updated\_on\_stopped(parameters));}}
+\DoxyCodeLine{00095\ }
+\DoxyCodeLine{00096\ \ \ \ \ RCLCPP\_DEBUG(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}started\ execution\ thread\ for\ thread\ id:\ \%s"{}},\ thread\_id.c\_str());}
+\DoxyCodeLine{00097\ \ \ \}}
+\DoxyCodeLine{00098\ }
+\DoxyCodeLine{00099\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00110\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\ =\ 0;}
+\DoxyCodeLine{00111\ }
+\DoxyCodeLine{00112\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00114\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7}{stop\_execution}}(std::chrono::milliseconds\ timeout\ =\ std::chrono::milliseconds(500))}
+\DoxyCodeLine{00115\ \ \ \{}
+\DoxyCodeLine{00116\ \ \ \ \ \textcolor{comment}{//\ signal\ listening\ threads\ to\ stop}}
+\DoxyCodeLine{00117\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\_should\_stop\_}}\ =\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00118\ }
+\DoxyCodeLine{00119\ \ \ \ \ \textcolor{comment}{//\ try\ join\ in\ a\ non-\/blocking\ way\ and\ log\ if\ threads\ are\ not\ cleaned\ up\ properly}}
+\DoxyCodeLine{00120\ \ \ \ \ \{}
+\DoxyCodeLine{00121\ \ \ \ \ \ \ std::scoped\_lock\ lock(\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\_}});}
+\DoxyCodeLine{00122\ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ [thread\_id,\ exec\_thread]\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}})}
+\DoxyCodeLine{00123\ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00124\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (exec\_thread.joinable())}
+\DoxyCodeLine{00125\ \ \ \ \ \ \ \ \ \{}
+\DoxyCodeLine{00126\ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ TODO:\ FIX\ THIS\ FUTURE\ MICHAEL}}
+\DoxyCodeLine{00127\ \ \ \ \ \ \ \ \ \ \ exec\_thread.join();}
+\DoxyCodeLine{00128\ \ \ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00129\ \ \ \ \ \ \ \}}
+\DoxyCodeLine{00130\ }
+\DoxyCodeLine{00131\ \ \ \ \ \ \ \textcolor{comment}{//\ clear\ the\ thread\ pool}}
+\DoxyCodeLine{00132\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}}.clear();}
+\DoxyCodeLine{00133\ \ \ \ \ \}}
+\DoxyCodeLine{00134\ \ \ \}}
+\DoxyCodeLine{00135\ }
+\DoxyCodeLine{00136\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00140\ \ \ std::map<std::string,\ std::thread>\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}};}
+\DoxyCodeLine{00141\ }
+\DoxyCodeLine{00145\ \ \ std::mutex\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\_}};}
+\DoxyCodeLine{00146\ }
+\DoxyCodeLine{00150\ \ \ std::atomic<bool>\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\_should\_stop\_}};}
+\DoxyCodeLine{00151\ \};}
+\DoxyCodeLine{00152\ }
+\DoxyCodeLine{00153\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/topic__runner_8hpp.tex b/docs/latex/topic__runner_8hpp.tex
new file mode 100644
index 0000000..5f727f7
--- /dev/null
+++ b/docs/latex/topic__runner_8hpp.tex
@@ -0,0 +1,21 @@
+\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/topic\+\_\+runner.hpp File Reference}
+\hypertarget{topic__runner_8hpp}{}\label{topic__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/topic\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/topic\_runner.hpp}}
+{\ttfamily \#include $<$memory$>$}\newline
+{\ttfamily \#include $<$capabilities2\+\_\+runner/threadtrigger\+\_\+runner.\+hpp$>$}\newline
+Include dependency graph for topic\+\_\+runner.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{topic__runner_8hpp__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}}
+\begin{DoxyCompactList}\small\item\em Topic runner base class. \end{DoxyCompactList}\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/topic__runner_8hpp__incl.md5 b/docs/latex/topic__runner_8hpp__incl.md5
new file mode 100644
index 0000000..d3aa76e
--- /dev/null
+++ b/docs/latex/topic__runner_8hpp__incl.md5
@@ -0,0 +1 @@
+ca992d5c400b6a5a7086ce7b3edc9775
\ No newline at end of file
diff --git a/docs/latex/topic__runner_8hpp__incl.pdf b/docs/latex/topic__runner_8hpp__incl.pdf
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diff --git a/docs/latex/topic__runner_8hpp_source.tex b/docs/latex/topic__runner_8hpp_source.tex
new file mode 100644
index 0000000..cdea242
--- /dev/null
+++ b/docs/latex/topic__runner_8hpp_source.tex
@@ -0,0 +1,108 @@
+\doxysection{topic\+\_\+runner.\+hpp}
+\hypertarget{topic__runner_8hpp_source}{}\label{topic__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/topic\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/topic\_runner.hpp}}
+\mbox{\hyperlink{topic__runner_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <memory>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{threadtrigger__runner_8hpp}{capabilities2\_runner/threadtrigger\_runner.hpp}}>}}
+\DoxyCodeLine{00006\ }
+\DoxyCodeLine{00007\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
+\DoxyCodeLine{00008\ \{}
+\DoxyCodeLine{00009\ }
+\DoxyCodeLine{00015\ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ TopicT>}
+\DoxyCodeLine{00016\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{TopicRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}}
+\DoxyCodeLine{00017\ \{}
+\DoxyCodeLine{00018\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00022\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_ac99cd688150e5cfe539e69866e01ae20}{TopicRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}()}
+\DoxyCodeLine{00023\ \ \ \{}
+\DoxyCodeLine{00024\ \ \ \}}
+\DoxyCodeLine{00025\ }
+\DoxyCodeLine{00033\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a485da884c40ea98cef38f74ba5b27684}{init\_subscriber}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,}
+\DoxyCodeLine{00034\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ topic\_name)}
+\DoxyCodeLine{00035\ \ \ \{}
+\DoxyCodeLine{00036\ \ \ \ \ \textcolor{comment}{//\ initialize\ the\ runner\ base\ by\ storing\ node\ pointer\ and\ run\ config}}
+\DoxyCodeLine{00037\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
+\DoxyCodeLine{00038\ }
+\DoxyCodeLine{00039\ \ \ \ \ \textcolor{comment}{//\ create\ an\ service\ client}}
+\DoxyCodeLine{00040\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}{subscription\_}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>create\_subscription<TopicT>(}
+\DoxyCodeLine{00041\ \ \ \ \ \ \ \ \ topic\_name,\ 10,\ [\textcolor{keyword}{this}](\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ TopicT::SharedPtr\ msg)\ \{\ this-\/>\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3}{callback}}(msg);\ \});}
+\DoxyCodeLine{00042\ \ \ \}}
+\DoxyCodeLine{00043\ }
+\DoxyCodeLine{00048\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00049\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00050\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
+\DoxyCodeLine{00051\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
+\DoxyCodeLine{00052\ }
+\DoxyCodeLine{00053\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
+\DoxyCodeLine{00054\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
+\DoxyCodeLine{00055\ }
+\DoxyCodeLine{00056\ \ \ \ \ \textcolor{comment}{//\ throw\ an\ error\ if\ the\ subscription\ is\ null}}
+\DoxyCodeLine{00057\ \ \ \ \ \textcolor{comment}{//\ this\ can\ happen\ if\ the\ runner\ is\ not\ able\ to\ find\ the\ topic\ resource}}
+\DoxyCodeLine{00058\ }
+\DoxyCodeLine{00059\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}{subscription\_}})}
+\DoxyCodeLine{00060\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ subscriber\ that\ was\ not\ started"{}});}
+\DoxyCodeLine{00061\ }
+\DoxyCodeLine{00062\ \ \ \ \ \textcolor{comment}{//\ emit\ stop\ event}}
+\DoxyCodeLine{00063\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
+\DoxyCodeLine{00064\ }
+\DoxyCodeLine{00065\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}runner\ cleaned.\ stopping.."{}});}
+\DoxyCodeLine{00066\ \ \ \}}
+\DoxyCodeLine{00067\ }
+\DoxyCodeLine{00068\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00077\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\textcolor{keyword}{\ override}}
+\DoxyCodeLine{00078\ \textcolor{keyword}{\ \ }\{}
+\DoxyCodeLine{00079\ \ \ \ \ \textcolor{comment}{//\ split\ thread\_id\ to\ get\ bond\_id\ and\ instance\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
+\DoxyCodeLine{00080\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{ThreadTriggerRunner::bond\_from\_thread\_id}}(thread\_id);}
+\DoxyCodeLine{00081\ \ \ \ \ std::string\ instance\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{ThreadTriggerRunner::instance\_from\_thread\_id}}(thread\_id);}
+\DoxyCodeLine{00082\ }
+\DoxyCodeLine{00083\ \ \ \ \ \textcolor{comment}{//\ emit\ started\ event}}
+\DoxyCodeLine{00084\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\_started}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\_on\_started}}());}
+\DoxyCodeLine{00085\ }
+\DoxyCodeLine{00086\ \ \ \ \ \textcolor{comment}{//\ block\ until\ a\ message\ is\ received\ in\ the\ callback\ and\ stored\ in\ latest\_message\_}}
+\DoxyCodeLine{00087\ \ \ \ \ std::unique\_lock<std::mutex>\ lock(\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0}{block\_mutex\_}});}
+\DoxyCodeLine{00088\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\_}}\ =\ \textcolor{keyword}{false};}
+\DoxyCodeLine{00089\ }
+\DoxyCodeLine{00090\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Waiting\ for\ Message."{}});}
+\DoxyCodeLine{00091\ }
+\DoxyCodeLine{00092\ \ \ \ \ \textcolor{comment}{//\ Conditional\ wait}}
+\DoxyCodeLine{00093\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}{cv\_}}.wait(lock,\ [\textcolor{keyword}{this}]\ \{\ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\_}};\ \});}
+\DoxyCodeLine{00094\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Message\ Received."{}});}
+\DoxyCodeLine{00095\ }
+\DoxyCodeLine{00096\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}{latest\_message\_}})}
+\DoxyCodeLine{00097\ \ \ \ \ \{}
+\DoxyCodeLine{00098\ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ success\ event}}
+\DoxyCodeLine{00099\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\_succeeded}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\_on\_success}}());}
+\DoxyCodeLine{00100\ \ \ \ \ \}}
+\DoxyCodeLine{00101\ \ \ \ \ \textcolor{keywordflow}{else}}
+\DoxyCodeLine{00102\ \ \ \ \ \{}
+\DoxyCodeLine{00103\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Message\ receiving\ failed."{}});}
+\DoxyCodeLine{00104\ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ failed\ event}}
+\DoxyCodeLine{00105\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\_failed}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\_on\_failure}}());}
+\DoxyCodeLine{00106\ \ \ \ \ \}}
+\DoxyCodeLine{00107\ }
+\DoxyCodeLine{00108\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Thread\ closing."{}});}
+\DoxyCodeLine{00109\ \ \ \}}
+\DoxyCodeLine{00110\ }
+\DoxyCodeLine{00111\ \textcolor{keyword}{protected}:}
+\DoxyCodeLine{00120\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3}{callback}}(\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ TopicT::SharedPtr\&\ msg)}
+\DoxyCodeLine{00121\ \ \ \{}
+\DoxyCodeLine{00122\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}{latest\_message\_}}\ =\ msg;}
+\DoxyCodeLine{00123\ }
+\DoxyCodeLine{00124\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\_}}\ =\ \textcolor{keyword}{true};}
+\DoxyCodeLine{00125\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}{cv\_}}.notify\_all();}
+\DoxyCodeLine{00126\ \ \ \}}
+\DoxyCodeLine{00127\ }
+\DoxyCodeLine{00131\ \ \ \textcolor{keyword}{typename}\ rclcpp::Subscription<TopicT>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}{subscription\_}};}
+\DoxyCodeLine{00132\ }
+\DoxyCodeLine{00136\ \ \ \textcolor{keyword}{mutable}\ \textcolor{keyword}{typename}\ TopicT::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}{latest\_message\_}};}
+\DoxyCodeLine{00137\ }
+\DoxyCodeLine{00141\ \ \ std::condition\_variable\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}{cv\_}};}
+\DoxyCodeLine{00142\ \ \ std::mutex\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0}{block\_mutex\_}};}
+\DoxyCodeLine{00143\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\_}};}
+\DoxyCodeLine{00144\ \};}
+\DoxyCodeLine{00145\ }
+\DoxyCodeLine{00146\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
+
+\end{DoxyCode}
diff --git a/docs/latex/uuid__generator_8cpp.tex b/docs/latex/uuid__generator_8cpp.tex
new file mode 100644
index 0000000..2123c05
--- /dev/null
+++ b/docs/latex/uuid__generator_8cpp.tex
@@ -0,0 +1,16 @@
+\doxysection{capabilities2\+\_\+events/src/uuid\+\_\+generator.cpp File Reference}
+\hypertarget{uuid__generator_8cpp}{}\label{uuid__generator_8cpp}\index{capabilities2\_events/src/uuid\_generator.cpp@{capabilities2\_events/src/uuid\_generator.cpp}}
+{\ttfamily \#include $<$capabilities2\+\_\+events/uuid\+\_\+generator.\+hpp$>$}\newline
+{\ttfamily \#include $<$uuid/uuid.\+h$>$}\newline
+Include dependency graph for uuid\+\_\+generator.\+cpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=286pt]{uuid__generator_8cpp__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/uuid__generator_8cpp__incl.md5 b/docs/latex/uuid__generator_8cpp__incl.md5
new file mode 100644
index 0000000..ab35adb
--- /dev/null
+++ b/docs/latex/uuid__generator_8cpp__incl.md5
@@ -0,0 +1 @@
+16ccba63987bcdef6f689840424fcdd4
\ No newline at end of file
diff --git a/docs/latex/uuid__generator_8cpp__incl.pdf b/docs/latex/uuid__generator_8cpp__incl.pdf
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diff --git a/docs/latex/uuid__generator_8hpp.tex b/docs/latex/uuid__generator_8hpp.tex
new file mode 100644
index 0000000..6653ad9
--- /dev/null
+++ b/docs/latex/uuid__generator_8hpp.tex
@@ -0,0 +1,27 @@
+\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/uuid\+\_\+generator.hpp File Reference}
+\hypertarget{uuid__generator_8hpp}{}\label{uuid__generator_8hpp}\index{capabilities2\_events/include/capabilities2\_events/uuid\_generator.hpp@{capabilities2\_events/include/capabilities2\_events/uuid\_generator.hpp}}
+{\ttfamily \#include $<$string$>$}\newline
+Include dependency graph for uuid\+\_\+generator.\+hpp\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=232pt]{uuid__generator_8hpp__incl}
+\end{center}
+\end{figure}
+This graph shows which files directly or indirectly include this file\+:\nopagebreak
+\begin{figure}[H]
+\begin{center}
+\leavevmode
+\includegraphics[width=350pt]{uuid__generator_8hpp__dep__incl}
+\end{center}
+\end{figure}
+\doxysubsubsection*{Classes}
+\begin{DoxyCompactItemize}
+\item 
+class \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{capabilities2\+\_\+events\+::\+UUIDGenerator}}
+\end{DoxyCompactItemize}
+\doxysubsubsection*{Namespaces}
+\begin{DoxyCompactItemize}
+\item 
+namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
+\end{DoxyCompactItemize}
diff --git a/docs/latex/uuid__generator_8hpp__dep__incl.md5 b/docs/latex/uuid__generator_8hpp__dep__incl.md5
new file mode 100644
index 0000000..b9815ec
--- /dev/null
+++ b/docs/latex/uuid__generator_8hpp__dep__incl.md5
@@ -0,0 +1 @@
+b0e496a5d67407ffe80c3b5f7d5ba118
\ No newline at end of file
diff --git a/docs/latex/uuid__generator_8hpp__dep__incl.pdf b/docs/latex/uuid__generator_8hpp__dep__incl.pdf
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diff --git a/docs/latex/uuid__generator_8hpp_source.tex b/docs/latex/uuid__generator_8hpp_source.tex
new file mode 100644
index 0000000..1eb4ff4
--- /dev/null
+++ b/docs/latex/uuid__generator_8hpp_source.tex
@@ -0,0 +1,24 @@
+\doxysection{uuid\+\_\+generator.\+hpp}
+\hypertarget{uuid__generator_8hpp_source}{}\label{uuid__generator_8hpp_source}\index{capabilities2\_events/include/capabilities2\_events/uuid\_generator.hpp@{capabilities2\_events/include/capabilities2\_events/uuid\_generator.hpp}}
+\mbox{\hyperlink{uuid__generator_8hpp}{Go to the documentation of this file.}}
+\begin{DoxyCode}{0}
+\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
+\DoxyCodeLine{00002\ }
+\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
+\DoxyCodeLine{00004\ }
+\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\_events}}}
+\DoxyCodeLine{00006\ \{}
+\DoxyCodeLine{00007\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}}
+\DoxyCodeLine{00008\ \{}
+\DoxyCodeLine{00009\ \textcolor{keyword}{public}:}
+\DoxyCodeLine{00015\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}{gen\_uuid\_str}}();}
+\DoxyCodeLine{00016\ }
+\DoxyCodeLine{00017\ \textcolor{keyword}{private}:}
+\DoxyCodeLine{00018\ \ \ \textcolor{comment}{//\ delete\ constructor\ and\ assignment\ operator\ to\ prevent\ instantiation}}
+\DoxyCodeLine{00019\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ac16e657db07c4d6368089cb8b846e434}{UUIDGenerator}}()\ =\ \textcolor{keyword}{delete};}
+\DoxyCodeLine{00020\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_a7b54cb7556182732e476d7b6734acbe7}{UUIDGenerator}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}\&)\ =\ \textcolor{keyword}{delete};}
+\DoxyCodeLine{00021\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}\&\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_a9a621130c12a95d1e1311a456a4c8a35}{operator=}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}\&)\ =\ \textcolor{keyword}{delete};}
+\DoxyCodeLine{00022\ \};}
+\DoxyCodeLine{00023\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
+
+\end{DoxyCode}
diff --git a/docs/readme.md b/docs/readme.md
index fecd977..11c1b2b 100644
--- a/docs/readme.md
+++ b/docs/readme.md
@@ -1,13 +1,16 @@
 # Docs
 
-For detailed information about the code, build the code documentation using Doxygen. see [`capabilities2_documentation`](../capabilities2_documentation/).
+The documentation site is generated with Doxygen from the existing Markdown in this `docs/` tree together with comments from the source code. The Doxygen configuration lives at the repository root in [`Doxygen`](../Doxygen).
 
 ```bash
-# in the devcontainer
-cd capabilities2_documentation
-doxygen Doxyfile
+# from the repository root
+doxygen Doxygen
 ```
 
+The generated HTML site is written to `docs/html/` and the entry page is `docs/html/index.html`.
+
+For GitHub Pages, this repository can use GitHub Actions as both the build source and the deployment source. The workflow in `.github/workflows/doxygen-pages.yml` rebuilds the site whenever files change and deploys the generated `docs/html/` artifact to Pages.
+
 ## Basic Tutorial
 
 A basic tutorial can be found in [here](./basic_tutorial.md). This tutorial will guide you through the process of creating a simple capability and running it.

From 7a2c07dc1ce715ca5caf280de16762be8caba10f Mon Sep 17 00:00:00 2001
From: Kalana Ratnayake <kalanaratnayake95@gmail.com>
Date: Sat, 18 Jul 2026 06:03:03 +0000
Subject: [PATCH 2/2] added doxygen for documentation

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-<a href="action__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;iostream&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;sstream&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;map&gt;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;mutex&gt;</span></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;condition_variable&gt;</span></div>
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-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;rclcpp_action/rclcpp_action.hpp&gt;</span></div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;action_msgs/srv/cancel_goal.hpp&gt;</span></div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span> </div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;<a class="code" href="threadtrigger__runner_8hpp.html">capabilities2_runner/threadtrigger_runner.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
-<div class="foldopen" id="foldopen00018" data-start="{" data-end="}">
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="namespacecapabilities2__runner.html">   18</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
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-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> ActionT&gt;</div>
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-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html">   27</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1ActionRunner.html">ActionRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>{</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
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-</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
-<div class="foldopen" id="foldopen00044" data-start="{" data-end="}">
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-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    {</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to connect to action: %s&quot;</span>, action_name.c_str());</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;failed to connect to action server&quot;</span>);</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    }</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;connected with action: %s&quot;</span>, action_name.c_str());</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  }</div>
-</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
-<div class="foldopen" id="foldopen00068" data-start="{" data-end="}">
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">   68</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="comment">// if the node pointer is empty then throw an error</span></div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="comment">// this means that the runner was not started and is being used out of order</span></div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>)</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner that was not started&quot;</span>);</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="comment">// throw an error if the action client is null</span></div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="comment">// this can happen if the runner is not able to find the action resource</span></div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a>)</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner action that was not started&quot;</span>);</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="comment">// stop runner using action client</span></div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a>)</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    {</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>      {</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keyword">auto</span> cancel_future = <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a>-&gt;async_cancel_goal(</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>            <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a>, [<span class="keyword">this</span>, &amp;bond_id, &amp;instance_id](action_msgs::srv::CancelGoal_Response::SharedPtr response) {</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>              <span class="keywordflow">if</span> (response-&gt;return_code != action_msgs::srv::CancelGoal_Response::ERROR_NONE)</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>              {</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>                <span class="comment">// throw runner_exception(&quot;failed to cancel runner&quot;);</span></div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>                RCLCPP_ERROR(node_-&gt;get_logger(), <span class="stringliteral">&quot;Runner cancellation failed.&quot;</span>);</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>              }</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>              <span class="comment">// emit stopped event</span></div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>              <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>());</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>            });</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>        <span class="comment">// wait for action to be stopped. hold the thread for 2 seconds to help keep callbacks in scope</span></div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>        <span class="comment">// BUG: the line below does not work in jazzy build, so a workaround is used</span></div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        <span class="keyword">auto</span> timeout = std::chrono::steady_clock::now() + std::chrono::seconds(2);</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        <span class="keywordflow">while</span> (std::chrono::steady_clock::now() &lt; timeout)</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>        {</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>          <span class="comment">// Check if the cancel operation is complete</span></div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>          <span class="keywordflow">if</span> (cancel_future.wait_for(std::chrono::milliseconds(100)) == std::future_status::ready)</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>            <span class="keywordflow">break</span>;</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        }</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>      }</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> rclcpp_action::exceptions::UnknownGoalHandleError&amp; e)</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      {</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to cancel goal: %s&quot;</span>, e.what());</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>        <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(e.what());</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>      }</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    }</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;runner cleaned. stopping..&quot;</span>);</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>  }</div>
-</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span><span class="keyword">protected</span>:</div>
-<div class="foldopen" id="foldopen00127" data-start="{" data-end="}">
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">  127</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="comment">// split thread_id to get bond_id and instance_id (format: &quot;bond_id/instance_id&quot;)</span></div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">ThreadTriggerRunner::bond_from_thread_id</a>(thread_id);</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    std::string instance_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">ThreadTriggerRunner::instance_from_thread_id</a>(thread_id);</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span> </div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <span class="comment">// generate a goal from parameters provided</span></div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">goal_msg_</a> = <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">generate_goal</a>(parameters);</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;goal generated for instance %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    std::mutex block_mutex;</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    std::condition_variable cv;</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <span class="keywordtype">bool</span> completed = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    std::unique_lock&lt;std::mutex&gt; lock(block_mutex);</div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <span class="comment">// trigger the action client with goal</span></div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>.goal_response_callback =</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>        [<span class="keyword">this</span>, &amp;instance_id](<span class="keyword">const</span> <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr&amp; goal_handle) {</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>          <span class="keywordflow">if</span> (goal_handle)</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>          {</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>            RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;goal accepted. Waiting for result for instance %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>          }</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>          <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>          {</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>            RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;goal rejected for instance %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>          }</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span> </div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>          <span class="comment">// store goal handle to be used with stop funtion</span></div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>          <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a> = goal_handle;</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>        };</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>.feedback_callback = [<span class="keyword">this</span>, &amp;instance_id](</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>                                               <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr goal_handle,</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>                                               <span class="keyword">const</span> <span class="keyword">typename</span> ActionT::Feedback::ConstSharedPtr feedback_msg) {</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>      std::string feedback = <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">generate_feedback</a>(feedback_msg);</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>      <span class="keywordflow">if</span> (feedback != <span class="stringliteral">&quot;&quot;</span>)</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>      {</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>        RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;received feedback:  %s for instance %s&quot;</span>, feedback.c_str(), instance_id.c_str());</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>      }</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    };</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>.result_callback =</div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>        [<span class="keyword">this</span>, &amp;instance_id, &amp;completed, &amp;cv,</div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>         &amp;bond_id, &amp;instance_id](<span class="keyword">const</span> <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::WrappedResult&amp; wrapped_result) {</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>          RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;received result for instance %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>          <span class="keywordflow">if</span> (wrapped_result.code == rclcpp_action::ResultCode::SUCCEEDED)</div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>          {</div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>            RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;action succeeded for instance %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>            <span class="comment">// emit success event</span></div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>            <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>());</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>          }</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>          <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>          {</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>            RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;action failed for instance %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span> </div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>            <span class="comment">// emit failed event</span></div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>            <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>());</div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>          }</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>          <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">result_</a> = wrapped_result.result;</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>          completed = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>          cv.notify_all();</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        };</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span> </div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">goal_handle_future_</a> = <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a>-&gt;async_send_goal(<a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">goal_msg_</a>, <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>);</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;goal sent. Waiting for acceptance for instance %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="comment">// Conditional wait</span></div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>    cv.wait(lock, [&amp;completed] { <span class="keywordflow">return</span> completed; });</div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;action complete. Thread closing for instance %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>  }</div>
-</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span> </div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">  211</a></span>  <span class="keyword">virtual</span> <span class="keyword">typename</span> ActionT::Goal <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">generate_goal</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters) = 0;</div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span> </div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">  224</a></span>  <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">generate_feedback</a>(<span class="keyword">const</span> <span class="keyword">typename</span> ActionT::Feedback::ConstSharedPtr msg) = 0;</div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span> </div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">  228</a></span>  <span class="keyword">typename</span> rclcpp_action::Client&lt;ActionT&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a>;</div>
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
-<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">  232</a></span>  <span class="keyword">typename</span> rclcpp_action::Client&lt;ActionT&gt;::SendGoalOptions <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a>;</div>
-<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span> </div>
-<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">  235</a></span>  <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a>;</div>
-<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span> </div>
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a55a723c2c93f6f6842bfd1951d767597">  238</a></span>  <span class="keyword">typename</span> rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::WrappedResult <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a55a723c2c93f6f6842bfd1951d767597">wrapped_result_</a>;</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span> </div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">  241</a></span>  <span class="keyword">typename</span> ActionT::Result::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">result_</a>;</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">  244</a></span>  <span class="keyword">typename</span> ActionT::Goal <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">goal_msg_</a>;</div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">  247</a></span>  std::shared_future&lt;typename rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::SharedPtr&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">goal_handle_future_</a>;</div>
-<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span> </div>
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ActionRunner.html#a6054145b7cf13f6e9a0e62d85169ab7c">  250</a></span>  std::shared_future&lt;typename rclcpp_action::ClientGoalHandle&lt;ActionT&gt;::WrappedResult&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1ActionRunner.html#a6054145b7cf13f6e9a0e62d85169ab7c">result_future_</a>;</div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>};</div>
-</div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span> </div>
-<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
-</div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner</a></div><div class="ttdoc">action runner base class</div><div class="ttdef"><b>Definition</b> action_runner.hpp:28</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a0417718f4ad7a9318169a14abb182fa5"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">capabilities2_runner::ActionRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> action_runner.hpp:68</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a4fb5c7f11f675e1b4a68de4ee746de6f"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">capabilities2_runner::ActionRunner::action_client_</a></div><div class="ttdeci">rclcpp_action::Client&lt; ActionT &gt;::SharedPtr action_client_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:228</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a55a723c2c93f6f6842bfd1951d767597"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a55a723c2c93f6f6842bfd1951d767597">capabilities2_runner::ActionRunner::wrapped_result_</a></div><div class="ttdeci">rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::WrappedResult wrapped_result_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:238</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a591d542f6f91cfec3aec63eb311b4ac6"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a591d542f6f91cfec3aec63eb311b4ac6">capabilities2_runner::ActionRunner::ActionRunner</a></div><div class="ttdeci">ActionRunner()</div><div class="ttdoc">Constructor which needs to be empty due to plugin semantics.</div><div class="ttdef"><b>Definition</b> action_runner.hpp:33</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a6054145b7cf13f6e9a0e62d85169ab7c"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a6054145b7cf13f6e9a0e62d85169ab7c">capabilities2_runner::ActionRunner::result_future_</a></div><div class="ttdeci">std::shared_future&lt; typename rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::WrappedResult &gt; result_future_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:250</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a620f49036d7996a09c5b804285c854fe"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">capabilities2_runner::ActionRunner::generate_goal</a></div><div class="ttdeci">virtual ActionT::Goal generate_goal(capabilities2_events::EventParameters &amp;parameters)=0</div><div class="ttdoc">Generate a goal from parameters.</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ab849326c650cb28e6b894f069ad9e2ab"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">capabilities2_runner::ActionRunner::goal_msg_</a></div><div class="ttdeci">ActionT::Goal goal_msg_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:244</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ac27423e74d0466bffb6e94a71865a903"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">capabilities2_runner::ActionRunner::goal_handle_</a></div><div class="ttdeci">rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::SharedPtr goal_handle_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:235</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ad4e445a63ba8fbe8421b944eca53dea8"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">capabilities2_runner::ActionRunner::execution</a></div><div class="ttdeci">virtual void execution(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</div><div class="ttdoc">Trigger process to be executed.</div><div class="ttdef"><b>Definition</b> action_runner.hpp:127</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ade3f3629bca55ca92727f28cdf4178f1"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">capabilities2_runner::ActionRunner::send_goal_options_</a></div><div class="ttdeci">rclcpp_action::Client&lt; ActionT &gt;::SendGoalOptions send_goal_options_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:232</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_adec17ec301ee0485a10bb5a1caa82ab9"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#adec17ec301ee0485a10bb5a1caa82ab9">capabilities2_runner::ActionRunner::init_action</a></div><div class="ttdeci">virtual void init_action(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;action_name)</div><div class="ttdoc">Initializer function for initializing the action runner in place of constructor due to plugin semanti...</div><div class="ttdef"><b>Definition</b> action_runner.hpp:44</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ae1a518ed38168b716d8f964b9345c45e"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">capabilities2_runner::ActionRunner::result_</a></div><div class="ttdeci">ActionT::Result::SharedPtr result_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:241</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_ae4831885b998d9fd1a3a93e77fc1d7b0"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">capabilities2_runner::ActionRunner::goal_handle_future_</a></div><div class="ttdeci">std::shared_future&lt; typename rclcpp_action::ClientGoalHandle&lt; ActionT &gt;::SharedPtr &gt; goal_handle_future_</div><div class="ttdef"><b>Definition</b> action_runner.hpp:247</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_afbc108c9cb2305848fcf0ada606475e4"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">capabilities2_runner::ActionRunner::generate_feedback</a></div><div class="ttdeci">virtual std::string generate_feedback(const typename ActionT::Feedback::ConstSharedPtr msg)=0</div><div class="ttdoc">Generate a std::string from feedback message.</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a561039712ffa38c2617baf266fc22896"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">capabilities2_runner::RunnerBase::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success()</div><div class="ttdoc">Update on_success event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:271</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5865a398c1ad27e89d4d6947ef9404c2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">capabilities2_runner::RunnerBase::emit_succeeded</a></div><div class="ttdeci">void emit_succeeded(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit SUCCEEDED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:444</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5dcd2ac4205bb7f3cf069e0273ec46b7"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">capabilities2_runner::RunnerBase::emit_failed</a></div><div class="ttdeci">void emit_failed(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit FAILED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:457</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9a5419cab317ef239d2f197714136660"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">capabilities2_runner::RunnerBase::param_on_failure</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_failure()</div><div class="ttdoc">Update on_failure event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:256</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></div><div class="ttdoc">add threaded trigger execution to the runner</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:21</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a10133774ae4ef6f39f9d94ebbed1b58c"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">capabilities2_runner::ThreadTriggerRunner::bond_from_thread_id</a></div><div class="ttdeci">static const std::string bond_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract bond_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:30</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_af750ef563c71182944a9a0ec380f78de"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">capabilities2_runner::ThreadTriggerRunner::instance_from_thread_id</a></div><div class="ttdeci">static const std::string instance_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract instance_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:44</div></div>
-<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
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-<div class="contents">
-<div class="textblock">Here are the classes, structs, unions and interfaces with brief descriptions:</div><div class="directory">
-<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span>]</div><table class="directory">
-<tr id="row_0_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_0_" class="arrow" onclick="toggleFolder('0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecapabilities2__events.html" target="_self">capabilities2_events</a></td><td class="desc"></td></tr>
-<tr id="row_0_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1event__exception.html" target="_self">event_exception</a></td><td class="desc">Event exception </td></tr>
-<tr id="row_0_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1EventBase.html" target="_self">EventBase</a></td><td class="desc">Event base class </td></tr>
-<tr id="row_0_2_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_0_2_" class="arrow" onclick="toggleFolder('0_2_')">&#9660;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1EventNode.html" target="_self">EventNode</a></td><td class="desc">Event node is a source of an event </td></tr>
-<tr id="row_0_2_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html" target="_self">EventPipe</a></td><td class="desc">Event pipe structure </td></tr>
-<tr id="row_0_3_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1EventParameters.html" target="_self">EventParameters</a></td><td class="desc">Capability options for a capability runner given by interface and provider </td></tr>
-<tr id="row_0_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1options__exception.html" target="_self">options_exception</a></td><td class="desc"></td></tr>
-<tr id="row_0_5_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__events_1_1Parameter.html" target="_self">Parameter</a></td><td class="desc">Key value pair for capability options </td></tr>
-<tr id="row_0_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html" target="_self">PublishedEvent</a></td><td class="desc"></td></tr>
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-<tr id="row_1_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_1_" class="arrow" onclick="toggleFolder('1_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecapabilities2__runner.html" target="_self">capabilities2_runner</a></td><td class="desc"></td></tr>
-<tr id="row_1_0_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html" target="_self">ActionRunner</a></td><td class="desc">Action runner base class </td></tr>
-<tr id="row_1_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html" target="_self">DummyRunner</a></td><td class="desc">Dummy runner </td></tr>
-<tr id="row_1_2_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html" target="_self">EnCapRunner</a></td><td class="desc">Encapsulated capability runner </td></tr>
-<tr id="row_1_3_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html" target="_self">GetCapabilitySpecsRunner</a></td><td class="desc">Executor runner class </td></tr>
-<tr id="row_1_4_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html" target="_self">InputMultiplexRunner</a></td><td class="desc"></td></tr>
-<tr id="row_1_5_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html" target="_self">LaunchRunner</a></td><td class="desc">Launch runner base class </td></tr>
-<tr id="row_1_6_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html" target="_self">MultiplexBaseRunner</a></td><td class="desc"></td></tr>
-<tr id="row_1_7_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html" target="_self">NoTriggerRunner</a></td><td class="desc">No-trigger runner </td></tr>
-<tr id="row_1_8_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__runner_1_1resource.html" target="_self">resource</a></td><td class="desc">Resource definition </td></tr>
-<tr id="row_1_9_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__runner_1_1runner__exception.html" target="_self">runner_exception</a></td><td class="desc">Runner exception </td></tr>
-<tr id="row_1_10_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__runner_1_1runner__opts.html" target="_self">runner_opts</a></td><td class="desc">Runner options </td></tr>
-<tr id="row_1_11_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" target="_self">RunnerBase</a></td><td class="desc">Base class for all runners </td></tr>
-<tr id="row_1_12_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html" target="_self">ServiceRunner</a></td><td class="desc">Service runner base class </td></tr>
-<tr id="row_1_13_" class="even"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html" target="_self">ThreadTriggerRunner</a></td><td class="desc">Add threaded trigger execution to the runner </td></tr>
-<tr id="row_1_14_" class="odd"><td class="entry"><span style="width:32px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html" target="_self">TopicRunner</a></td><td class="desc">Topic runner base class </td></tr>
-<tr id="row_2_" class="even"><td class="entry"><span style="width:0px;display:inline-block;">&#160;</span><span id="arr_2_" class="arrow" onclick="toggleFolder('2_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecapabilities2__server.html" target="_self">capabilities2_server</a></td><td class="desc"></td></tr>
-<tr id="row_2_0_" class="odd"><td class="entry"><span style="width:16px;display:inline-block;">&#160;</span><span id="arr_2_0_" class="arrow" onclick="toggleFolder('2_0_')">&#9660;</span><span class="icona"><span class="icon">N</span></span><a class="el" href="namespacecapabilities2__server_1_1models.html" target="_self">models</a></td><td class="desc"></td></tr>
-<tr id="row_2_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1capability__model__t.html" target="_self">capability_model_t</a></td><td class="desc"></td></tr>
-<tr id="row_2_0_1_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html" target="_self">defineable_base_t</a></td><td class="desc">Defineable base </td></tr>
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-<tr id="row_2_0_3_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html" target="_self">identifiable_base_t</a></td><td class="desc">Unique key for a row </td></tr>
-<tr id="row_2_0_4_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1interface__model__t.html" target="_self">interface_model_t</a></td><td class="desc">Interface model </td></tr>
-<tr id="row_2_0_5_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html" target="_self">modifiable_base_t</a></td><td class="desc">Base model for all models that can be modified </td></tr>
-<tr id="row_2_0_6_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html" target="_self">predicate_model_t</a></td><td class="desc">Predicate model type </td></tr>
-<tr id="row_2_0_7_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html" target="_self">predicateable_base_t</a></td><td class="desc">Predicateable model base type </td></tr>
-<tr id="row_2_0_8_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html" target="_self">provider_model_t</a></td><td class="desc">Provider model </td></tr>
-<tr id="row_2_0_9_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html" target="_self">remappable_base_t</a></td><td class="desc">Remappable base model definition </td></tr>
-<tr id="row_2_0_10_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html" target="_self">remapping_model_t</a></td><td class="desc"></td></tr>
-<tr id="row_2_0_11_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html" target="_self">remappings_model_t</a></td><td class="desc"></td></tr>
-<tr id="row_2_0_12_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1resource__model__t.html" target="_self">resource_model_t</a></td><td class="desc">Computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std_msgs/String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph </td></tr>
-<tr id="row_2_0_13_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html" target="_self">run_config_model_t</a></td><td class="desc">Run configuration type </td></tr>
-<tr id="row_2_0_14_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1running__model__t.html" target="_self">running_model_t</a></td><td class="desc">Running capability model </td></tr>
-<tr id="row_2_0_15_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html" target="_self">semantic_interface_model_t</a></td><td class="desc">Semantic interface model </td></tr>
-<tr id="row_2_0_16_" class="even"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html" target="_self">soft_deleteable_base_t</a></td><td class="desc">Base model for all models that can be soft deleted </td></tr>
-<tr id="row_2_0_17_" class="odd"><td class="entry"><span style="width:48px;display:inline-block;">&#160;</span><span class="icona"><span class="icon">C</span></span><a class="el" href="structcapabilities2__server_1_1models_1_1specification__model__t.html" target="_self">specification_model_t</a></td><td class="desc">Interface specification type the specification model is the computation graph blueprint of a capability </td></tr>
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-<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li>  </ul>
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-<a href="bond__cache_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;bondcpp/bond.hpp&gt;</span></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
-<div class="foldopen" id="foldopen00011" data-start="{" data-end="}">
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html">   11</a></span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
-<div class="foldopen" id="foldopen00022" data-start="{" data-end="};">
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html">   22</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1BondCache.html">BondCache</a></div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>{</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00030" data-start="{" data-end="}">
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a48efeffaf9fb7570b52c79487eed3f0f">   30</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a48efeffaf9fb7570b52c79487eed3f0f">BondCache</a>(<span class="keyword">const</span> std::string&amp; bonds_topic = <span class="stringliteral">&quot;/capabilities/bond&quot;</span>) : <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">bonds_topic_</a>(bonds_topic)</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  {</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  }</div>
-</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
-<div class="foldopen" id="foldopen00040" data-start="{" data-end="}">
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">   40</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">add_bond</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; bond_id)</div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>  {</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="comment">// if capability is not in cache, add it</span></div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.find(capability) == <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.end())</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    {</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability] = { bond_id };</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    {</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>      <span class="comment">// if capability is in cache, append only new bond id</span></div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>      <span class="keywordflow">if</span> (std::find(<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].begin(), <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].end(), bond_id) ==</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>          <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].end())</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>      {</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].push_back(bond_id);</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>      }</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    }</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>  }</div>
-</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
-<div class="foldopen" id="foldopen00065" data-start="{" data-end="}">
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">   65</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">remove_bond</a>(<span class="keyword">const</span> std::string&amp; bond_id)</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  {</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// remove bond id from all capability entries</span></div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; [capability, bonds] : <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>)</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    {</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <span class="keyword">auto</span> it = std::find(bonds.begin(), bonds.end(), bond_id);</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      <span class="keywordflow">if</span> (it != bonds.end())</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      {</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        bonds.erase(it);</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>      }</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    }</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="comment">// remove empty capability entries</span></div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> it = <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.begin(); it != <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.end();)</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    {</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>      <span class="keywordflow">if</span> (it-&gt;second.empty())</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>      {</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        it = <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.erase(it);</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      }</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>      <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      {</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        ++it;</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>      }</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    }</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>  }</div>
-</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
-<div class="foldopen" id="foldopen00100" data-start="{" data-end="}">
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#af3825f2898c0ed831a7f89b85d6742c5">  100</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#af3825f2898c0ed831a7f89b85d6742c5">remove_bond</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; bond_id)</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>  {</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="comment">// remove bond id from capability entry</span></div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="keyword">auto</span> it = std::find(<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].begin(), <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].end(), bond_id);</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">if</span> (it != <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].end())</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].erase(it);</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    }</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>    <span class="comment">// remove capability entry if empty</span></div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability].empty())</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    {</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.erase(capability);</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    }</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>  }</div>
-</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>  <span class="comment">// get all capabilities requested by a bond</span></div>
-<div class="foldopen" id="foldopen00118" data-start="{" data-end="}">
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">  118</a></span>  <span class="keyword">const</span> std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">get_capabilities</a>(<span class="keyword">const</span> std::string&amp; bond_id)</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>  {</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    std::vector&lt;std::string&gt; capabilities;</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; [capability, bonds] : <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>)</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    {</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>      <span class="keywordflow">if</span> (std::find(bonds.begin(), bonds.end(), bond_id) != bonds.end())</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>      {</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        capabilities.push_back(capability);</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>      }</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    }</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span> </div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordflow">return</span> capabilities;</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>  }</div>
-</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>  <span class="comment">// get all current bonds for a capability</span></div>
-<div class="foldopen" id="foldopen00133" data-start="{" data-end="}">
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">  133</a></span>  <span class="keyword">const</span> std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">get_bonds</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>  {</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="comment">// if doesn&#39;t exist then throw</span></div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(capability))</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    {</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;capability not found&quot;</span>);</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    }</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability];</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>  }</div>
-</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>  <span class="comment">// capability exists in cache</span></div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>  <span class="comment">// a capability has at least one bond</span></div>
-<div class="foldopen" id="foldopen00146" data-start="{" data-end="}">
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">  146</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>  {</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.find(capability) != <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>.end();</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>  }</div>
-</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span> </div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>  <span class="comment">// bond id exists for a capability</span></div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>  <span class="comment">// this bond id is associated with this capability</span></div>
-<div class="foldopen" id="foldopen00153" data-start="{" data-end="}">
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a7db63a73651b43fa55eb444f49d62b26">  153</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a7db63a73651b43fa55eb444f49d62b26">exists</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; bond_id)</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>  {</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <span class="comment">// capability exists guard</span></div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(capability))</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    {</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    }</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span> </div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="comment">// check if bond id exists for capability</span></div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    <span class="keyword">auto</span>&amp; bonds = <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>[capability];</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="keywordflow">return</span> std::find(bonds.begin(), bonds.end(), bond_id) != bonds.end();</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>  }</div>
-</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>  <span class="comment">// start a live bond</span></div>
-<div class="foldopen" id="foldopen00167" data-start="{" data-end="}">
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">  167</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">start</a>(<span class="keyword">const</span> std::string&amp; bond_id, rclcpp::Node::SharedPtr node, std::function&lt;<span class="keywordtype">void</span>(<span class="keywordtype">void</span>)&gt; on_broken,</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>             std::function&lt;<span class="keywordtype">void</span>(<span class="keywordtype">void</span>)&gt; on_formed)</div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>  {</div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="comment">// create a new bond with event callbacks</span></div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>[bond_id] = std::make_unique&lt;bond::Bond&gt;(<a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">bonds_topic_</a>, bond_id, node, on_broken, on_formed);</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    <span class="comment">// start the bond</span></div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>[bond_id]-&gt;setHeartbeatPeriod(0.10);</div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>[bond_id]-&gt;setHeartbeatTimeout(10.0);</div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>[bond_id]-&gt;start();</div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>  }</div>
-</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  <span class="comment">// bonds topic</span></div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">  181</a></span>  std::string <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">bonds_topic_</a>;</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span> </div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>  <span class="comment">// bond cache</span></div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>  <span class="comment">// capability -&gt; bond ids</span></div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">  185</a></span>  std::map&lt;std::string, std::vector&lt;std::string&gt;&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">bond_cache_</a>;</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>  <span class="comment">// live bonds</span></div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>  <span class="comment">// bond id -&gt; bond object</span></div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">  189</a></span>  std::map&lt;std::string, std::unique_ptr&lt;bond::Bond&gt;&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">live_bonds_</a>;</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>};</div>
-</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span> </div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-</div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></div><div class="ttdoc">bond cache class</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:23</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a0cfb5d5535e4a3608593c3093364baaa"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">capabilities2_server::BondCache::exists</a></div><div class="ttdeci">bool exists(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:146</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a19639716efa05b956bff7c9ca583b728"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">capabilities2_server::BondCache::get_bonds</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_bonds(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:133</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a329d242a8477e10bfa914107920ffbc6"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a329d242a8477e10bfa914107920ffbc6">capabilities2_server::BondCache::live_bonds_</a></div><div class="ttdeci">std::map&lt; std::string, std::unique_ptr&lt; bond::Bond &gt; &gt; live_bonds_</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:189</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a48efeffaf9fb7570b52c79487eed3f0f"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a48efeffaf9fb7570b52c79487eed3f0f">capabilities2_server::BondCache::BondCache</a></div><div class="ttdeci">BondCache(const std::string &amp;bonds_topic=&quot;/capabilities/bond&quot;)</div><div class="ttdoc">Construct a Bond Cache with a specific bond topic.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:30</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a59117ead721f4b608863ef3ce2228a46"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">capabilities2_server::BondCache::remove_bond</a></div><div class="ttdeci">void remove_bond(const std::string &amp;bond_id)</div><div class="ttdoc">Remove a bond id from the cache for all capabilities.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:65</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a7b2a6a067fe9dd8266d44e549f68849e"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e">capabilities2_server::BondCache::bond_cache_</a></div><div class="ttdeci">std::map&lt; std::string, std::vector&lt; std::string &gt; &gt; bond_cache_</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:185</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a7db63a73651b43fa55eb444f49d62b26"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a7db63a73651b43fa55eb444f49d62b26">capabilities2_server::BondCache::exists</a></div><div class="ttdeci">bool exists(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:153</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a95f5c2beb3e72240154de125ff0c3555"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">capabilities2_server::BondCache::add_bond</a></div><div class="ttdeci">void add_bond(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Add a bond to the cache.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:40</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_abb808c809ef2a79e4a8695f84bc47266"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">capabilities2_server::BondCache::start</a></div><div class="ttdeci">void start(const std::string &amp;bond_id, rclcpp::Node::SharedPtr node, std::function&lt; void(void)&gt; on_broken, std::function&lt; void(void)&gt; on_formed)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:167</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_ada688394effbf87bed480782d64fe8e5"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">capabilities2_server::BondCache::get_capabilities</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_capabilities(const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:118</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_af3825f2898c0ed831a7f89b85d6742c5"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#af3825f2898c0ed831a7f89b85d6742c5">capabilities2_server::BondCache::remove_bond</a></div><div class="ttdeci">void remove_bond(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Remove a bond id from a specific capability.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:100</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_af926c1948de00a8c475580903f542461"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461">capabilities2_server::BondCache::bonds_topic_</a></div><div class="ttdeci">std::string bonds_topic_</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:181</div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
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-<a href="capabilities__api_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;map&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;tinyxml2.h&gt;</span></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;<a class="code" href="db__base_8hpp.html">capabilities2_server/db_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;<a class="code" href="capabilities__db_8hpp.html">capabilities2_server/capabilities_db.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;<a class="code" href="bond__cache_8hpp.html">capabilities2_server/bond_cache.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="preprocessor">#include &lt;<a class="code" href="runner__cache_8hpp.html">capabilities2_server/runner_cache.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
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-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="preprocessor">#include &lt;<a class="code" href="event__base_8hpp.html">capabilities2_events/event_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/remapping.hpp&gt;</span></div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</span></div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_spec.hpp&gt;</span></div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span><span class="preprocessor">#include &lt;capabilities2_msgs/srv/get_remappings.hpp&gt;</span></div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/running_capability.hpp&gt;</span></div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>{</div>
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-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html">   38</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1CapabilitiesAPI.html">CapabilitiesAPI</a></div>
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-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00041" data-start="{" data-end="}">
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">   41</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">CapabilitiesAPI</a>() : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a>(nullptr), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>(nullptr), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>(), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>(), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>(nullptr)</div>
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-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
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-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="comment">// set logger</span></div>
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-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="comment">// connect db</span></div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a> = std::make_unique&lt;CapabilitiesDB&gt;(db_file);</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="comment">// log</span></div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Capabilities API connected to db: %s&quot;</span>, db_file.c_str());</div>
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-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
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-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>  {</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// return value</span></div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">bool</span> value = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    <span class="comment">// get the running model from the db</span></div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> running = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_running(provider);</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="comment">// start all dependencies</span></div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="comment">// go through the running model and start the necessary dependencies</span></div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; run : running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a>)</div>
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-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>      <span class="comment">// make an internal &#39;use&#39; bond for the capability dependency</span></div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">bind_dependency</a>(run.interface);</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>      <span class="comment">// add the runner to the cache</span></div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>      value = value and <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(node, run.interface, run.provider);</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    }</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="comment">// get the provider specification for the capability</span></div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> run_config = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_run_config(provider);</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="comment">// create a new runner, this call implicitly starts the runner</span></div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="comment">// create a runner id which is the cap name to uniquely identify the runner</span></div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">// this means only one runner per capability name</span></div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="comment">//</span></div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="comment">// TODO: consider the logic for multiple runners per capability</span></div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    {</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">add_runner</a>(node, capability, run_config);</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span> </div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>      <span class="comment">// log</span></div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;started capability: %s with provider: %s&quot;</span>, capability.c_str(),</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>                  provider.c_str());</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span> </div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      <span class="keywordflow">return</span> value and <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    }</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    {</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>      RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not start runner: %s&quot;</span>, e.<a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>());</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>      <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    }</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>  }</div>
-</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
-<div class="foldopen" id="foldopen00125" data-start="{" data-end="}">
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">  125</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>  {</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="comment">// make sure provider exists</span></div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="comment">// this can happen if dependencies fail to resolve in the first place</span></div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    {</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not get provider for: %s&quot;</span>, capability.c_str());</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    }</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="comment">// get the provider from runner</span></div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    std::string provider = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">provider</a>(capability);</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>    <span class="comment">// get the running model from the db</span></div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> running = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_running(provider);</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <span class="comment">// unbind and stop dependencies</span></div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    <span class="comment">// FIXME: this unrolls the dependency tree from the bottom up but should probably be top down</span></div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; run : running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a>)</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    {</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;freeing dependency: %s of : %s&quot;</span>, run.interface.c_str(), capability.c_str());</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>      <span class="comment">// remove the internal &#39;use&#39; bond for the capability dependency</span></div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">unbind_dependency</a>(run.interface);</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>      <span class="comment">// stop the dependency if no more bonds</span></div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>      <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(run.interface))</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>      {</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(run.interface);</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>      }</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    }</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span> </div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="comment">// remove the runner</span></div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="comment">// this will implicitly stop the runner</span></div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    {</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">remove_runner</a>(capability);</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    }</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    {</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>      RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not stop runner: %s&quot;</span>, e.<a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>());</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    }</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    <span class="comment">// log</span></div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;stopped capability: %s&quot;</span>, capability.c_str());</div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>  }</div>
-</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
-<div class="foldopen" id="foldopen00180" data-start="{" data-end="}">
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">  180</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; bond_id)</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>  {</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="comment">// remove bond from cache for capability</span></div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">remove_bond</a>(capability, bond_id);</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    <span class="comment">// stop the capability if no more bonds</span></div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(capability))</div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    {</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>      <span class="comment">// stop the capability</span></div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;stopping freed capability: %s&quot;</span>, capability.c_str());</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(capability);</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    }</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>  }</div>
-</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
-<div class="foldopen" id="foldopen00205" data-start="{" data-end="}">
-<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">  205</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">trigger_capability</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; instance_id,</div>
-<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>                          <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters)</div>
-<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>  {</div>
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    <span class="comment">// validate bond</span></div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(capability, bond_id))</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    {</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;this bond: %s is not using capability: %s&quot;</span>, bond_id.c_str(),</div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>                   capability.c_str());</div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>    }</div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    <span class="comment">// trigger the runner</span></div>
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>    <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    {</div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">trigger_runner</a>(bond_id, capability, instance_id, parameters);</div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    }</div>
-<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
-<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    {</div>
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not trigger runner: %s&quot;</span>, e.<a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>());</div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>    }</div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>  }</div>
-</div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span> </div>
-<div class="foldopen" id="foldopen00238" data-start="{" data-end="}">
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">  238</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">use_capability</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; provider,</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>                      <span class="keyword">const</span> std::string&amp; bond_id)</div>
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>  {</div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <span class="comment">// add bond to cache for capability</span></div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">add_bond</a>(capability, bond_id);</div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span> </div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>    <span class="comment">// start the capability with the provider</span></div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(node, capability, provider);</div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>  }</div>
-</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span> </div>
-<div class="foldopen" id="foldopen00256" data-start="{" data-end="}">
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">  256</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">connect_capability</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> capabilities2_msgs::msg::CapabilityConnection&amp; connection)</div>
-<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>  {</div>
-<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    <span class="comment">// TODO: implement connection storage for non-running capabilities</span></div>
-<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>    <span class="comment">// could also implicitly increment use counts for capabilities with this bond</span></div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>    <span class="comment">// so that the capabilities are started and then connected</span></div>
-<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <span class="comment">// could also increment use either way (running or not), which would allow tracking connections as &#39;uses&#39;</span></div>
-<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <span class="comment">// all of this would require freeing capabilities</span></div>
-<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span> </div>
-<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <span class="comment">// validate bonds</span></div>
-<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(connection.source.capability, bond_id) ||</div>
-<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>        !<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">exists</a>(connection.target.capability, bond_id))</div>
-<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    {</div>
-<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;no bond with id: %s exists for these capabilities&quot;</span>, bond_id.c_str());</div>
-<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>    }</div>
-<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span> </div>
-<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    <span class="comment">// check if source and target capabilities are running</span></div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(connection.source.capability) || !<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(connection.target.capability))</div>
-<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>    {</div>
-<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;both source and target capabilities must be running to connect&quot;</span>);</div>
-<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>    }</div>
-<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span> </div>
-<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>    <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    {</div>
-<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>      <span class="comment">// create a unique connection id for the connection using the bond_id and instance ids </span></div>
-<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>      <span class="comment">//(format: &quot;bond_id/instance_id/target_instance_id&quot;)</span></div>
-<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>      <span class="keyword">const</span> std::string connection_id = bond_id + <span class="charliteral">&#39;/&#39;</span> + connection.source.instance_id + <span class="charliteral">&#39;/&#39;</span> + connection.target.instance_id;</div>
-<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span> </div>
-<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>      <span class="comment">// need to pass event emitter to the runner cache so that it can be set in the runner</span></div>
-<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>      <span class="comment">// this allows the runner to emit events on state changes</span></div>
-<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>      <span class="comment">// default runner behaviour does not use event subsystem</span></div>
-<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">add_connection</a>(connection.source.capability, connection_id, connection, <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a>);</div>
-<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
-<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>      <span class="comment">// log</span></div>
-<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;set &#39;type %d&#39; connection for runner: %s with id: %s&quot;</span>, connection.type.code,</div>
-<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>                  connection.source.capability.c_str(), connection_id.c_str());</div>
-<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>    }</div>
-<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
-<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>    {</div>
-<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;could not connect runners: %s&quot;</span>, e.<a class="code hl_function" href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">what</a>());</div>
-<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>    }</div>
-<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>  }</div>
-</div>
-<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span> </div>
-<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>  <span class="comment">// capability api</span></div>
-<div class="foldopen" id="foldopen00302" data-start="{" data-end="}">
-<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">  302</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">add_capability</a>(<span class="keyword">const</span> capabilities2_msgs::msg::CapabilitySpec&amp; spec)</div>
-<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>  {</div>
-<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>    <span class="comment">// peak at the spec header</span></div>
-<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1header__model__t.html">models::header_model_t</a> header;</div>
-<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>    header.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a>(YAML::Load(spec.content));</div>
-<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>    header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = spec.package + <span class="stringliteral">&quot;/&quot;</span> + header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
-<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span> </div>
-<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>    <span class="comment">// check type and exists, create model and add to db</span></div>
-<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span>    <span class="keywordflow">if</span> (spec.type == capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_INTERFACE)</div>
-<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>    {</div>
-<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>      <span class="comment">// exists guard</span></div>
-<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>      <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;exists&lt;<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&gt;(header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>))</div>
-<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>      {</div>
-<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>        RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;interface already exists: %s&quot;</span>, header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
-<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>      }</div>
-<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span> </div>
-<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>      <span class="comment">// convert message to model and add to db</span></div>
-<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> model;</div>
-<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>      <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>      {</div>
-<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>        model.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">from_yaml</a>(YAML::Load(spec.content));</div>
-<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>      }</div>
-<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
-<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>      {</div>
-<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>        RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to convert spec to model: %s&quot;</span>, e.what());</div>
-<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>      }</div>
-<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span> </div>
-<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>      <span class="comment">// add package to name probably to avoid collisions (this was previous convention)</span></div>
-<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>      model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = spec.package + <span class="stringliteral">&quot;/&quot;</span> + model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
-<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;insert_interface(model);</div>
-<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span> </div>
-<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>      <span class="comment">// log</span></div>
-<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;interface added to db: %s&quot;</span>, model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
-<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>    }</div>
-<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span> </div>
-<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>    <span class="keywordflow">if</span> (spec.type == capabilities2_msgs::msg::CapabilitySpec::SEMANTIC_CAPABILITY_INTERFACE)</div>
-<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>    {</div>
-<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>      <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;exists&lt;<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&gt;(header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>))</div>
-<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>      {</div>
-<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>        RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;semantic interface already exists: %s&quot;</span>, header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
-<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>      }</div>
-<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span> </div>
-<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> model;</div>
-<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span> </div>
-<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>      <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>      {</div>
-<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>        model.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a1c82841795835d4359d6bc1fd40b9f26">from_yaml</a>(YAML::Load(spec.content));</div>
-<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>      }</div>
-<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
-<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>      {</div>
-<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>        RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to convert spec to model: %s&quot;</span>, e.what());</div>
-<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>      }</div>
-<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span> </div>
-<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>      model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = spec.package + <span class="stringliteral">&quot;/&quot;</span> + model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
-<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;insert_semantic_interface(model);</div>
-<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span> </div>
-<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>      <span class="comment">// log</span></div>
-<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;semantic interface added to db: %s&quot;</span>, model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
-<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>    }</div>
-<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span> </div>
-<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>    <span class="keywordflow">if</span> (spec.type == capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_PROVIDER)</div>
-<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>    {</div>
-<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>      <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;exists&lt;<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&gt;(header.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>))</div>
-<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>      {</div>
-<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>        RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;provider already exists&quot;</span>);</div>
-<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>      }</div>
-<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span> </div>
-<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> model;</div>
-<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span> </div>
-<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>      <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>      {</div>
-<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>        model.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#aeaffd1a45ccb1f72dcbca71425ac57c3">from_yaml</a>(YAML::Load(spec.content));</div>
-<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>      }</div>
-<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
-<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>      {</div>
-<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>        RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to convert spec to model: %s&quot;</span>, e.what());</div>
-<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>      }</div>
-<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span> </div>
-<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>      model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = spec.package + <span class="stringliteral">&quot;/&quot;</span> + model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
-<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;insert_provider(model);</div>
-<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span> </div>
-<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>      <span class="comment">// log</span></div>
-<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;provider added to db: %s&quot;</span>, model.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.c_str());</div>
-<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>    }</div>
-<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span> </div>
-<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>    <span class="comment">// couldn&#39;t parse unknown capability type</span></div>
-<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>    RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;unknown capability type: %s&quot;</span>, spec.type.c_str());</div>
-<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>    <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>  }</div>
-</div>
-<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span> </div>
-<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>  <span class="comment">// query api</span></div>
-<div class="foldopen" id="foldopen00402" data-start="{" data-end="}">
-<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">  402</a></span>  std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">get_interfaces</a>()</div>
-<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>  {</div>
-<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>    std::vector&lt;std::string&gt; interfaces;</div>
-<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span> </div>
-<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; interface : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_interfaces())</div>
-<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>    {</div>
-<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>      interfaces.push_back(interface.header.name);</div>
-<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>    }</div>
-<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span> </div>
-<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>    <span class="keywordflow">return</span> interfaces;</div>
-<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>  }</div>
-</div>
-<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span> </div>
-<div class="foldopen" id="foldopen00414" data-start="{" data-end="}">
-<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">  414</a></span>  std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">get_semantic_interfaces</a>(<span class="keyword">const</span> std::string&amp; interface)</div>
-<div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>  {</div>
-<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>    std::vector&lt;std::string&gt; semantic_interfaces;</div>
-<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span> </div>
-<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; semantic_interface : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_semantic_interfaces_by_interface(interface))</div>
-<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>    {</div>
-<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>      semantic_interfaces.push_back(semantic_interface.header.name);</div>
-<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>    }</div>
-<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span> </div>
-<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>    <span class="keywordflow">return</span> semantic_interfaces;</div>
-<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>  }</div>
-</div>
-<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span> </div>
-<div class="foldopen" id="foldopen00426" data-start="{" data-end="}">
-<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">  426</a></span>  std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">get_providers</a>(<span class="keyword">const</span> std::string&amp; interface, <span class="keyword">const</span> <span class="keywordtype">bool</span>&amp; include_semantic)</div>
-<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>  {</div>
-<div class="line"><a id="l00428" name="l00428"></a><span class="lineno">  428</span>    std::vector&lt;std::string&gt; providers;</div>
-<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span> </div>
-<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; provider : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_providers_by_interface(interface))</div>
-<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>    {</div>
-<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>      providers.push_back(provider.header.name);</div>
-<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>    }</div>
-<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span> </div>
-<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>    <span class="comment">// if not include_semantic, remove providers for semantic interfaces</span></div>
-<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>    <span class="keywordflow">if</span> (!include_semantic)</div>
-<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>    {</div>
-<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span>      <span class="comment">// TODO: implement</span></div>
-<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>    }</div>
-<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span> </div>
-<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>    <span class="keywordflow">return</span> providers;</div>
-<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>  }</div>
-</div>
-<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span> </div>
-<div class="foldopen" id="foldopen00451" data-start="{" data-end="}">
-<div class="line"><a id="l00451" name="l00451"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">  451</a></span>  <span class="keyword">const</span> capabilities2_msgs::msg::CapabilitySpec <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">get_capability_spec</a>(<span class="keyword">const</span> std::string&amp; resource)</div>
-<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>  {</div>
-<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>    capabilities2_msgs::msg::CapabilitySpec msg;</div>
-<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span> </div>
-<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>    <span class="comment">// search db for resource</span></div>
-<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>    <span class="comment">// interfaces</span></div>
-<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_interface(resource);</div>
-<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span> </div>
-<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>    <span class="keywordflow">if</span> (!interface.header.name.empty())</div>
-<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>    {</div>
-<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>      <span class="comment">// package name is first part of name separated by /</span></div>
-<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>      msg.package = interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.substr(0, interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
-<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>      msg.type = interface.header.type;</div>
-<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>      <span class="comment">// get spec convert to yaml then to string</span></div>
-<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>      YAML::Node spec = interface.to_yaml();</div>
-<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>      <span class="comment">// fix name to remove package name</span></div>
-<div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
-<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>      msg.content = YAML::Dump(spec);</div>
-<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>    }</div>
-<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span> </div>
-<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span>    <span class="comment">// semantic interfaces</span></div>
-<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_semantic_interface(resource);</div>
-<div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span> </div>
-<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>    <span class="keywordflow">if</span> (!semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
-<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>    {</div>
-<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>      msg.package = semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.substr(0, semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
-<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>      msg.type = semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a>;</div>
-<div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>      YAML::Node spec = semantic_interface.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a27bcd752bad7f0e68baaa7754a6221c5">to_yaml</a>();</div>
-<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
-<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>      msg.content = YAML::Dump(spec);</div>
-<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>    }</div>
-<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span> </div>
-<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>    <span class="comment">// providers</span></div>
-<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_provider(resource);</div>
-<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span> </div>
-<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>    <span class="keywordflow">if</span> (!provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
-<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>    {</div>
-<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>      msg.package = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.substr(0, provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
-<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>      msg.type = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a>;</div>
-<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>      YAML::Node spec = provider.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">to_yaml</a>();</div>
-<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
-<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>      msg.content = YAML::Dump(spec);</div>
-<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>    }</div>
-<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span> </div>
-<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>    <span class="keywordflow">return</span> msg;</div>
-<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>  }</div>
-</div>
-<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span> </div>
-<div class="foldopen" id="foldopen00498" data-start="{" data-end="}">
-<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">  498</a></span>  std::vector&lt;capabilities2_msgs::msg::CapabilitySpec&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">get_capability_specs</a>()</div>
-<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>  {</div>
-<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>    <span class="comment">// get all capability specs from db</span></div>
-<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>    std::vector&lt;capabilities2_msgs::msg::CapabilitySpec&gt; specs;</div>
-<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span> </div>
-<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>    <span class="comment">// interfaces</span></div>
-<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; interface : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_interfaces())</div>
-<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>    {</div>
-<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>      capabilities2_msgs::msg::CapabilitySpec msg;</div>
-<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>      msg.package = interface.header.name.substr(0, interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
-<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>      msg.type = interface.header.type;</div>
-<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>      YAML::Node spec = interface.to_yaml();</div>
-<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
-<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>      msg.content = YAML::Dump(spec);</div>
-<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>      specs.push_back(msg);</div>
-<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>    }</div>
-<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span> </div>
-<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>    <span class="comment">// semantic interfaces</span></div>
-<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; semantic_interface : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_semantic_interfaces())</div>
-<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>    {</div>
-<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>      capabilities2_msgs::msg::CapabilitySpec msg;</div>
-<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span>      msg.package = semantic_interface.header.name.substr(0, semantic_interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
-<div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>      msg.type = semantic_interface.header.type;</div>
-<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>      YAML::Node spec = semantic_interface.to_yaml();</div>
-<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(semantic_interface.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
-<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span>      msg.content = YAML::Dump(spec);</div>
-<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>      specs.push_back(msg);</div>
-<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>    }</div>
-<div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span> </div>
-<div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>    <span class="comment">// providers</span></div>
-<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; provider : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_providers())</div>
-<div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>    {</div>
-<div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>      capabilities2_msgs::msg::CapabilitySpec msg;</div>
-<div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span>      msg.package = provider.header.name.substr(0, provider.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>));</div>
-<div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span>      msg.type = provider.header.type;</div>
-<div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span>      YAML::Node spec = provider.to_yaml();</div>
-<div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>      spec[<span class="stringliteral">&quot;name&quot;</span>] = spec[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;().substr(provider.header.name.find_first_of(<span class="charliteral">&#39;/&#39;</span>) + 1);</div>
-<div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>      msg.content = YAML::Dump(spec);</div>
-<div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span>      specs.push_back(msg);</div>
-<div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>    }</div>
-<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span> </div>
-<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span>    <span class="keywordflow">return</span> specs;</div>
-<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>  }</div>
-</div>
-<div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span> </div>
-<div class="foldopen" id="foldopen00542" data-start="{" data-end="}">
-<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">  542</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">get_remappings</a>(<span class="keyword">const</span> std::string&amp; capability_spec,</div>
-<div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>                      std::shared_ptr&lt;capabilities2_msgs::srv::GetRemappings::Response&gt; res)</div>
-<div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>  {</div>
-<div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span>    <span class="comment">// get remappings for a capability spec</span></div>
-<div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span> </div>
-<div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>    <span class="comment">// get re-map-able specs from db, these are semantic interfaces and providers</span></div>
-<div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> remappable = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_remappable(capability_spec);</div>
-<div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span> </div>
-<div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>    <span class="comment">// get remappings</span></div>
-<div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; topic : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">topics</a>)</div>
-<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>    {</div>
-<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>      capabilities2_msgs::msg::Remapping msg;</div>
-<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>      msg.key = topic.from;</div>
-<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>      msg.value = topic.to;</div>
-<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>      res-&gt;topics.push_back(msg);</div>
-<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>    }</div>
-<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span> </div>
-<div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; service : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">services</a>)</div>
-<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>    {</div>
-<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>      capabilities2_msgs::msg::Remapping msg;</div>
-<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span>      msg.key = service.from;</div>
-<div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>      msg.value = service.to;</div>
-<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>      res-&gt;services.push_back(msg);</div>
-<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>    }</div>
-<div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span> </div>
-<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; action : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">actions</a>)</div>
-<div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>    {</div>
-<div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>      capabilities2_msgs::msg::Remapping msg;</div>
-<div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>      msg.key = action.from;</div>
-<div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span>      msg.value = action.to;</div>
-<div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>      res-&gt;actions.push_back(msg);</div>
-<div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>    }</div>
-<div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span> </div>
-<div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; parameter : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">parameters</a>)</div>
-<div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>    {</div>
-<div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>      capabilities2_msgs::msg::Remapping msg;</div>
-<div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>      msg.key = parameter.from;</div>
-<div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>      msg.value = parameter.to;</div>
-<div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>      res-&gt;parameters.push_back(msg);</div>
-<div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>    }</div>
-<div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span>  }</div>
-</div>
-<div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span> </div>
-<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>  <span class="comment">// runner api</span></div>
-<div class="foldopen" id="foldopen00585" data-start="{" data-end="}">
-<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">  585</a></span>  std::vector&lt;capabilities2_msgs::msg::RunningCapability&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a>()</div>
-<div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>  {</div>
-<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>    <span class="comment">// create message container</span></div>
-<div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>    std::vector&lt;capabilities2_msgs::msg::RunningCapability&gt; running_capabilities;</div>
-<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span> </div>
-<div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span>    <span class="comment">// get a list of running caps</span></div>
-<div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>    std::vector&lt;std::string&gt; caps = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">get_running_capabilities</a>();</div>
-<div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span> </div>
-<div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    <span class="comment">// for each cap get the running model from db</span></div>
-<div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> std::string&amp; cap : caps)</div>
-<div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span>    {</div>
-<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>      <span class="comment">// create a running cap msg</span></div>
-<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>      capabilities2_msgs::msg::RunningCapability rc;</div>
-<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span> </div>
-<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>      <span class="comment">// get cap provider from runner</span></div>
-<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span>      std::string provider = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">provider</a>(cap);</div>
-<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span> </div>
-<div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>      <span class="comment">// get running model for provider</span></div>
-<div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> running = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>-&gt;get_running(provider);</div>
-<div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span> </div>
-<div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span>      <span class="comment">// fill running cap msg</span></div>
-<div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>      rc.capability.capability = running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">interface</a>;</div>
-<div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span>      rc.capability.provider = running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">provider</a>;</div>
-<div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>      rc.started_by = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">started_by</a>(cap);</div>
-<div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>      rc.pid = atoi(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">pid</a>(cap).c_str());</div>
-<div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span> </div>
-<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>      <span class="comment">// get dependencies</span></div>
-<div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>      <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; dep : running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a>)</div>
-<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>      {</div>
-<div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span>        capabilities2_msgs::msg::Capability cap_msg;</div>
-<div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span>        cap_msg.capability = dep.interface;</div>
-<div class="line"><a id="l00616" name="l00616"></a><span class="lineno">  616</span>        cap_msg.provider = dep.provider;</div>
-<div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>        rc.dependent_capabilities.push_back(cap_msg);</div>
-<div class="line"><a id="l00618" name="l00618"></a><span class="lineno">  618</span>      }</div>
-<div class="line"><a id="l00619" name="l00619"></a><span class="lineno">  619</span> </div>
-<div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>      <span class="comment">// add running cap msg</span></div>
-<div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span>      running_capabilities.push_back(rc);</div>
-<div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>    }</div>
-<div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span> </div>
-<div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>    <span class="keywordflow">return</span> running_capabilities;</div>
-<div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>  }</div>
-</div>
-<div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span> </div>
-<div class="foldopen" id="foldopen00635" data-start="{" data-end="}">
-<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">  635</a></span>  <span class="keywordtype">int</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">get_pid</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>  {</div>
-<div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span>    <span class="keywordflow">return</span> atoi(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">pid</a>(capability).c_str());</div>
-<div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>  }</div>
-</div>
-<div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span> </div>
-<div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>  <span class="comment">// bond api</span></div>
-<div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>  <span class="comment">// establish bond</span></div>
-<div class="foldopen" id="foldopen00642" data-start="{" data-end="}">
-<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">  642</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">establish_bond</a>(rclcpp::Node::SharedPtr node)</div>
-<div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>  {</div>
-<div class="line"><a id="l00644" name="l00644"></a><span class="lineno">  644</span>    <span class="comment">// create a new unique bond id</span></div>
-<div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator::gen_uuid_str</a>();</div>
-<div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span> </div>
-<div class="line"><a id="l00647" name="l00647"></a><span class="lineno">  647</span>    <span class="comment">// establish a bond and start liveness functions (on_broken, on_formed)</span></div>
-<div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>    <span class="comment">// bind the bond id to the callback functions</span></div>
-<div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">start</a>(bond_id, node, std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">CapabilitiesAPI::on_bond_broken</a>, <span class="keyword">this</span>, bond_id),</div>
-<div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>                      std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">CapabilitiesAPI::on_bond_established</a>, <span class="keyword">this</span>, bond_id));</div>
-<div class="line"><a id="l00651" name="l00651"></a><span class="lineno">  651</span> </div>
-<div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span>    <span class="comment">// return bond id</span></div>
-<div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span>    <span class="keywordflow">return</span> bond_id;</div>
-<div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>  }</div>
-</div>
-<div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span> </div>
-<div class="foldopen" id="foldopen00656" data-start="{" data-end="}">
-<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">  656</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">on_bond_established</a>(<span class="keyword">const</span> std::string&amp; bond_id)</div>
-<div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span>  {</div>
-<div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span>    <span class="comment">// log bond established event</span></div>
-<div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;bond established with id: %s&quot;</span>, bond_id.c_str());</div>
-<div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span>  }</div>
-</div>
-<div class="line"><a id="l00661" name="l00661"></a><span class="lineno">  661</span> </div>
-<div class="foldopen" id="foldopen00662" data-start="{" data-end="}">
-<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">  662</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">on_bond_broken</a>(<span class="keyword">const</span> std::string&amp; bond_id)</div>
-<div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>  {</div>
-<div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>    <span class="comment">// log warning</span></div>
-<div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span>    RCLCPP_WARN(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>-&gt;get_logger(), <span class="stringliteral">&quot;bond broken for id: %s&quot;</span>, bond_id.c_str());</div>
-<div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span> </div>
-<div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>    <span class="comment">// get capabilities requested by the bond</span></div>
-<div class="line"><a id="l00668" name="l00668"></a><span class="lineno">  668</span>    std::vector&lt;std::string&gt; capabilities = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">get_capabilities</a>(bond_id);</div>
-<div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span> </div>
-<div class="line"><a id="l00670" name="l00670"></a><span class="lineno">  670</span>    <span class="comment">// free capabilities</span></div>
-<div class="line"><a id="l00671" name="l00671"></a><span class="lineno">  671</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; capability : capabilities)</div>
-<div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span>    {</div>
-<div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a>(capability, bond_id);</div>
-<div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span>    }</div>
-<div class="line"><a id="l00675" name="l00675"></a><span class="lineno">  675</span>  }</div>
-</div>
-<div class="line"><a id="l00676" name="l00676"></a><span class="lineno">  676</span> </div>
-<div class="line"><a id="l00677" name="l00677"></a><span class="lineno">  677</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00678" name="l00678"></a><span class="lineno">  678</span>  <span class="comment">// bind a dependency to an internal bond</span></div>
-<div class="line"><a id="l00679" name="l00679"></a><span class="lineno">  679</span>  <span class="comment">// this is a bond without a live external connection</span></div>
-<div class="line"><a id="l00680" name="l00680"></a><span class="lineno">  680</span>  <span class="comment">// this will help keep the capability runners scoped to a reference</span></div>
-<div class="line"><a id="l00681" name="l00681"></a><span class="lineno">  681</span>  <span class="comment">// only when all the bonds (including internal) are broken the capability is freed</span></div>
-<div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span>  <span class="comment">// this is specifically needed for running dependencies of a capability</span></div>
-<div class="foldopen" id="foldopen00683" data-start="{" data-end="}">
-<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">  683</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">bind_dependency</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>  {</div>
-<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>    <span class="comment">// create a new unique bond id</span></div>
-<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>    <span class="comment">// std::string bond_id = CapabilitiesAPI::gen_bond_id(); // DEPRECATED</span></div>
-<div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator::gen_uuid_str</a>();</div>
-<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span> </div>
-<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span>    <span class="comment">// add the bond id to the bond cache</span></div>
-<div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">add_bond</a>(capability, bond_id);</div>
-<div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span> </div>
-<div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span>    <span class="comment">// keep the bond id in the internal bond ids</span></div>
-<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.push_back(bond_id);</div>
-<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span>  }</div>
-</div>
-<div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span> </div>
-<div class="foldopen" id="foldopen00696" data-start="{" data-end="}">
-<div class="line"><a id="l00696" name="l00696"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">  696</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">unbind_dependency</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span>  {</div>
-<div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span>    <span class="comment">// do we have a bond id for this capability</span></div>
-<div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span> </div>
-<div class="line"><a id="l00700" name="l00700"></a><span class="lineno">  700</span>    <span class="comment">// get cap bonds</span></div>
-<div class="line"><a id="l00701" name="l00701"></a><span class="lineno">  701</span>    std::vector&lt;std::string&gt; cap_bonds = <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">get_bonds</a>(capability);</div>
-<div class="line"><a id="l00702" name="l00702"></a><span class="lineno">  702</span> </div>
-<div class="line"><a id="l00703" name="l00703"></a><span class="lineno">  703</span>    <span class="comment">// if any internal bonds in cap_bonds</span></div>
-<div class="line"><a id="l00704" name="l00704"></a><span class="lineno">  704</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; bond : cap_bonds)</div>
-<div class="line"><a id="l00705" name="l00705"></a><span class="lineno">  705</span>    {</div>
-<div class="line"><a id="l00706" name="l00706"></a><span class="lineno">  706</span>      <span class="keyword">auto</span> it = std::find(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.begin(), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.end(), bond);</div>
-<div class="line"><a id="l00707" name="l00707"></a><span class="lineno">  707</span>      <span class="keywordflow">if</span> (it != <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.end())</div>
-<div class="line"><a id="l00708" name="l00708"></a><span class="lineno">  708</span>      {</div>
-<div class="line"><a id="l00709" name="l00709"></a><span class="lineno">  709</span>        <span class="comment">// remove just the first bond id found in cap_bonds and internal_bond_ids_</span></div>
-<div class="line"><a id="l00710" name="l00710"></a><span class="lineno">  710</span>        <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>.<a class="code hl_function" href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">remove_bond</a>(capability, bond);</div>
-<div class="line"><a id="l00711" name="l00711"></a><span class="lineno">  711</span> </div>
-<div class="line"><a id="l00712" name="l00712"></a><span class="lineno">  712</span>        <span class="comment">// delete internal bond</span></div>
-<div class="line"><a id="l00713" name="l00713"></a><span class="lineno">  713</span>        <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>.erase(it);</div>
-<div class="line"><a id="l00714" name="l00714"></a><span class="lineno">  714</span> </div>
-<div class="line"><a id="l00715" name="l00715"></a><span class="lineno">  715</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00716" name="l00716"></a><span class="lineno">  716</span>      }</div>
-<div class="line"><a id="l00717" name="l00717"></a><span class="lineno">  717</span>    }</div>
-<div class="line"><a id="l00718" name="l00718"></a><span class="lineno">  718</span>  }</div>
-</div>
-<div class="line"><a id="l00719" name="l00719"></a><span class="lineno">  719</span> </div>
-<div class="line"><a id="l00720" name="l00720"></a><span class="lineno">  720</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00721" name="l00721"></a><span class="lineno">  721</span>  <span class="comment">// event api</span></div>
-<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">  722</a></span>  std::shared_ptr&lt;capabilities2_events::EventBase&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a>;</div>
-<div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span> </div>
-<div class="line"><a id="l00724" name="l00724"></a><span class="lineno">  724</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span>  <span class="comment">// db</span></div>
-<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">  726</a></span>  std::unique_ptr&lt;DBBase&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">cap_db_</a>;</div>
-<div class="line"><a id="l00727" name="l00727"></a><span class="lineno">  727</span> </div>
-<div class="line"><a id="l00728" name="l00728"></a><span class="lineno">  728</span>  <span class="comment">// for internal logging</span></div>
-<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">  729</a></span>  rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a>;</div>
-<div class="line"><a id="l00730" name="l00730"></a><span class="lineno">  730</span> </div>
-<div class="line"><a id="l00731" name="l00731"></a><span class="lineno">  731</span>  <span class="comment">// caches</span></div>
-<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">  732</a></span>  <a class="code hl_class" href="classcapabilities2__server_1_1BondCache.html">BondCache</a> <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a>;</div>
-<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">  733</a></span>  <a class="code hl_class" href="classcapabilities2__server_1_1RunnerCache.html">RunnerCache</a> <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a>;</div>
-<div class="line"><a id="l00734" name="l00734"></a><span class="lineno">  734</span> </div>
-<div class="line"><a id="l00735" name="l00735"></a><span class="lineno">  735</span>  <span class="comment">// internal bindings</span></div>
-<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">  736</a></span>  std::vector&lt;std::string&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a>;</div>
-<div class="line"><a id="l00737" name="l00737"></a><span class="lineno">  737</span>};</div>
-</div>
-<div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span> </div>
-<div class="line"><a id="l00739" name="l00739"></a><span class="lineno">  739</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="abond__cache_8hpp_html"><div class="ttname"><a href="bond__cache_8hpp.html">bond_cache.hpp</a></div></div>
-<div class="ttc" id="acapabilities__db_8hpp_html"><div class="ttname"><a href="capabilities__db_8hpp.html">capabilities_db.hpp</a></div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_ad7966c639f088e11a3d19a7410956421"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator::gen_uuid_str</a></div><div class="ttdeci">static const std::string gen_uuid_str()</div><div class="ttdoc">generate a uuid string</div><div class="ttdef"><b>Definition</b> uuid_generator.cpp:11</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html">capabilities2_server::BondCache</a></div><div class="ttdoc">bond cache class</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:23</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a0cfb5d5535e4a3608593c3093364baaa"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a0cfb5d5535e4a3608593c3093364baaa">capabilities2_server::BondCache::exists</a></div><div class="ttdeci">bool exists(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:146</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a19639716efa05b956bff7c9ca583b728"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a19639716efa05b956bff7c9ca583b728">capabilities2_server::BondCache::get_bonds</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_bonds(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:133</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a59117ead721f4b608863ef3ce2228a46"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a59117ead721f4b608863ef3ce2228a46">capabilities2_server::BondCache::remove_bond</a></div><div class="ttdeci">void remove_bond(const std::string &amp;bond_id)</div><div class="ttdoc">Remove a bond id from the cache for all capabilities.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:65</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_a95f5c2beb3e72240154de125ff0c3555"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#a95f5c2beb3e72240154de125ff0c3555">capabilities2_server::BondCache::add_bond</a></div><div class="ttdeci">void add_bond(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Add a bond to the cache.</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:40</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_abb808c809ef2a79e4a8695f84bc47266"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#abb808c809ef2a79e4a8695f84bc47266">capabilities2_server::BondCache::start</a></div><div class="ttdeci">void start(const std::string &amp;bond_id, rclcpp::Node::SharedPtr node, std::function&lt; void(void)&gt; on_broken, std::function&lt; void(void)&gt; on_formed)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:167</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1BondCache_html_ada688394effbf87bed480782d64fe8e5"><div class="ttname"><a href="classcapabilities2__server_1_1BondCache.html#ada688394effbf87bed480782d64fe8e5">capabilities2_server::BondCache::get_capabilities</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_capabilities(const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> bond_cache.hpp:118</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></div><div class="ttdoc">capabilities api mapping message based logic of capabilities to database models handles message conve...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:39</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a02d27d28503b5b56cf5aa3556e1a2118"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">capabilities2_server::CapabilitiesAPI::free_capability</a></div><div class="ttdeci">void free_capability(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Free a capability after usage. This will remove the bond and callstop_capability This function can be...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:180</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a0c1bbfe23a34eb6adef90747bba2b34f"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">capabilities2_server::CapabilitiesAPI::get_remappings</a></div><div class="ttdeci">void get_remappings(const std::string &amp;capability_spec, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:542</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1449c47e0248409b93a901b0836ca282"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1449c47e0248409b93a901b0836ca282">capabilities2_server::CapabilitiesAPI::unbind_dependency</a></div><div class="ttdeci">void unbind_dependency(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:696</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1e106040d8bec5321e809c3666601600"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">capabilities2_server::CapabilitiesAPI::stop_capability</a></div><div class="ttdeci">void stop_capability(const std::string &amp;capability)</div><div class="ttdoc">Stop a capability. Internal function only. Do not used this function externally.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:125</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1e3645b59e7641e486143354562ccfc3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">capabilities2_server::CapabilitiesAPI::event_</a></div><div class="ttdeci">std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:722</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a226adbcdbb5b497953a2dd61d418a7de"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">capabilities2_server::CapabilitiesAPI::add_capability</a></div><div class="ttdeci">void add_capability(const capabilities2_msgs::msg::CapabilitySpec &amp;spec)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:302</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a25529ea4994cd0e839500fff111b620c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">capabilities2_server::CapabilitiesAPI::get_pid</a></div><div class="ttdeci">int get_pid(const std::string &amp;capability)</div><div class="ttdoc">get pid of capability</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:635</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a35a9b49bc2b1fdcf0311264905f59514"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">capabilities2_server::CapabilitiesAPI::get_running_capabilities</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::RunningCapability &gt; get_running_capabilities()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:585</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a419ed80ae9a32f0d89518b0750ade73c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">capabilities2_server::CapabilitiesAPI::use_capability</a></div><div class="ttdeci">bool use_capability(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider, const std::string &amp;bond_id)</div><div class="ttdoc">Use a capability. This will create a bond id for the requested instance and call start_capability fun...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:238</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a51bf4e23cd02446a33b25783342f8692"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">capabilities2_server::CapabilitiesAPI::bond_cache_</a></div><div class="ttdeci">BondCache bond_cache_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:732</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a5c6b0cbb72426b457e5469285f7d4451"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">capabilities2_server::CapabilitiesAPI::internal_bond_ids_</a></div><div class="ttdeci">std::vector&lt; std::string &gt; internal_bond_ids_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:736</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a6c1be72e9e6d7c1391e85cf7fe60f002"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a6c1be72e9e6d7c1391e85cf7fe60f002">capabilities2_server::CapabilitiesAPI::bind_dependency</a></div><div class="ttdeci">void bind_dependency(const std::string &amp;capability)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:683</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a7e33013361270175186e7e23fe7342ce"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">capabilities2_server::CapabilitiesAPI::CapabilitiesAPI</a></div><div class="ttdeci">CapabilitiesAPI()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:41</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a84971555f626b74b3236c61bd2bf0ef2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">capabilities2_server::CapabilitiesAPI::connect</a></div><div class="ttdeci">void connect(const std::string &amp;db_file, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging)</div><div class="ttdoc">connect with the database file</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:51</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a89ca5565eac4c99553fb79e7e8c332c8"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">capabilities2_server::CapabilitiesAPI::get_capability_specs</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::CapabilitySpec &gt; get_capability_specs()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:498</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a8af0a6969caee569e51664a7258927ba"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">capabilities2_server::CapabilitiesAPI::on_bond_broken</a></div><div class="ttdeci">void on_bond_broken(const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:662</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a9d25868abf2647c2e77aad620b270c3b"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">capabilities2_server::CapabilitiesAPI::establish_bond</a></div><div class="ttdeci">const std::string establish_bond(rclcpp::Node::SharedPtr node)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:642</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_aa57dd46315cc8b11f23488353c00dc95"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#aa57dd46315cc8b11f23488353c00dc95">capabilities2_server::CapabilitiesAPI::cap_db_</a></div><div class="ttdeci">std::unique_ptr&lt; DBBase &gt; cap_db_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:726</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_aaf69b498cc0fcc66267032c8a0a1504c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">capabilities2_server::CapabilitiesAPI::start_capability</a></div><div class="ttdeci">bool start_capability(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider)</div><div class="ttdoc">Start a capability. Internal function only. Do not used this function externally.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:73</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_acd27a3b8a5655712120d8f60e6e21a03"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">capabilities2_server::CapabilitiesAPI::get_interfaces</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_interfaces()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:402</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_acfc34192e7ebdf7bd32bb720eba44953"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">capabilities2_server::CapabilitiesAPI::on_bond_established</a></div><div class="ttdeci">void on_bond_established(const std::string &amp;bond_id)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:656</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ad0323e4febb7e96405a0473e39e58d52"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">capabilities2_server::CapabilitiesAPI::get_semantic_interfaces</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_semantic_interfaces(const std::string &amp;interface)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:414</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ad6f151b6a272325d92aeb7704ded093a"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">capabilities2_server::CapabilitiesAPI::get_providers</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_providers(const std::string &amp;interface, const bool &amp;include_semantic)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:426</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ae6de8e860c63da9acde97c4b5cd7a5a5"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">capabilities2_server::CapabilitiesAPI::trigger_capability</a></div><div class="ttdeci">void trigger_capability(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</div><div class="ttdoc">trigger a capability</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:205</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ae6e049a500dc2554322475a1b4e89c21"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">capabilities2_server::CapabilitiesAPI::connect_capability</a></div><div class="ttdeci">void connect_capability(const std::string &amp;bond_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection)</div><div class="ttdoc">connect RUNNING capabilities together via event type</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:256</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_aed8b4cad33f58aa31b3ed1be0c48f5d2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">capabilities2_server::CapabilitiesAPI::logging_</a></div><div class="ttdeci">rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:729</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_af2ad7408ac8e69d5cf4d8bb503fd37e8"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">capabilities2_server::CapabilitiesAPI::get_capability_spec</a></div><div class="ttdeci">const capabilities2_msgs::msg::CapabilitySpec get_capability_spec(const std::string &amp;resource)</div><div class="ttdoc">Get the capability spec object for a given resource return the spec in yaml string format.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:451</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_af88813815d1201f52e2e2f19b43068d2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">capabilities2_server::CapabilitiesAPI::runner_cache_</a></div><div class="ttdeci">RunnerCache runner_cache_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:733</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></div><div class="ttdoc">runner cache class responsible for caching the currently active runners of capabilities this cache de...</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:32</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a20513c9b45a313ab7bdc6f2d15f490c8"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">capabilities2_server::RunnerCache::provider</a></div><div class="ttdeci">const std::string provider(const std::string &amp;capability)</div><div class="ttdoc">Get provider of capability.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:195</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a245acdb1f0c4b4b81f1ed46906b446cb"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">capabilities2_server::RunnerCache::get_running_capabilities</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_running_capabilities()</div><div class="ttdoc">Get a list of active runners in the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:179</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a278cd90fadd01341151fb48b8c93745e"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">capabilities2_server::RunnerCache::running</a></div><div class="ttdeci">bool running(const std::string &amp;capability)</div><div class="ttdoc">Check if a capability has a runner.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:238</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a38cd41426d0a9dbe36d3842e5ef0310c"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">capabilities2_server::RunnerCache::remove_runner</a></div><div class="ttdeci">void remove_runner(const std::string &amp;capability)</div><div class="ttdoc">Remove a given runner.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:148</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a64a32e4605c82f06baf0902bd0bab746"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">capabilities2_server::RunnerCache::pid</a></div><div class="ttdeci">const std::string pid(const std::string &amp;capability)</div><div class="ttdoc">get pid of capability</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:223</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aa3c38f7a92d055d73e3acb2422094f9a"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">capabilities2_server::RunnerCache::trigger_runner</a></div><div class="ttdeci">void trigger_runner(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</div><div class="ttdoc">Trigger a runner in the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:86</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aba905c19f2ffec5e72028d8a246a3edf"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">capabilities2_server::RunnerCache::add_connection</a></div><div class="ttdeci">void add_connection(const std::string &amp;capability, const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection, std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_emitter=nullptr)</div><div class="ttdoc">Add state change connection between runners via an event.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:111</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_ad07093aa785e7f24ef4e1648e46c7c0f"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">capabilities2_server::RunnerCache::started_by</a></div><div class="ttdeci">const std::string started_by(const std::string &amp;capability)</div><div class="ttdoc">get started_by of capability</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:209</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aefd112af41b8ef36ccdce3cfebb5dd25"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">capabilities2_server::RunnerCache::add_runner</a></div><div class="ttdeci">void add_runner(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const models::run_config_model_t &amp;run_config)</div><div class="ttdoc">Add a runner to the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:45</div></div>
-<div class="ttc" id="adb__base_8hpp_html"><div class="ttname"><a href="db__base_8hpp.html">db_base.hpp</a></div></div>
-<div class="ttc" id="aevent__base_8hpp_html"><div class="ttname"><a href="event__base_8hpp.html">event_base.hpp</a></div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="arunner__cache_8hpp_html"><div class="ttname"><a href="runner__cache_8hpp.html">runner_cache.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a></div><div class="ttdoc">runner exception</div><div class="ttdef"><b>Definition</b> runner_base.hpp:24</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html_a5d58c674021b3d7bd0599b73c5617473"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html#a5d58c674021b3d7bd0599b73c5617473">capabilities2_runner::runner_exception::what</a></div><div class="ttdeci">virtual const char * what() const noexcept override</div><div class="ttdef"><b>Definition</b> runner_base.hpp:31</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a23939963edc32d7a2da5f1552973fecb"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">capabilities2_server::models::capability_model_t::provider</a></div><div class="ttdeci">std::string provider</div><div class="ttdef"><b>Definition</b> running.hpp:15</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a73be59339462fe3f6699bd127e99a918"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">capabilities2_server::models::capability_model_t::interface</a></div><div class="ttdeci">std::string interface</div><div class="ttdef"><b>Definition</b> running.hpp:14</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a184f5969009afde38cf0933b73f58576"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> header.hpp:47</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a3a9a79ce313a985930e2cd97d27ebd5f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">capabilities2_server::models::header_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> header.hpp:42</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac0e94588685ed968c2466ad9860c1284"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">capabilities2_server::models::header_model_t::type</a></div><div class="ttdeci">std::string type</div><div class="ttdef"><b>Definition</b> header.hpp:44</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html">capabilities2_server::models::interface_model_t</a></div><div class="ttdoc">interface model</div><div class="ttdef"><b>Definition</b> interface.hpp:124</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a379d6d70a00d7ed95c279bd2d38cd286"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">capabilities2_server::models::interface_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> interface.hpp:128</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ad4dfd8817581f04f0def9017ca898c64"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">capabilities2_server::models::interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> interface.hpp:125</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html">capabilities2_server::models::provider_model_t</a></div><div class="ttdoc">provider model</div><div class="ttdef"><b>Definition</b> provider.hpp:26</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a0ad3fa187ea591bbcf1f4ab6d312dac0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">capabilities2_server::models::provider_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> provider.hpp:27</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a1a91763b3ebf0fe9fc9d38a0b9315fb9"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">capabilities2_server::models::provider_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> provider.hpp:52</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_aeaffd1a45ccb1f72dcbca71425ac57c3"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#aeaffd1a45ccb1f72dcbca71425ac57c3">capabilities2_server::models::provider_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> provider.hpp:33</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">capabilities2_server::models::remappable_base_t</a></div><div class="ttdoc">remappable base model definition</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:17</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html_a4a19d77530cc86fc3cd798eaaea9a8dd"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">capabilities2_server::models::remappable_base_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:18</div></div>
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-<a href="capabilities__db_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;sqlite3.h&gt;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="db__base_8hpp.html">capabilities2_server/db_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;<a class="code" href="interface_8hpp.html">capabilities2_server/models/interface.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;<a class="code" href="semantic__interface_8hpp.html">capabilities2_server/models/semantic_interface.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;<a class="code" href="provider_8hpp.html">capabilities2_server/models/provider.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;<a class="code" href="running_8hpp.html">capabilities2_server/models/running.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;<a class="code" href="run__config_8hpp.html">capabilities2_server/models/run_config.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="preprocessor">#include &lt;<a class="code" href="sql__safe_8hpp.html">capabilities2_server/utils/sql_safe.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span> </div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
-<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html">   21</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1CapabilitiesDB.html">CapabilitiesDB</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__server_1_1DBBase.html">DBBase</a></div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6a06e320c5c1ac224f7879bbe05e6a8e">   24</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6a06e320c5c1ac224f7879bbe05e6a8e">CapabilitiesDB</a>(<span class="keyword">const</span> std::string db_file = <span class="stringliteral">&quot;cache/capabilities.sqlite3&quot;</span>) : <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a>(db_file), <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>(nullptr)</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  {</div>
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-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="comment">// create tables if they do not exists</span></div>
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-<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a40951e3346502f6e147865e1ab025e39">   33</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a40951e3346502f6e147865e1ab025e39">~CapabilitiesDB</a>()</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  {</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">close</a>();</div>
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-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  <span class="comment">/* inserters */</span></div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  <span class="comment">// insert interface</span></div>
-<div class="foldopen" id="foldopen00041" data-start="{" data-end="}">
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">   41</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">insert_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&amp; interface)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="keyword">  </span>{</div>
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-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
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-</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  <span class="comment">// insert semantic interface</span></div>
-<div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
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-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;INSERT INTO semantic_interfaces VALUES (&quot;</span> + semantic_interface.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">to_sql_values</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
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-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  <span class="comment">// insert provider</span></div>
-<div class="foldopen" id="foldopen00055" data-start="{" data-end="}">
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">   55</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">insert_provider</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&amp; provider)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;INSERT INTO providers VALUES (&quot;</span> + provider.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">to_sql_values</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
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-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  <span class="comment">// get interface</span></div>
-<div class="foldopen" id="foldopen00064" data-start="{" data-end="}">
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-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span><span class="keyword">  </span>{</div>
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-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
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-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    {</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    }</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> interface;</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordflow">if</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    {</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      <span class="keyword">interface </span>= to_interface(stmt);</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    }</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordflow">return</span> interface;</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  }</div>
-</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>  <span class="comment">// get interfaces</span></div>
-<div class="foldopen" id="foldopen00086" data-start="{" data-end="}">
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">   86</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::interface_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">get_interfaces</a>()<span class="keyword"> override</span></div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    sqlite3_stmt* stmt;</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM interfaces&quot;</span>;</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    {</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>      sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    }</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    std::vector&lt;models::interface_model_t&gt; interfaces;</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    {</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= to_interface(stmt);</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>      interfaces.push_back(interface);</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    }</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">return</span> interfaces;</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>  }</div>
-</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>  <span class="comment">// get semantic interface</span></div>
-<div class="foldopen" id="foldopen00109" data-start="{" data-end="}">
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">  109</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">get_semantic_interface</a>(<span class="keyword">const</span> std::string&amp; name)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    sqlite3_stmt* stmt;</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM semantic_interfaces WHERE name = &#39;&quot;</span> + name + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    {</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>      sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    }</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface;</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="keywordflow">if</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    {</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>      semantic_interface = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(stmt);</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    }</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span> </div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="keywordflow">return</span> semantic_interface;</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>  }</div>
-</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span> </div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>  <span class="comment">// get semantic interfaces</span></div>
-<div class="foldopen" id="foldopen00131" data-start="{" data-end="}">
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">  131</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::semantic_interface_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">get_semantic_interfaces</a>()<span class="keyword"> override</span></div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    sqlite3_stmt* stmt;</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM semantic_interfaces&quot;</span>;</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    {</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>      sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    }</div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>    std::vector&lt;models::semantic_interface_model_t&gt; semantic_interfaces;</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>    {</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(stmt);</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>      semantic_interfaces.push_back(semantic_interface);</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    }</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span> </div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="keywordflow">return</span> semantic_interfaces;</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>  }</div>
-</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>  <span class="comment">// get provider</span></div>
-<div class="foldopen" id="foldopen00154" data-start="{" data-end="}">
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">  154</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(<span class="keyword">const</span> std::string&amp; name)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    sqlite3_stmt* stmt;</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM providers WHERE name = &#39;&quot;</span> + name + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    {</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>      sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    }</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider;</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    <span class="keywordflow">if</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    {</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>      provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(stmt);</div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    }</div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span> </div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <span class="keywordflow">return</span> provider;</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>  }</div>
-</div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>  <span class="comment">// get providers</span></div>
-<div class="foldopen" id="foldopen00176" data-start="{" data-end="}">
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">  176</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::provider_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">get_providers</a>()<span class="keyword"> override</span></div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    sqlite3_stmt* stmt;</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM providers&quot;</span>;</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    {</div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>      sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    }</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    std::vector&lt;models::provider_model_t&gt; providers;</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    {</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(stmt);</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>      providers.push_back(provider);</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    }</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span> </div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keywordflow">return</span> providers;</div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>  }</div>
-</div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span> </div>
-<div class="foldopen" id="foldopen00206" data-start="{" data-end="}">
-<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">  206</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">get_remappable</a>(<span class="keyword">const</span> std::string&amp; name)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>    <span class="comment">// check if it is a semantic interface</span></div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">get_semantic_interface</a>(name);</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    <span class="keywordflow">if</span> (!semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    {</div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>      <span class="keywordflow">return</span> semantic_interface;</div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>    }</div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span> </div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>    <span class="comment">// check if it is a provider</span></div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(name);</div>
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>    <span class="keywordflow">if</span> (!provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>    {</div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>      <span class="keywordflow">return</span> provider;</div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>    }</div>
-<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span> </div>
-<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    <span class="comment">// return empty remappable model</span></div>
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a>();</div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>  }</div>
-</div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span> </div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>  <span class="comment">/* updaters */</span></div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span> </div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>  <span class="comment">// update interface</span></div>
-<div class="foldopen" id="foldopen00229" data-start="{" data-end="}">
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">  229</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">update_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&amp; interface)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    <span class="keyword">const</span> std::string query =</div>
-<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>        <span class="stringliteral">&quot;UPDATE interfaces SET &quot;</span> + interface.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">to_sql_values</a>() + <span class="stringliteral">&quot; WHERE name = &#39;&quot;</span> + interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
-<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span>  }</div>
-</div>
-<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span> </div>
-<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>  <span class="comment">// update semantic interface</span></div>
-<div class="foldopen" id="foldopen00237" data-start="{" data-end="}">
-<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">  237</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">update_semantic_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&amp; semantic_interface)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;UPDATE semantic_interfaces SET &quot;</span> + semantic_interface.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">to_sql_values</a>() +</div>
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>                              <span class="stringliteral">&quot; WHERE name = &#39;&quot;</span> + semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>  }</div>
-</div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span> </div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>  <span class="comment">// update provider</span></div>
-<div class="foldopen" id="foldopen00245" data-start="{" data-end="}">
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">  245</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">update_provider</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&amp; provider)</div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>  {</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>    <span class="keyword">const</span> std::string query =</div>
-<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>        <span class="stringliteral">&quot;UPDATE providers SET &quot;</span> + provider.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">to_sql_values</a>() + <span class="stringliteral">&quot; WHERE name = &#39;&quot;</span> + provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(query);</div>
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>  }</div>
-</div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span> </div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>  <span class="comment">/* foreign keys */</span></div>
-<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span> </div>
-<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>  <span class="comment">// get providers by interface</span></div>
-<div class="foldopen" id="foldopen00255" data-start="{" data-end="}">
-<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">  255</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::provider_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">get_providers_by_interface</a>(<span class="keyword">const</span> std::string&amp; interface_name)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>    <span class="comment">// could be a semantic interface or an interface</span></div>
-<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    sqlite3_stmt* stmt;</div>
-<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM providers WHERE implements = &#39;&quot;</span> + interface_name + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
-<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
-<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    {</div>
-<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>      sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    }</div>
-<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span> </div>
-<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>    std::vector&lt;models::provider_model_t&gt; providers;</div>
-<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
-<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    {</div>
-<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(stmt);</div>
-<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>      providers.push_back(provider);</div>
-<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    }</div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span> </div>
-<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>    <span class="keywordflow">return</span> providers;</div>
-<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>  }</div>
-</div>
-<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span> </div>
-<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span>  <span class="comment">// get semantic interfaces by interface</span></div>
-<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>  <span class="keyword">virtual</span> std::vector&lt;models::semantic_interface_model_t&gt;</div>
-<div class="foldopen" id="foldopen00279" data-start="{" data-end="}">
-<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">  279</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">get_semantic_interfaces_by_interface</a>(<span class="keyword">const</span> std::string&amp; interface_name)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>    sqlite3_stmt* stmt;</div>
-<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>    <span class="keyword">const</span> std::string query = <span class="stringliteral">&quot;SELECT * FROM semantic_interfaces WHERE redefines = &#39;&quot;</span> + interface_name + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_prepare_v2(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), -1, &amp;stmt, <span class="keyword">nullptr</span>);</div>
-<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
-<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>    {</div>
-<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>      sqlite3_finalize(stmt);</div>
-<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error preparing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>    }</div>
-<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
-<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>    std::vector&lt;models::semantic_interface_model_t&gt; semantic_interfaces;</div>
-<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>    <span class="keywordflow">while</span> (sqlite3_step(stmt) == SQLITE_ROW)</div>
-<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>    {</div>
-<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(stmt);</div>
-<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>      semantic_interfaces.push_back(semantic_interface);</div>
-<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>    }</div>
-<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span> </div>
-<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>    <span class="keywordflow">return</span> semantic_interfaces;</div>
-<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>  }</div>
-</div>
-<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span> </div>
-<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>  <span class="comment">// get running model from provider</span></div>
-<div class="foldopen" id="foldopen00301" data-start="{" data-end="}">
-<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">  301</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">get_running</a>(<span class="keyword">const</span> std::string&amp; provider_name)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    <span class="comment">// start with provider and work up the chain</span></div>
-<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(provider_name);</div>
-<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    <span class="keywordflow">if</span> (provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
-<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>    {</div>
-<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>      <span class="comment">// return empty running model</span></div>
-<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>      <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a>();</div>
-<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>    }</div>
-<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span> </div>
-<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> running;</div>
-<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>    running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">interface</a> = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a>;</div>
-<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>    running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">provider</a> = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
-<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>    <span class="comment">// TODO: implement this variable somehow</span></div>
-<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>    running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#a0037a0006d89c68a56be1ed1337f7c37">started_by</a> = provider_name;</div>
-<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span>    running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#a1c0cff01cc7973eb2f1ffa49ae2ad5b9">pid</a> = <span class="stringliteral">&quot;0&quot;</span>;</div>
-<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span> </div>
-<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>    <span class="comment">// get dependencies from provider depends_on</span></div>
-<div class="line"><a id="l00319" name="l00319"></a><span class="lineno">  319</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; [key, value] : provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a>)</div>
-<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>    {</div>
-<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1capability__model__t.html">models::capability_model_t</a> dependency;</div>
-<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>      dependency.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">interface</a> = key;</div>
-<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>      dependency.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">provider</a> = value;</div>
-<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>      running.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1running__model__t.html#af93e104248e91870612dcf3a82e29029">dependencies</a>.push_back(dependency);</div>
-<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>    }</div>
-<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span> </div>
-<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>    <span class="comment">// return running model</span></div>
-<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>    <span class="keywordflow">return</span> running;</div>
-<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>  }</div>
-</div>
-<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span> </div>
-<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>  <span class="comment">// apply a remapping to a specification model</span></div>
-<div class="foldopen" id="foldopen00332" data-start="{" data-end="}">
-<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">  332</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">apply_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">models::specification_model_t</a>&amp; spec,</div>
-<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>                                <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a>&amp; remappable)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; param : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">parameters</a>)</div>
-<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>    {</div>
-<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>      spec.parameters[param.from].name = param.to;</div>
-<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>    }</div>
-<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; topic : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">topics</a>)</div>
-<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>    {</div>
-<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>      spec.topics[topic.from].name = topic.to;</div>
-<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>    }</div>
-<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; service : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">services</a>)</div>
-<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>    {</div>
-<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>      spec.services[service.from].name = service.to;</div>
-<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>    }</div>
-<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span> <span class="keyword">const</span>&amp; action : remappable.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">remappings</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">actions</a>)</div>
-<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>    {</div>
-<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>      spec.actions[action.from].name = action.to;</div>
-<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>    }</div>
-<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>  }</div>
-</div>
-<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span> </div>
-<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>  <span class="comment">// apply semantics to interface</span></div>
-<div class="foldopen" id="foldopen00354" data-start="{" data-end="}">
-<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a9ce49d71065acc667a5ce863a9e1f2a2">  354</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a9ce49d71065acc667a5ce863a9e1f2a2">apply_semantic_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>    <span class="comment">// get the parent interface model</span></div>
-<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">get_interface</a>(semantic.redefines);</div>
-<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span> </div>
-<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a> = semantic.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>;</div>
-<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">apply_remappings</a>(interface.interface, semantic);</div>
-<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span> </div>
-<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>    <span class="keywordflow">return</span> interface;</div>
-<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>  }</div>
-</div>
-<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span> </div>
-<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>  <span class="comment">// apply provider remappings</span></div>
-<div class="foldopen" id="foldopen00366" data-start="{" data-end="}">
-<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">  366</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">apply_provider_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>    <span class="comment">// get the parent interface model</span></div>
-<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>    <span class="comment">// is it semantic</span></div>
-<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">get_semantic_interface</a>(provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a>);</div>
-<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>    <span class="keywordflow">if</span> (!semantic.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
-<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>    {</div>
-<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>      <span class="comment">// apply semantic remappings</span></div>
-<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>      <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= apply_semantic_remappings(semantic);</div>
-<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span> </div>
-<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>      <span class="comment">// apply provider remappings</span></div>
-<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>      apply_remappings(interface.interface, provider);</div>
-<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span> </div>
-<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>      <span class="keywordflow">return</span> interface;</div>
-<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>    }</div>
-<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span> </div>
-<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>    <span class="comment">// if not semantic, then it&#39;s an interface</span></div>
-<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>    <span class="comment">// get interface</span></div>
-<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <span class="keyword">interface </span>= <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">get_interface</a>(provider.<span class="keyword">implements</span>);</div>
-<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span> </div>
-<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>    <span class="comment">// apply provider remappings</span></div>
-<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">apply_remappings</a>(interface.interface, provider);</div>
-<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span> </div>
-<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>    return interface;</div>
-<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span>  }</div>
-</div>
-<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span> </div>
-<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>  <span class="comment">// get run config model</span></div>
-<div class="foldopen" id="foldopen00393" data-start="{" data-end="}">
-<div class="line"><a id="l00393" name="l00393"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">  393</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">get_run_config</a>(const std::string&amp; provider_name) override</div>
-<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>  {</div>
-<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(provider_name);</div>
-<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>    <span class="keywordflow">if</span> (provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty())</div>
-<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>    {</div>
-<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>      <span class="comment">// return empty run config</span></div>
-<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>      <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a>();</div>
-<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>    }</div>
-<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span> </div>
-<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> run_config;</div>
-<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a> = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>;</div>
-<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a> = provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a>;</div>
-<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">started_by</a> = provider_name;</div>
-<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">pid</a> = <span class="stringliteral">&quot;0&quot;</span>;</div>
-<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span> </div>
-<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span>    <span class="comment">// remap resources</span></div>
-<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>    run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a> = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">apply_provider_remappings</a>(provider);</div>
-<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span> </div>
-<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>    <span class="keywordflow">return</span> run_config;</div>
-<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>  }</div>
-</div>
-<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span> </div>
-<div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span><span class="keyword">protected</span>:</div>
-<div class="foldopen" id="foldopen00415" data-start="{" data-end="}">
-<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">  415</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">open</a>()<span class="keyword"> override</span></div>
-<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_open(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a>.c_str(), &amp;<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>);</div>
-<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
-<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>    {</div>
-<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>      sqlite3_close(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>);</div>
-<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error opening database: &quot;</span> + <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a> + <span class="stringliteral">&quot; &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>    }</div>
-<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span> </div>
-<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>    <span class="comment">// enable foreign keys</span></div>
-<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>    sqlite3_exec(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, <span class="stringliteral">&quot;PRAGMA foreign_keys = ON;&quot;</span>, <span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>);</div>
-<div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span>  }</div>
-</div>
-<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span> </div>
-<div class="foldopen" id="foldopen00428" data-start="{" data-end="}">
-<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">  428</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">close</a>()<span class="keyword"> override</span></div>
-<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>    <span class="comment">// close if the database is open</span></div>
-<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a> != <span class="keyword">nullptr</span>)</div>
-<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>    {</div>
-<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>      sqlite3_close(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>);</div>
-<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a> = <span class="keyword">nullptr</span>;</div>
-<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>    }</div>
-<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>  }</div>
-</div>
-<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span> </div>
-<div class="foldopen" id="foldopen00438" data-start="{" data-end="}">
-<div class="line"><a id="l00438" name="l00438"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">  438</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(<span class="keyword">const</span> std::string&amp; query)</div>
-<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>  {</div>
-<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>    <span class="keywordtype">char</span>* error_message;</div>
-<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>    <span class="keyword">const</span> <span class="keywordtype">int</span> exit = sqlite3_exec(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>, query.c_str(), <span class="keyword">nullptr</span>, <span class="keyword">nullptr</span>, &amp;error_message);</div>
-<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>    <span class="keywordflow">if</span> (exit != SQLITE_OK)</div>
-<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span>    {</div>
-<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>      sqlite3_free(error_message);</div>
-<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;Error executing query: &quot;</span> + std::string(sqlite3_errmsg(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>)));</div>
-<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>    }</div>
-<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>  }</div>
-</div>
-<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span> </div>
-<div class="foldopen" id="foldopen00449" data-start="{" data-end="}">
-<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">  449</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">create_tables</a>()<span class="keyword"> override</span></div>
-<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>    <span class="comment">// create tables if they do not exists</span></div>
-<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>    <span class="keyword">const</span> std::string create_interface_table =</div>
-<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>        <span class="stringliteral">&quot;CREATE TABLE IF NOT EXISTS interfaces (&quot;</span> + <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">models::interface_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
-<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span> </div>
-<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>    <span class="keyword">const</span> std::string create_semantic_interface_table =</div>
-<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>        <span class="stringliteral">&quot;CREATE TABLE IF NOT EXISTS semantic_interfaces (&quot;</span> + <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a189e051f8785603c611c13a71f202fdd">models::semantic_interface_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
-<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span> </div>
-<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>    <span class="keyword">const</span> std::string create_provider_table =</div>
-<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>        <span class="stringliteral">&quot;CREATE TABLE IF NOT EXISTS providers (&quot;</span> + <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">models::provider_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;)&quot;</span>;</div>
-<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span> </div>
-<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>    <span class="comment">// TODO: create meta table</span></div>
-<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>    <span class="comment">// meta table</span></div>
-<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>    <span class="keyword">const</span> std::string create_meta_table = <span class="stringliteral">&quot;CREATE TABLE IF NOT EXISTS meta (key TEXT NOT NULL, value TEXT NOT NULL)&quot;</span>;</div>
-<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span> </div>
-<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>    <span class="comment">// execute create queries</span></div>
-<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(create_interface_table);</div>
-<div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(create_semantic_interface_table);</div>
-<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(create_provider_table);</div>
-<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>  }</div>
-</div>
-<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span> </div>
-<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>  <span class="comment">// model conversion helpers</span></div>
-<div class="foldopen" id="foldopen00473" data-start="{" data-end="}">
-<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a665a94af8591b998356567340f9155b9">  473</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a665a94af8591b998356567340f9155b9">to_interface</a>(sqlite3_stmt* stmt)</div>
-<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>  {</div>
-<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> interface;</div>
-<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 0)));</div>
-<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> = sqlite3_column_int(stmt, 1);</div>
-<div class="line"><a id="l00478" name="l00478"></a><span class="lineno">  478</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 2)));</div>
-<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a> = <a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 3))));</div>
-<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span> </div>
-<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">models::specification_model_t</a> spec;</div>
-<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>    spec.from_yaml(YAML::Load(<a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 4))))));</div>
-<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>    interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a> = spec;</div>
-<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span> </div>
-<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>    <span class="keywordflow">return</span> interface;</div>
-<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>  }</div>
-</div>
-<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span> </div>
-<div class="foldopen" id="foldopen00488" data-start="{" data-end="}">
-<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">  488</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(sqlite3_stmt* stmt)</div>
-<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>  {</div>
-<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic_interface;</div>
-<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 0)));</div>
-<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> = sqlite3_column_int(stmt, 1);</div>
-<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 2)));</div>
-<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a> = <a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 3))));</div>
-<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">redefines</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 4)));</div>
-<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">global_namespace</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 5)));</div>
-<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>    semantic_interface.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">from_yaml</a>(</div>
-<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>        YAML::Load(<a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 6))))));</div>
-<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span> </div>
-<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>    <span class="keywordflow">return</span> semantic_interface;</div>
-<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>  }</div>
-</div>
-<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span> </div>
-<div class="foldopen" id="foldopen00503" data-start="{" data-end="}">
-<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">  503</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(sqlite3_stmt* stmt)</div>
-<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>  {</div>
-<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>    <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider;</div>
-<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 0)));</div>
-<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> = sqlite3_column_int(stmt, 1);</div>
-<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 2)));</div>
-<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a> = <a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 3))));</div>
-<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 4)));</div>
-<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a> = YAML::Load(<a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 5)))))</div>
-<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>                              .as&lt;std::map&lt;std::string, std::string&gt;&gt;();</div>
-<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">from_yaml</a>(YAML::Load(<a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 6))))));</div>
-<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>    provider.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a> = std::string(<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">char</span>*<span class="keyword">&gt;</span>(sqlite3_column_text(stmt, 7)));</div>
-<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span> </div>
-<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span>    <span class="keywordflow">return</span> provider;</div>
-<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>  }</div>
-</div>
-<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span> </div>
-<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">  520</a></span>  <span class="keyword">const</span> std::string <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a>;</div>
-<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">  521</a></span>  sqlite3* <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a>;</div>
-<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>};</div>
-</div>
-<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span> </div>
-<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:22</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a0109b906d50a62d7408271780e9a8707"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">capabilities2_server::CapabilitiesDB::get_provider</a></div><div class="ttdeci">virtual models::provider_model_t get_provider(const std::string &amp;name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:154</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a115b3d1151e5866ff968e96691b541a3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">capabilities2_server::CapabilitiesDB::get_semantic_interface</a></div><div class="ttdeci">virtual models::semantic_interface_model_t get_semantic_interface(const std::string &amp;name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:109</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a23dfb4f5d456df66de81b0dd2b9face1"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">capabilities2_server::CapabilitiesDB::db_</a></div><div class="ttdeci">sqlite3 * db_</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:521</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a2b35eba2ee6659c550ed36dd74f39f73"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">capabilities2_server::CapabilitiesDB::insert_interface</a></div><div class="ttdeci">virtual void insert_interface(const models::interface_model_t &amp;interface) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:41</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a3b40692ba92825e177d8e211369cfb97"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">capabilities2_server::CapabilitiesDB::exec</a></div><div class="ttdeci">void exec(const std::string &amp;query)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:438</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a3c6ed044e3cd0e60b5fcfac889ab0eea"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a3c6ed044e3cd0e60b5fcfac889ab0eea">capabilities2_server::CapabilitiesDB::apply_provider_remappings</a></div><div class="ttdeci">virtual models::interface_model_t apply_provider_remappings(models::provider_model_t provider) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:366</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a3eb0881736fa825daef5ec83e1d919be"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">capabilities2_server::CapabilitiesDB::to_semantic_interface</a></div><div class="ttdeci">models::semantic_interface_model_t to_semantic_interface(sqlite3_stmt *stmt)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:488</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a40951e3346502f6e147865e1ab025e39"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a40951e3346502f6e147865e1ab025e39">capabilities2_server::CapabilitiesDB::~CapabilitiesDB</a></div><div class="ttdeci">~CapabilitiesDB()</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:33</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a45dde34e7373e6aec64c1f78d673e0cb"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">capabilities2_server::CapabilitiesDB::update_semantic_interface</a></div><div class="ttdeci">virtual void update_semantic_interface(const models::semantic_interface_model_t &amp;semantic_interface) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:237</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a4703582a0735e3a22ed0019164c02ed1"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a4703582a0735e3a22ed0019164c02ed1">capabilities2_server::CapabilitiesDB::insert_semantic_interface</a></div><div class="ttdeci">virtual void insert_semantic_interface(const models::semantic_interface_model_t &amp;semantic_interface) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:48</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a4f577301e5acdf73d56bbdc53ba21e5a"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">capabilities2_server::CapabilitiesDB::get_semantic_interfaces_by_interface</a></div><div class="ttdeci">virtual std::vector&lt; models::semantic_interface_model_t &gt; get_semantic_interfaces_by_interface(const std::string &amp;interface_name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:279</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a5f02b94abb740a6ef0fd43daf4c1e0a0"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f02b94abb740a6ef0fd43daf4c1e0a0">capabilities2_server::CapabilitiesDB::apply_remappings</a></div><div class="ttdeci">virtual void apply_remappings(models::specification_model_t &amp;spec, const models::remappable_base_t &amp;remappable) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:332</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a5f8e47a5091b45fe625723b13528b5ac"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">capabilities2_server::CapabilitiesDB::get_interface</a></div><div class="ttdeci">virtual models::interface_model_t get_interface(const std::string &amp;name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:64</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a64d22db986833f277560784f956e328b"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">capabilities2_server::CapabilitiesDB::get_running</a></div><div class="ttdeci">virtual models::running_model_t get_running(const std::string &amp;provider_name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:301</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a665a94af8591b998356567340f9155b9"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a665a94af8591b998356567340f9155b9">capabilities2_server::CapabilitiesDB::to_interface</a></div><div class="ttdeci">models::interface_model_t to_interface(sqlite3_stmt *stmt)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:473</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a67c5398900d16d720335f8eb4294316d"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">capabilities2_server::CapabilitiesDB::db_file_</a></div><div class="ttdeci">const std::string db_file_</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:520</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a6a06e320c5c1ac224f7879bbe05e6a8e"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a6a06e320c5c1ac224f7879bbe05e6a8e">capabilities2_server::CapabilitiesDB::CapabilitiesDB</a></div><div class="ttdeci">CapabilitiesDB(const std::string db_file=&quot;cache/capabilities.sqlite3&quot;)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:24</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a6b3f7671a717e9fcc3eada08a914dd76"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">capabilities2_server::CapabilitiesDB::get_run_config</a></div><div class="ttdeci">virtual models::run_config_model_t get_run_config(const std::string &amp;provider_name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:393</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a6e9c623ecba7812750ee32864e1ed448"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">capabilities2_server::CapabilitiesDB::insert_provider</a></div><div class="ttdeci">virtual void insert_provider(const models::provider_model_t &amp;provider) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:55</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a7147928b1a095676069664c31f91deae"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">capabilities2_server::CapabilitiesDB::get_remappable</a></div><div class="ttdeci">virtual models::remappable_base_t get_remappable(const std::string &amp;name) override</div><div class="ttdoc">Get remappable model by name.</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:206</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a74033ce662666907c361fa22fa9e80c2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">capabilities2_server::CapabilitiesDB::update_provider</a></div><div class="ttdeci">void update_provider(const models::provider_model_t &amp;provider)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:245</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a969c480de1f0f537f67f4f0db0d1eb67"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">capabilities2_server::CapabilitiesDB::close</a></div><div class="ttdeci">virtual void close() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:428</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a999ce91780aeeb0cd2f449eeb96a749d"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">capabilities2_server::CapabilitiesDB::get_providers_by_interface</a></div><div class="ttdeci">virtual std::vector&lt; models::provider_model_t &gt; get_providers_by_interface(const std::string &amp;interface_name) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:255</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_a9ce49d71065acc667a5ce863a9e1f2a2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#a9ce49d71065acc667a5ce863a9e1f2a2">capabilities2_server::CapabilitiesDB::apply_semantic_remappings</a></div><div class="ttdeci">virtual models::interface_model_t apply_semantic_remappings(models::semantic_interface_model_t semantic) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:354</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_aa10f6716c7eb019bad310fa8e580880b"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">capabilities2_server::CapabilitiesDB::update_interface</a></div><div class="ttdeci">virtual void update_interface(const models::interface_model_t &amp;interface) override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:229</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_aba9186d82c6c65188a80f9ac146df1df"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">capabilities2_server::CapabilitiesDB::open</a></div><div class="ttdeci">virtual void open() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:415</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_abcb12877bac9acaa5b55f0517cd83c71"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">capabilities2_server::CapabilitiesDB::get_providers</a></div><div class="ttdeci">virtual std::vector&lt; models::provider_model_t &gt; get_providers() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:176</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_ac6c2407ebde5f7debcf32bc064f8c0bc"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">capabilities2_server::CapabilitiesDB::to_provider</a></div><div class="ttdeci">models::provider_model_t to_provider(sqlite3_stmt *stmt)</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:503</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_adc7238b52504f21326ff65d8d68c08f0"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">capabilities2_server::CapabilitiesDB::create_tables</a></div><div class="ttdeci">virtual void create_tables() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:449</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_ae263c0a66dccf6f7cee043f8da2050a9"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">capabilities2_server::CapabilitiesDB::get_interfaces</a></div><div class="ttdeci">virtual std::vector&lt; models::interface_model_t &gt; get_interfaces() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:86</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesDB_html_ae5f180b570d6c8d57d3b7ed570fa2bc4"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">capabilities2_server::CapabilitiesDB::get_semantic_interfaces</a></div><div class="ttdeci">virtual std::vector&lt; models::semantic_interface_model_t &gt; get_semantic_interfaces() override</div><div class="ttdef"><b>Definition</b> capabilities_db.hpp:131</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></div><div class="ttdef"><b>Definition</b> db_base.hpp:14</div></div>
-<div class="ttc" id="adb__base_8hpp_html"><div class="ttname"><a href="db__base_8hpp.html">db_base.hpp</a></div></div>
-<div class="ttc" id="ainterface_8hpp_html"><div class="ttname"><a href="interface_8hpp.html">interface.hpp</a></div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html_a2fefe1de489dfc709310ae4fa1afaa13"><div class="ttname"><a href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">capabilities2_server::from_sql_safe</a></div><div class="ttdeci">std::string from_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a sql safe std::string to a generic std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:35</div></div>
-<div class="ttc" id="aprovider_8hpp_html"><div class="ttname"><a href="provider_8hpp.html">provider.hpp</a></div></div>
-<div class="ttc" id="arun__config_8hpp_html"><div class="ttname"><a href="run__config_8hpp.html">run_config.hpp</a></div></div>
-<div class="ttc" id="arunning_8hpp_html"><div class="ttname"><a href="running_8hpp.html">running.hpp</a></div></div>
-<div class="ttc" id="asemantic__interface_8hpp_html"><div class="ttname"><a href="semantic__interface_8hpp.html">semantic_interface.hpp</a></div></div>
-<div class="ttc" id="asql__safe_8hpp_html"><div class="ttname"><a href="sql__safe_8hpp.html">sql_safe.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html">capabilities2_server::models::capability_model_t</a></div><div class="ttdef"><b>Definition</b> running.hpp:13</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a23939963edc32d7a2da5f1552973fecb"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a23939963edc32d7a2da5f1552973fecb">capabilities2_server::models::capability_model_t::provider</a></div><div class="ttdeci">std::string provider</div><div class="ttdef"><b>Definition</b> running.hpp:15</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1capability__model__t_html_a73be59339462fe3f6699bd127e99a918"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1capability__model__t.html#a73be59339462fe3f6699bd127e99a918">capabilities2_server::models::capability_model_t::interface</a></div><div class="ttdeci">std::string interface</div><div class="ttdef"><b>Definition</b> running.hpp:14</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a3a9a79ce313a985930e2cd97d27ebd5f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">capabilities2_server::models::header_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> header.hpp:42</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a4dc71e2c184d9c1c87de51f21983df4a"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">capabilities2_server::models::header_model_t::description</a></div><div class="ttdeci">std::string description</div><div class="ttdef"><b>Definition</b> header.hpp:45</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac0e94588685ed968c2466ad9860c1284"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">capabilities2_server::models::header_model_t::type</a></div><div class="ttdeci">std::string type</div><div class="ttdef"><b>Definition</b> header.hpp:44</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac6bf4416ee1f6a0e1781c366eab26acf"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">capabilities2_server::models::header_model_t::version</a></div><div class="ttdeci">std::string version</div><div class="ttdef"><b>Definition</b> header.hpp:43</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html">capabilities2_server::models::interface_model_t</a></div><div class="ttdoc">interface model</div><div class="ttdef"><b>Definition</b> interface.hpp:124</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a3e1b6a0fbb148703a6a2bfab6a4f2003"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">capabilities2_server::models::interface_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> interface.hpp:161</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a7909ec1d2a43ec77d95e22465ae586e5"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">capabilities2_server::models::interface_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> interface.hpp:166</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a9e396d80ed9427c8020057757a605c07"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">capabilities2_server::models::interface_model_t::interface</a></div><div class="ttdeci">specification_model_t interface</div><div class="ttdef"><b>Definition</b> interface.hpp:126</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ad4dfd8817581f04f0def9017ca898c64"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">capabilities2_server::models::interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> interface.hpp:125</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html">capabilities2_server::models::provider_model_t</a></div><div class="ttdoc">provider model</div><div class="ttdef"><b>Definition</b> provider.hpp:26</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a04a6e71a9466c7db0c908b1279e7ef0f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">capabilities2_server::models::provider_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> provider.hpp:77</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a0ad3fa187ea591bbcf1f4ab6d312dac0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">capabilities2_server::models::provider_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> provider.hpp:27</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a1c7dc74c7eaa402394f4d9e8e917d337"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">capabilities2_server::models::provider_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> provider.hpp:71</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a257a04fc106cbb8b5175768d4e68ce26"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">capabilities2_server::models::provider_model_t::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> provider.hpp:31</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a635ca15a93793a2dfb210d8392a07e0d"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">capabilities2_server::models::provider_model_t::implements</a></div><div class="ttdeci">std::string implements</div><div class="ttdef"><b>Definition</b> provider.hpp:28</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a73b1ea916d98d18ee300968381d6824b"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">capabilities2_server::models::provider_model_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> provider.hpp:30</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_ab621238ee4492bc03265cdf0bfb84001"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">capabilities2_server::models::provider_model_t::depends_on</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; depends_on</div><div class="ttdef"><b>Definition</b> provider.hpp:29</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">capabilities2_server::models::remappable_base_t</a></div><div class="ttdoc">remappable base model definition</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:17</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappable__base__t_html_a4a19d77530cc86fc3cd798eaaea9a8dd"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappable__base__t.html#a4a19d77530cc86fc3cd798eaaea9a8dd">capabilities2_server::models::remappable_base_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> remappable_base.hpp:18</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a1570369d1b89a3ba0a9cbff9419422cc"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">capabilities2_server::models::remappings_model_t::parameters</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; parameters</div><div class="ttdef"><b>Definition</b> remapping.hpp:44</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a62e2be32cc2b051f7bdfba15ab17a95d"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d">capabilities2_server::models::remappings_model_t::actions</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; actions</div><div class="ttdef"><b>Definition</b> remapping.hpp:47</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a9b83cf9b0b6306e5580f9babb42b8a11"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a9b83cf9b0b6306e5580f9babb42b8a11">capabilities2_server::models::remappings_model_t::topics</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; topics</div><div class="ttdef"><b>Definition</b> remapping.hpp:45</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_aba5002e746519b1ca48238e6d26c2054"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">capabilities2_server::models::remappings_model_t::services</a></div><div class="ttdeci">std::vector&lt; remapping_model_t &gt; services</div><div class="ttdef"><b>Definition</b> remapping.hpp:46</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_afc4a97cb962d255f268dbe6970ac59a8"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">capabilities2_server::models::remappings_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> remapping.hpp:49</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a></div><div class="ttdoc">run configuration type</div><div class="ttdef"><b>Definition</b> run_config.hpp:24</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a2b11f1cbc79ce42856b706df73bb87e3"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">capabilities2_server::models::run_config_model_t::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> run_config.hpp:29</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a49ff00fef777b60efedd894d773d9153"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">capabilities2_server::models::run_config_model_t::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> run_config.hpp:28</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a8edab59f62bc89e5a7dc4a7c1508f79c"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">capabilities2_server::models::run_config_model_t::provider</a></div><div class="ttdeci">header_model_t provider</div><div class="ttdef"><b>Definition</b> run_config.hpp:25</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a9b14481ebe1d875a691437a77a1ce992"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">capabilities2_server::models::run_config_model_t::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> run_config.hpp:30</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_affb0c8921530314028f04b4d1fa19306"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">capabilities2_server::models::run_config_model_t::interface</a></div><div class="ttdeci">interface_model_t interface</div><div class="ttdef"><b>Definition</b> run_config.hpp:26</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html">capabilities2_server::models::running_model_t</a></div><div class="ttdoc">running capability model</div><div class="ttdef"><b>Definition</b> running.hpp:27</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html_a0037a0006d89c68a56be1ed1337f7c37"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html#a0037a0006d89c68a56be1ed1337f7c37">capabilities2_server::models::running_model_t::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> running.hpp:31</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1running__model__t_html_a1c0cff01cc7973eb2f1ffa49ae2ad5b9"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1running__model__t.html#a1c0cff01cc7973eb2f1ffa49ae2ad5b9">capabilities2_server::models::running_model_t::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> running.hpp:32</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">capabilities2_server::models::semantic_interface_model_t</a></div><div class="ttdoc">semantic interface model</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:25</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a189e051f8785603c611c13a71f202fdd"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a189e051f8785603c611c13a71f202fdd">capabilities2_server::models::semantic_interface_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:52</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a78bbcbe2e8e34c29600a02d20a064366"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">capabilities2_server::models::semantic_interface_model_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:29</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a8650d24298ea55e6f6f810e507618fec"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">capabilities2_server::models::semantic_interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:26</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a8af68a40a89859515ca22b006099a8c7"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">capabilities2_server::models::semantic_interface_model_t::redefines</a></div><div class="ttdeci">std::string redefines</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:27</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a9a47cbad7f378a30f467cb0520213e3b"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">capabilities2_server::models::semantic_interface_model_t::global_namespace</a></div><div class="ttdeci">std::string global_namespace</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:28</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_ac26f0357597dbe2946d9278e5433c8ee"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">capabilities2_server::models::semantic_interface_model_t::to_sql_values</a></div><div class="ttdeci">std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:59</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html">capabilities2_server::models::specification_model_t</a></div><div class="ttdoc">interface specification type the specification model is the computation graph blueprint of a capabili...</div><div class="ttdef"><b>Definition</b> interface.hpp:21</div></div>
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-<div class="textblock"><code>#include &lt;map&gt;</code><br />
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-<code>#include &lt;tinyxml2.h&gt;</code><br />
-<code>#include &lt;rclcpp/rclcpp.hpp&gt;</code><br />
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-<code>#include &lt;capabilities2_msgs/msg/capability_spec.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/msg/capability_event_stamped.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/establish_bond.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/start_capability.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/stop_capability.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/free_capability.hpp&gt;</code><br />
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-<code>#include &lt;capabilities2_msgs/srv/use_capability.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/register_capability.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/connect_capability.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/get_interfaces.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/get_semantic_interfaces.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/get_providers.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/get_capability_spec.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/get_capability_specs.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/srv/get_remappings.hpp&gt;</code><br />
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-<a href="capabilities__server_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
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-<div class="foldopen" id="foldopen00061" data-start="{" data-end="}">
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aacf69c819dfe2d31895bd6a4b7831aea">   61</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aacf69c819dfe2d31895bd6a4b7831aea">CapabilitiesServer</a>(<span class="keyword">const</span> rclcpp::NodeOptions&amp; options = rclcpp::NodeOptions())</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    : Node(<span class="stringliteral">&quot;capabilities2&quot;</span>, options), <a class="code hl_class" href="classcapabilities2__server_1_1CapabilitiesAPI.html">CapabilitiesAPI</a>()</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  {</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    {</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>      <span class="comment">// Only call setup if this object is already owned by a shared_ptr</span></div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>      <span class="keywordflow">if</span> (shared_from_this())</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>      {</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">initialize</a>();</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      }</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    }</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::bad_weak_ptr&amp;)</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    {</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>      <span class="comment">// Not yet safe — probably standalone without make_shared</span></div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    }</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>  }</div>
-</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
-<div class="foldopen" id="foldopen00082" data-start="{" data-end="}">
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">   82</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">initialize</a>()</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  {</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <span class="comment">// params interface</span></div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    <span class="comment">// loop rate</span></div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    declare_parameter(<span class="stringliteral">&quot;loop_rate&quot;</span>, 5.0);</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">loop_hz_</a> = get_parameter(<span class="stringliteral">&quot;loop_rate&quot;</span>).as_double();</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// db file</span></div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    declare_parameter(<span class="stringliteral">&quot;db_file&quot;</span>, <span class="stringliteral">&quot;~/.ros/capabilities/capabilities.sqlite3&quot;</span>);</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    std::string db_file = get_parameter(<span class="stringliteral">&quot;db_file&quot;</span>).as_string();</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="comment">// rebuild db</span></div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    declare_parameter(<span class="stringliteral">&quot;rebuild&quot;</span>, <span class="keyword">false</span>);</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="keywordtype">bool</span> rebuild = get_parameter(<span class="stringliteral">&quot;rebuild&quot;</span>).as_bool();</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="comment">// package path</span></div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    declare_parameter(<span class="stringliteral">&quot;package_paths&quot;</span>, std::vector&lt;std::string&gt;());</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    std::vector&lt;std::string&gt; package_paths = get_parameter(<span class="stringliteral">&quot;package_paths&quot;</span>).as_string_array();</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="comment">// get full path of db file</span></div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    std::filesystem::path db_path = std::filesystem::absolute(<a class="code hl_function" href="namespacecapabilities2__server.html#a17a8e514c6257c5fddf35be0d6194425">expand_tilde</a>(db_file));</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    db_file = db_path.string();</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">if</span> (rebuild)</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      <span class="comment">// remove db file if it exists</span></div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>      RCLCPP_INFO(get_logger(), <span class="stringliteral">&quot;Rebuilding capabilities database&quot;</span>);</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>      <span class="keywordflow">if</span> (std::remove(db_file.c_str()) != 0)</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>      {</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;Error deleting file %s&quot;</span>, db_file.c_str());</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>      }</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    }</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="comment">// if db file does not exist</span></div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordflow">if</span> (!std::filesystem::exists(db_path))</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    {</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>      <span class="comment">// create db file path</span></div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>      std::filesystem::create_directories(db_path.parent_path());</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    }</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span> </div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="comment">// init capabilities api</span></div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">connect</a>(db_file, get_node_logging_interface());</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="comment">// load capabilities from package paths</span></div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; package_path : package_paths)</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    {</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>      <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">load_capabilities</a>(package_path);</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    }</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    <span class="comment">// pubs</span></div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">event_pub_</a> = create_publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;(<span class="stringliteral">&quot;~/events&quot;</span>, 10);</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="comment">// event publisher uses event subsystem</span></div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a> = std::make_shared&lt;capabilities2_events::PublishedEvent&gt;(<a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">event_pub_</a>);</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span> </div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <span class="comment">// subs</span></div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span> </div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>    <span class="comment">// services</span></div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>    <span class="comment">// establish bond</span></div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">establish_bond_srv_</a> = create_service&lt;capabilities2_msgs::srv::EstablishBond&gt;(</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="stringliteral">&quot;~/establish_bond&quot;</span>,</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">CapabilitiesServer::establish_bond_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span> </div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>    <span class="comment">// start capability</span></div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">start_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::StartCapability&gt;(</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>        <span class="stringliteral">&quot;~/start_capability&quot;</span>,</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">CapabilitiesServer::start_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span> </div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="comment">// stop capability</span></div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">stop_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::StopCapability&gt;(</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>        <span class="stringliteral">&quot;~/stop_capability&quot;</span>,</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">CapabilitiesServer::stop_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span> </div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <span class="comment">// free capability</span></div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">free_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::FreeCapability&gt;(</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>        <span class="stringliteral">&quot;~/free_capability&quot;</span>,</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">CapabilitiesServer::free_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span> </div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    <span class="comment">// trigger capability</span></div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">trigger_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::TriggerCapability&gt;(</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>        <span class="stringliteral">&quot;~/trigger_capability&quot;</span>,</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">CapabilitiesServer::trigger_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span> </div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    <span class="comment">// use capability</span></div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">use_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::UseCapability&gt;(</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>        <span class="stringliteral">&quot;~/use_capability&quot;</span>,</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">CapabilitiesServer::use_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="comment">// connect capabilities to each other</span></div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">connect_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::ConnectCapability&gt;(</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>        <span class="stringliteral">&quot;~/connect_capability&quot;</span>,</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">CapabilitiesServer::connect_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span> </div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="comment">// register capability</span></div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">register_capability_srv_</a> = create_service&lt;capabilities2_msgs::srv::RegisterCapability&gt;(</div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>        <span class="stringliteral">&quot;~/register_capability&quot;</span>,</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">CapabilitiesServer::register_capability_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span> </div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>    <span class="comment">// query capabilities</span></div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">get_interfaces_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetInterfaces&gt;(</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>        <span class="stringliteral">&quot;~/get_interfaces&quot;</span>,</div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">CapabilitiesServer::get_interfaces_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span> </div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">get_semantic_interfaces_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetSemanticInterfaces&gt;(</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>        <span class="stringliteral">&quot;~/get_semantic_interfaces&quot;</span>,</div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">CapabilitiesServer::get_semantic_interfaces_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">get_providers_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetProviders&gt;(</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>        <span class="stringliteral">&quot;~/get_providers&quot;</span>,</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">CapabilitiesServer::get_providers_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span> </div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">get_capability_spec_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetCapabilitySpec&gt;(</div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>        <span class="stringliteral">&quot;~/get_capability_spec&quot;</span>,</div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">CapabilitiesServer::get_capability_spec_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span> </div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">get_capability_specs_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetCapabilitySpecs&gt;(</div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>        <span class="stringliteral">&quot;~/get_capability_specs&quot;</span>,</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">CapabilitiesServer::get_capability_specs_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span> </div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">get_remappings_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetRemappings&gt;(</div>
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>        <span class="stringliteral">&quot;~/get_remappings&quot;</span>,</div>
-<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">CapabilitiesServer::get_remappings_cb</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
-<div class="line"><a id="l00205" name="l00205"></a><span class="lineno">  205</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">get_running_capabilities_srv_</a> = create_service&lt;capabilities2_msgs::srv::GetRunningCapabilities&gt;(</div>
-<div class="line"><a id="l00206" name="l00206"></a><span class="lineno">  206</span>        <span class="stringliteral">&quot;~/get_running_capabilities&quot;</span>, std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">CapabilitiesServer::get_running_capabilities_cb</a>, <span class="keyword">this</span>,</div>
-<div class="line"><a id="l00207" name="l00207"></a><span class="lineno">  207</span>                                                std::placeholders::_1, std::placeholders::_2));</div>
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span> </div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <span class="comment">// log ready</span></div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    RCLCPP_INFO(get_logger(), <span class="stringliteral">&quot;capabilities server started&quot;</span>);</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>    <span class="comment">// fire/publish ready event</span></div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a>-&gt;on_server_ready(<span class="stringliteral">&quot;capabilities server start up complete&quot;</span>);</div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>  }</div>
-</div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>  <span class="comment">// service callbacks</span></div>
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>  <span class="comment">// establish bond</span></div>
-<div class="foldopen" id="foldopen00218" data-start="{" data-end="}">
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">  218</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">establish_bond_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::EstablishBond::Request&gt; req,</div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>                         std::shared_ptr&lt;capabilities2_msgs::srv::EstablishBond::Response&gt; res)</div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>  {</div>
-<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    <span class="comment">// req is empty</span></div>
-<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span> </div>
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>    <span class="comment">// set bond id to response</span></div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>    res-&gt;bond_id = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">establish_bond</a>(shared_from_this());</div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>  }</div>
-</div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span> </div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>  <span class="comment">// start capability</span></div>
-<div class="foldopen" id="foldopen00228" data-start="{" data-end="}">
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">  228</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">start_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::StartCapability::Request&gt; req,</div>
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>                           std::shared_ptr&lt;capabilities2_msgs::srv::StartCapability::Response&gt; res)</div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>  {</div>
-<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>    <span class="comment">// log warning about using unsafe start service</span></div>
-<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>    RCLCPP_WARN(get_logger(), <span class="stringliteral">&quot;start_capability service is unsafe and intended for internal use only. &quot;</span></div>
-<div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>                              <span class="stringliteral">&quot;Use use_capability service with established bond instead.&quot;</span>);</div>
-<div class="line"><a id="l00234" name="l00234"></a><span class="lineno">  234</span> </div>
-<div class="line"><a id="l00235" name="l00235"></a><span class="lineno">  235</span>    <span class="comment">// try starting capability</span></div>
-<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>    <span class="comment">// TODO: handle errors</span></div>
-<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(shared_from_this(), req-&gt;capability, req-&gt;preferred_provider);</div>
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span> </div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="comment">// set response</span></div>
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>    res-&gt;result = capabilities2_msgs::srv::StartCapability::Response::RESULT_SUCCESS;</div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>  }</div>
-</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>  <span class="comment">// stop capability</span></div>
-<div class="foldopen" id="foldopen00244" data-start="{" data-end="}">
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">  244</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">stop_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::StopCapability::Request&gt; req,</div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>                          std::shared_ptr&lt;capabilities2_msgs::srv::StopCapability::Response&gt; res)</div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>  {</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>    <span class="comment">// log warning about using unsafe stop service</span></div>
-<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>    RCLCPP_WARN(get_logger(), <span class="stringliteral">&quot;stop_capability service is unsafe and intended for internal use only. &quot;</span></div>
-<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>                              <span class="stringliteral">&quot;Use free_capability service with established bond instead.&quot;</span>);</div>
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span> </div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>    <span class="comment">// try stopping capability</span></div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>    <span class="comment">// TODO: handle errors</span></div>
-<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(req-&gt;capability);</div>
-<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span> </div>
-<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>    <span class="comment">// set response</span></div>
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>    res-&gt;successful = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>  }</div>
-</div>
-<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
-<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>  <span class="comment">// trigger capability</span></div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span>  <span class="comment">// requires a bond to be established</span></div>
-<div class="foldopen" id="foldopen00261" data-start="{" data-end="}">
-<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">  261</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">trigger_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::TriggerCapability::Request&gt; req,</div>
-<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>                             std::shared_ptr&lt;capabilities2_msgs::srv::TriggerCapability::Response&gt; res)</div>
-<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>  {</div>
-<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <span class="comment">// make sure capability is not empty</span></div>
-<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>    <span class="keywordflow">if</span> (req-&gt;capability.capability.empty())</div>
-<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>    {</div>
-<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;trigger_capability: capability is empty&quot;</span>);</div>
-<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00269" name="l00269"></a><span class="lineno">  269</span>    }</div>
-<div class="line"><a id="l00270" name="l00270"></a><span class="lineno">  270</span> </div>
-<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span>    <span class="comment">// make sure bond id is provided</span></div>
-<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    <span class="keywordflow">if</span> (req-&gt;bond_id.empty())</div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    {</div>
-<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;trigger_capability: bond_id is empty&quot;</span>);</div>
-<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>    }</div>
-<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span> </div>
-<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span>    <span class="comment">// make sure instance id is provided</span></div>
-<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span>    <span class="keywordflow">if</span> (req-&gt;capability.instance_id.empty())</div>
-<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    {</div>
-<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;trigger_capability: instance_id is empty&quot;</span>);</div>
-<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span>    }</div>
-<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span> </div>
-<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>    <span class="comment">// try triggering capability</span></div>
-<div class="line"><a id="l00286" name="l00286"></a><span class="lineno">  286</span>    <span class="comment">// TODO: handle errors</span></div>
-<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">trigger_capability</a>(req-&gt;bond_id, req-&gt;capability.capability, req-&gt;capability.instance_id,</div>
-<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>                       <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>(req-&gt;capability));</div>
-<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span> </div>
-<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>    <span class="comment">// response is empty</span></div>
-<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>  }</div>
-</div>
-<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span> </div>
-<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>  <span class="comment">// free capability</span></div>
-<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>  <span class="comment">// requires bond to be established</span></div>
-<div class="foldopen" id="foldopen00295" data-start="{" data-end="}">
-<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">  295</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">free_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::FreeCapability::Request&gt; req,</div>
-<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>                          std::shared_ptr&lt;capabilities2_msgs::srv::FreeCapability::Response&gt; res)</div>
-<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>  {</div>
-<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>    <span class="comment">// guard empty values</span></div>
-<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>    <span class="keywordflow">if</span> (req-&gt;capability.empty())</div>
-<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>    {</div>
-<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;free_capability: capability is empty&quot;</span>);</div>
-<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    }</div>
-<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span> </div>
-<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>    <span class="keywordflow">if</span> (req-&gt;bond_id.empty())</div>
-<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span>    {</div>
-<div class="line"><a id="l00307" name="l00307"></a><span class="lineno">  307</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;free_capability: bond_id is empty&quot;</span>);</div>
-<div class="line"><a id="l00308" name="l00308"></a><span class="lineno">  308</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00309" name="l00309"></a><span class="lineno">  309</span>    }</div>
-<div class="line"><a id="l00310" name="l00310"></a><span class="lineno">  310</span> </div>
-<div class="line"><a id="l00311" name="l00311"></a><span class="lineno">  311</span>    <span class="comment">// free capability of this bond</span></div>
-<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a>(req-&gt;capability, req-&gt;bond_id);</div>
-<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span> </div>
-<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>    <span class="comment">// response is empty</span></div>
-<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span>  }</div>
-</div>
-<div class="line"><a id="l00316" name="l00316"></a><span class="lineno">  316</span> </div>
-<div class="line"><a id="l00317" name="l00317"></a><span class="lineno">  317</span>  <span class="comment">// use capability</span></div>
-<div class="line"><a id="l00318" name="l00318"></a><span class="lineno">  318</span>  <span class="comment">// requires bond to be established</span></div>
-<div class="foldopen" id="foldopen00319" data-start="{" data-end="}">
-<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">  319</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">use_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::UseCapability::Request&gt; req,</div>
-<div class="line"><a id="l00320" name="l00320"></a><span class="lineno">  320</span>                         std::shared_ptr&lt;capabilities2_msgs::srv::UseCapability::Response&gt; res)</div>
-<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>  {</div>
-<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>    <span class="comment">// guard empty values</span></div>
-<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>    <span class="keywordflow">if</span> (req-&gt;capability.empty())</div>
-<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>    {</div>
-<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;use_capability: capability is empty&quot;</span>);</div>
-<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span>    }</div>
-<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span> </div>
-<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>    <span class="keywordflow">if</span> (req-&gt;preferred_provider.empty())</div>
-<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span>    {</div>
-<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;use_capability: preferred_provider is empty&quot;</span>);</div>
-<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span>    }</div>
-<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span> </div>
-<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>    <span class="keywordflow">if</span> (req-&gt;bond_id.empty())</div>
-<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>    {</div>
-<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;use_capability: bond_id is empty&quot;</span>);</div>
-<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span>    }</div>
-<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span> </div>
-<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>    <span class="comment">// use capability with this bond</span></div>
-<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">use_capability</a>(shared_from_this(), req-&gt;capability, req-&gt;preferred_provider, req-&gt;bond_id);</div>
-<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span> </div>
-<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>    <span class="comment">// response is empty</span></div>
-<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>  }</div>
-</div>
-<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span> </div>
-<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>  <span class="comment">// FIXME: repair this to use new event subsystem</span></div>
-<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>  <span class="comment">// connect capability</span></div>
-<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>  <span class="comment">// requires bond to be established</span></div>
-<div class="foldopen" id="foldopen00350" data-start="{" data-end="}">
-<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">  350</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">connect_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::ConnectCapability::Request&gt; req,</div>
-<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>                             std::shared_ptr&lt;capabilities2_msgs::srv::ConnectCapability::Response&gt; res)</div>
-<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span>  {</div>
-<div class="line"><a id="l00353" name="l00353"></a><span class="lineno">  353</span>    <span class="comment">// need to have a bond established</span></div>
-<div class="line"><a id="l00354" name="l00354"></a><span class="lineno">  354</span>    <span class="keywordflow">if</span> (req-&gt;bond_id.empty())</div>
-<div class="line"><a id="l00355" name="l00355"></a><span class="lineno">  355</span>    {</div>
-<div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;connect_capability: bond_id is empty&quot;</span>);</div>
-<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>    }</div>
-<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span> </div>
-<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>    <span class="comment">// need to have a instance id</span></div>
-<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>    <span class="keywordflow">if</span> (req-&gt;connection.source.instance_id.empty())</div>
-<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>    {</div>
-<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;connect_capability: instance_id is empty&quot;</span>);</div>
-<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span>    }</div>
-<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span> </div>
-<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>    <span class="comment">// need to have a target instance id</span></div>
-<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>    <span class="keywordflow">if</span> (req-&gt;connection.target.instance_id.empty())</div>
-<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>    {</div>
-<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;connect_capability: target_instance_id is empty&quot;</span>);</div>
-<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>    }</div>
-<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span> </div>
-<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span>    <span class="comment">// api connect capability</span></div>
-<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">connect_capability</a>(req-&gt;bond_id, req-&gt;connection);</div>
-<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span> </div>
-<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>    <span class="comment">// response is empty</span></div>
-<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>  }</div>
-</div>
-<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span> </div>
-<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>  <span class="comment">// register capability</span></div>
-<div class="foldopen" id="foldopen00381" data-start="{" data-end="}">
-<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">  381</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">register_capability_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::RegisterCapability::Request&gt; req,</div>
-<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>                              std::shared_ptr&lt;capabilities2_msgs::srv::RegisterCapability::Response&gt; res)</div>
-<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span>  {</div>
-<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>    <span class="comment">// guard empty values</span></div>
-<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>    <span class="keywordflow">if</span> (req-&gt;capability_spec.package.empty() || req-&gt;capability_spec.content.empty())</div>
-<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>    {</div>
-<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;register_capability: package or content is empty&quot;</span>);</div>
-<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>    }</div>
-<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span> </div>
-<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span>    <span class="comment">// register capability</span></div>
-<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">add_capability</a>(req-&gt;capability_spec);</div>
-<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span> </div>
-<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span>    <span class="comment">// response is empty</span></div>
-<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>  }</div>
-</div>
-<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span> </div>
-<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>  <span class="comment">// query capabilities</span></div>
-<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>  <span class="comment">// get interfaces</span></div>
-<div class="foldopen" id="foldopen00399" data-start="{" data-end="}">
-<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">  399</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">get_interfaces_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetInterfaces::Request&gt; req,</div>
-<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>                         std::shared_ptr&lt;capabilities2_msgs::srv::GetInterfaces::Response&gt; res)</div>
-<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>  {</div>
-<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span>    <span class="comment">// req is empty</span></div>
-<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span> </div>
-<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>    <span class="comment">// set response</span></div>
-<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>    <span class="comment">// get all interfaces</span></div>
-<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>    res-&gt;interfaces = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">get_interfaces</a>();</div>
-<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>  }</div>
-</div>
-<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span> </div>
-<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>  <span class="comment">// get semantic interfaces</span></div>
-<div class="foldopen" id="foldopen00410" data-start="{" data-end="}">
-<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">  410</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">get_semantic_interfaces_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetSemanticInterfaces::Request&gt; req,</div>
-<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span>                                  std::shared_ptr&lt;capabilities2_msgs::srv::GetSemanticInterfaces::Response&gt; res)</div>
-<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span>  {</div>
-<div class="line"><a id="l00413" name="l00413"></a><span class="lineno">  413</span>    <span class="comment">// set response</span></div>
-<div class="line"><a id="l00414" name="l00414"></a><span class="lineno">  414</span>    <span class="comment">// get semantic interfaces for given interface</span></div>
-<div class="line"><a id="l00415" name="l00415"></a><span class="lineno">  415</span>    res-&gt;semantic_interfaces = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">get_semantic_interfaces</a>(req-&gt;interface);</div>
-<div class="line"><a id="l00416" name="l00416"></a><span class="lineno">  416</span>  }</div>
-</div>
-<div class="line"><a id="l00417" name="l00417"></a><span class="lineno">  417</span> </div>
-<div class="line"><a id="l00418" name="l00418"></a><span class="lineno">  418</span>  <span class="comment">// get providers</span></div>
-<div class="foldopen" id="foldopen00419" data-start="{" data-end="}">
-<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">  419</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">get_providers_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetProviders::Request&gt; req,</div>
-<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>                        std::shared_ptr&lt;capabilities2_msgs::srv::GetProviders::Response&gt; res)</div>
-<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>  {</div>
-<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>    <span class="comment">// set response</span></div>
-<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>    <span class="comment">// get providers for given interface</span></div>
-<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span>    res-&gt;providers = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">get_providers</a>(req-&gt;interface, req-&gt;include_semantic);</div>
-<div class="line"><a id="l00425" name="l00425"></a><span class="lineno">  425</span>  }</div>
-</div>
-<div class="line"><a id="l00426" name="l00426"></a><span class="lineno">  426</span> </div>
-<div class="line"><a id="l00427" name="l00427"></a><span class="lineno">  427</span>  <span class="comment">// get capability spec</span></div>
-<div class="foldopen" id="foldopen00428" data-start="{" data-end="}">
-<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">  428</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">get_capability_spec_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetCapabilitySpec::Request&gt; req,</div>
-<div class="line"><a id="l00429" name="l00429"></a><span class="lineno">  429</span>                              std::shared_ptr&lt;capabilities2_msgs::srv::GetCapabilitySpec::Response&gt; res)</div>
-<div class="line"><a id="l00430" name="l00430"></a><span class="lineno">  430</span>  {</div>
-<div class="line"><a id="l00431" name="l00431"></a><span class="lineno">  431</span>    <span class="comment">// get capability spec for given capability resource</span></div>
-<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>    capabilities2_msgs::msg::CapabilitySpec capability_spec = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">get_capability_spec</a>(req-&gt;capability_spec);</div>
-<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span> </div>
-<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>    <span class="comment">// if the spec is not empty set response</span></div>
-<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>    <span class="keywordflow">if</span> (capability_spec.content.empty())</div>
-<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>    {</div>
-<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;capability spec not found for resource: %s&quot;</span>, req-&gt;capability_spec.c_str());</div>
-<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span> </div>
-<div class="line"><a id="l00439" name="l00439"></a><span class="lineno">  439</span>      <span class="comment">// BUG: throw error causes service to crash, this is a ROS2 bug</span></div>
-<div class="line"><a id="l00440" name="l00440"></a><span class="lineno">  440</span>      <span class="comment">// std::runtime_error(&quot;capability spec not found for resource: &quot; + req-&gt;capability_spec);</span></div>
-<div class="line"><a id="l00441" name="l00441"></a><span class="lineno">  441</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00442" name="l00442"></a><span class="lineno">  442</span>    }</div>
-<div class="line"><a id="l00443" name="l00443"></a><span class="lineno">  443</span> </div>
-<div class="line"><a id="l00444" name="l00444"></a><span class="lineno">  444</span>    <span class="comment">// set response</span></div>
-<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>    res-&gt;capability_spec = capability_spec;</div>
-<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>  }</div>
-</div>
-<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span> </div>
-<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>  <span class="comment">// get capability specs</span></div>
-<div class="foldopen" id="foldopen00449" data-start="{" data-end="}">
-<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">  449</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">get_capability_specs_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetCapabilitySpecs::Request&gt; req,</div>
-<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span>                               std::shared_ptr&lt;capabilities2_msgs::srv::GetCapabilitySpecs::Response&gt; res)</div>
-<div class="line"><a id="l00451" name="l00451"></a><span class="lineno">  451</span>  {</div>
-<div class="line"><a id="l00452" name="l00452"></a><span class="lineno">  452</span>    <span class="comment">// req is empty</span></div>
-<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span> </div>
-<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>    <span class="comment">// set response</span></div>
-<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>    <span class="comment">// get capability specs for given capability resources</span></div>
-<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>    res-&gt;capability_specs = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">get_capability_specs</a>();</div>
-<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>  }</div>
-</div>
-<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span> </div>
-<div class="foldopen" id="foldopen00459" data-start="{" data-end="}">
-<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">  459</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">get_remappings_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetRemappings::Request&gt; req,</div>
-<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>                         std::shared_ptr&lt;capabilities2_msgs::srv::GetRemappings::Response&gt; res)</div>
-<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>  {</div>
-<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>    <span class="comment">// set response</span></div>
-<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span>    <span class="comment">// get remappings for given capability</span></div>
-<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>    <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">get_remappings</a>(req-&gt;spec, res);</div>
-<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>  }</div>
-</div>
-<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span> </div>
-<div class="foldopen" id="foldopen00467" data-start="{" data-end="}">
-<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">  467</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">get_running_capabilities_cb</a>(<span class="keyword">const</span> std::shared_ptr&lt;capabilities2_msgs::srv::GetRunningCapabilities::Request&gt; req,</div>
-<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span>                                   std::shared_ptr&lt;capabilities2_msgs::srv::GetRunningCapabilities::Response&gt; res)</div>
-<div class="line"><a id="l00469" name="l00469"></a><span class="lineno">  469</span>  {</div>
-<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span>    <span class="comment">// req is empty</span></div>
-<div class="line"><a id="l00471" name="l00471"></a><span class="lineno">  471</span> </div>
-<div class="line"><a id="l00472" name="l00472"></a><span class="lineno">  472</span>    <span class="comment">// set response</span></div>
-<div class="line"><a id="l00473" name="l00473"></a><span class="lineno">  473</span>    <span class="comment">// get running capabilities</span></div>
-<div class="line"><a id="l00474" name="l00474"></a><span class="lineno">  474</span>    res-&gt;running_capabilities = <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a>();</div>
-<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>  }</div>
-</div>
-<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span> </div>
-<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span><span class="keyword">private</span>:</div>
-<div class="foldopen" id="foldopen00478" data-start="{" data-end="}">
-<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">  478</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">load_capabilities</a>(<span class="keyword">const</span> std::string&amp; package_path)</div>
-<div class="line"><a id="l00479" name="l00479"></a><span class="lineno">  479</span>  {</div>
-<div class="line"><a id="l00480" name="l00480"></a><span class="lineno">  480</span>    RCLCPP_DEBUG(get_logger(), <span class="stringliteral">&quot;Loading capabilities from package path: %s&quot;</span>, package_path.c_str());</div>
-<div class="line"><a id="l00481" name="l00481"></a><span class="lineno">  481</span> </div>
-<div class="line"><a id="l00482" name="l00482"></a><span class="lineno">  482</span>    <span class="comment">// check if path exists</span></div>
-<div class="line"><a id="l00483" name="l00483"></a><span class="lineno">  483</span>    <span class="keywordflow">if</span> (!std::filesystem::exists(package_path))</div>
-<div class="line"><a id="l00484" name="l00484"></a><span class="lineno">  484</span>    {</div>
-<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>      RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;package path does not exist: %s&quot;</span>, package_path.c_str());</div>
-<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>    }</div>
-<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span> </div>
-<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>    <span class="comment">// find packages in path</span></div>
-<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>    std::vector&lt;std::string&gt; packages_root, packages_install;</div>
-<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span> </div>
-<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; entry : std::filesystem::directory_iterator(package_path))</div>
-<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>    {</div>
-<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>      <span class="keywordflow">if</span> (entry.is_directory())</div>
-<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span>      {</div>
-<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>        std::string name(entry.path().filename());</div>
-<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span> </div>
-<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span>        <span class="keywordflow">if</span> (std::filesystem::exists(package_path + <span class="stringliteral">&quot;/&quot;</span> + name + <span class="stringliteral">&quot;/package.xml&quot;</span>))</div>
-<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>        {</div>
-<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>          packages_root.push_back(name);</div>
-<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span>        }</div>
-<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span>        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (std::filesystem::exists(package_path + <span class="stringliteral">&quot;/&quot;</span> + name + <span class="stringliteral">&quot;/share/&quot;</span> + name + <span class="stringliteral">&quot;/package.xml&quot;</span>))</div>
-<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>        {</div>
-<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>          packages_install.push_back(name);</div>
-<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span>        }</div>
-<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>      }</div>
-<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>    }</div>
-<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span> </div>
-<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>    <span class="comment">// load capabilities from packages in /opt/ros/*/share</span></div>
-<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; package : packages_root)</div>
-<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span>    {</div>
-<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>      RCLCPP_DEBUG(get_logger(), <span class="stringliteral">&quot;Loading capabilities from package: %s&quot;</span>, package.c_str());</div>
-<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span> </div>
-<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>      <span class="comment">// package.xml exports</span></div>
-<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span>      std::string package_xml = package_path + <span class="stringliteral">&quot;/&quot;</span> + <span class="keyword">package </span>+ &quot;/package.xml&quot;;</div>
-<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span> </div>
-<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span>      <span class="comment">// check if package.xml exists</span></div>
-<div class="line"><a id="l00518" name="l00518"></a><span class="lineno">  518</span>      <span class="keywordflow">if</span> (!std::filesystem::exists(package_xml))</div>
-<div class="line"><a id="l00519" name="l00519"></a><span class="lineno">  519</span>      {</div>
-<div class="line"><a id="l00520" name="l00520"></a><span class="lineno">  520</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;package.xml does not exist: %s&quot;</span>, package_xml.c_str());</div>
-<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span>        <span class="keywordflow">continue</span>;</div>
-<div class="line"><a id="l00522" name="l00522"></a><span class="lineno">  522</span>      }</div>
-<div class="line"><a id="l00523" name="l00523"></a><span class="lineno">  523</span> </div>
-<div class="line"><a id="l00524" name="l00524"></a><span class="lineno">  524</span>      <span class="comment">// parse package.xml</span></div>
-<div class="line"><a id="l00525" name="l00525"></a><span class="lineno">  525</span>      tinyxml2::XMLDocument doc;</div>
-<div class="line"><a id="l00526" name="l00526"></a><span class="lineno">  526</span> </div>
-<div class="line"><a id="l00527" name="l00527"></a><span class="lineno">  527</span>      <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00528" name="l00528"></a><span class="lineno">  528</span>      {</div>
-<div class="line"><a id="l00529" name="l00529"></a><span class="lineno">  529</span>        parse_package_xml(package_xml, doc);</div>
-<div class="line"><a id="l00530" name="l00530"></a><span class="lineno">  530</span>      }</div>
-<div class="line"><a id="l00531" name="l00531"></a><span class="lineno">  531</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::runtime_error&amp; e)</div>
-<div class="line"><a id="l00532" name="l00532"></a><span class="lineno">  532</span>      {</div>
-<div class="line"><a id="l00533" name="l00533"></a><span class="lineno">  533</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;failed to parse package.xml file: %s&quot;</span>, e.what());</div>
-<div class="line"><a id="l00534" name="l00534"></a><span class="lineno">  534</span>        <span class="keywordflow">continue</span>;</div>
-<div class="line"><a id="l00535" name="l00535"></a><span class="lineno">  535</span>      }</div>
-<div class="line"><a id="l00536" name="l00536"></a><span class="lineno">  536</span> </div>
-<div class="line"><a id="l00537" name="l00537"></a><span class="lineno">  537</span>      <span class="comment">// get exports</span></div>
-<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span>      tinyxml2::XMLElement* exports = doc.FirstChildElement(<span class="stringliteral">&quot;package&quot;</span>)-&gt;FirstChildElement(<span class="stringliteral">&quot;export&quot;</span>);</div>
-<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span> </div>
-<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span>      <span class="keywordflow">if</span> (exports == <span class="keyword">nullptr</span>)</div>
-<div class="line"><a id="l00541" name="l00541"></a><span class="lineno">  541</span>      {</div>
-<div class="line"><a id="l00542" name="l00542"></a><span class="lineno">  542</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;No exports found in package.xml file: %s&quot;</span>, package_xml.c_str());</div>
-<div class="line"><a id="l00543" name="l00543"></a><span class="lineno">  543</span>        <span class="keywordflow">continue</span>;</div>
-<div class="line"><a id="l00544" name="l00544"></a><span class="lineno">  544</span>      }</div>
-<div class="line"><a id="l00545" name="l00545"></a><span class="lineno">  545</span> </div>
-<div class="line"><a id="l00546" name="l00546"></a><span class="lineno">  546</span>      <span class="comment">// get capability specs of each type using a lambda</span></div>
-<div class="line"><a id="l00547" name="l00547"></a><span class="lineno">  547</span>      <span class="keyword">auto</span> get_capability_specs = [&amp;](<span class="keyword">const</span> std::string&amp; spec_type) {</div>
-<div class="line"><a id="l00548" name="l00548"></a><span class="lineno">  548</span>        <span class="comment">// get capability spec</span></div>
-<div class="line"><a id="l00549" name="l00549"></a><span class="lineno">  549</span>        <span class="keywordflow">for</span> (tinyxml2::XMLElement* spec = exports-&gt;FirstChildElement(spec_type.c_str()); spec != <span class="keyword">nullptr</span>;</div>
-<div class="line"><a id="l00550" name="l00550"></a><span class="lineno">  550</span>             spec = spec-&gt;NextSiblingElement(spec_type.c_str()))</div>
-<div class="line"><a id="l00551" name="l00551"></a><span class="lineno">  551</span>        {</div>
-<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>          <span class="comment">// read spec relative path for spec file from element contents</span></div>
-<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>          std::string spec_path = spec-&gt;GetText();</div>
-<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>          <span class="comment">// clear white spaces</span></div>
-<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>          spec_path.erase(std::remove_if(spec_path.begin(), spec_path.end(), isspace), spec_path.end());</div>
-<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>          <span class="comment">// remove leading slash</span></div>
-<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>          <span class="keywordflow">if</span> (spec_path[0] == <span class="charliteral">&#39;/&#39;</span>)</div>
-<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>          {</div>
-<div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>            spec_path = spec_path.substr(1);</div>
-<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>          }</div>
-<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>          <span class="comment">// create a spec message</span></div>
-<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span>          capabilities2_msgs::msg::CapabilitySpec capability_spec;</div>
-<div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>          <span class="comment">// add package details</span></div>
-<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>          capability_spec.package = package;</div>
-<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>          capability_spec.type = spec_type;</div>
-<div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span>          <span class="comment">// try load spec file</span></div>
-<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span>          <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00568" name="l00568"></a><span class="lineno">  568</span>          {</div>
-<div class="line"><a id="l00569" name="l00569"></a><span class="lineno">  569</span>            <span class="comment">// read spec file</span></div>
-<div class="line"><a id="l00570" name="l00570"></a><span class="lineno">  570</span>            load_spec_content(package_path + <span class="stringliteral">&quot;/&quot;</span> + package + <span class="stringliteral">&quot;/&quot;</span> + spec_path, capability_spec);</div>
-<div class="line"><a id="l00571" name="l00571"></a><span class="lineno">  571</span> </div>
-<div class="line"><a id="l00572" name="l00572"></a><span class="lineno">  572</span>            <span class="comment">// add capability to db</span></div>
-<div class="line"><a id="l00573" name="l00573"></a><span class="lineno">  573</span>            RCLCPP_INFO(get_logger(), <span class="stringliteral">&quot;adding capability: %s/%s&quot;</span>, package.c_str(), spec_path.c_str());</div>
-<div class="line"><a id="l00574" name="l00574"></a><span class="lineno">  574</span>            add_capability(capability_spec);</div>
-<div class="line"><a id="l00575" name="l00575"></a><span class="lineno">  575</span>          }</div>
-<div class="line"><a id="l00576" name="l00576"></a><span class="lineno">  576</span>          <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::runtime_error&amp; e)</div>
-<div class="line"><a id="l00577" name="l00577"></a><span class="lineno">  577</span>          {</div>
-<div class="line"><a id="l00578" name="l00578"></a><span class="lineno">  578</span>            RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;failed to load spec file: %s&quot;</span>, e.what());</div>
-<div class="line"><a id="l00579" name="l00579"></a><span class="lineno">  579</span>          }</div>
-<div class="line"><a id="l00580" name="l00580"></a><span class="lineno">  580</span>        }</div>
-<div class="line"><a id="l00581" name="l00581"></a><span class="lineno">  581</span>      };</div>
-<div class="line"><a id="l00582" name="l00582"></a><span class="lineno">  582</span> </div>
-<div class="line"><a id="l00583" name="l00583"></a><span class="lineno">  583</span>      <span class="comment">// get interface specs</span></div>
-<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_INTERFACE);</div>
-<div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>      <span class="comment">// get semantic interface specs</span></div>
-<div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::SEMANTIC_CAPABILITY_INTERFACE);</div>
-<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>      <span class="comment">// get provider specs</span></div>
-<div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_PROVIDER);</div>
-<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>    }</div>
-<div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span> </div>
-<div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>    <span class="comment">// load capabilities from packages in workspace install folder</span></div>
-<div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; package : packages_install)</div>
-<div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    {</div>
-<div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span>      RCLCPP_DEBUG(get_logger(), <span class="stringliteral">&quot;Loading capabilities from package: %s&quot;</span>, package.c_str());</div>
-<div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span> </div>
-<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>      <span class="comment">// package.xml exports</span></div>
-<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span>      std::string package_xml = package_path + <span class="stringliteral">&quot;/&quot;</span> + <span class="keyword">package </span>+ &quot;/share/&quot; + package + &quot;/package.xml&quot;;</div>
-<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span> </div>
-<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>      <span class="comment">// check if package.xml exists</span></div>
-<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span>      <span class="keywordflow">if</span> (!std::filesystem::exists(package_xml))</div>
-<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span>      {</div>
-<div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;package.xml does not exist: %s&quot;</span>, package_xml.c_str());</div>
-<div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span>        <span class="keywordflow">continue</span>;</div>
-<div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span>      }</div>
-<div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span> </div>
-<div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>      <span class="comment">// parse package.xml</span></div>
-<div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span>      tinyxml2::XMLDocument doc;</div>
-<div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span> </div>
-<div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>      <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span>      {</div>
-<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>        parse_package_xml(package_xml, doc);</div>
-<div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>      }</div>
-<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>      <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::runtime_error&amp; e)</div>
-<div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span>      {</div>
-<div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;failed to parse package.xml file: %s&quot;</span>, e.what());</div>
-<div class="line"><a id="l00616" name="l00616"></a><span class="lineno">  616</span>        <span class="keywordflow">continue</span>;</div>
-<div class="line"><a id="l00617" name="l00617"></a><span class="lineno">  617</span>      }</div>
-<div class="line"><a id="l00618" name="l00618"></a><span class="lineno">  618</span> </div>
-<div class="line"><a id="l00619" name="l00619"></a><span class="lineno">  619</span>      <span class="comment">// get exports</span></div>
-<div class="line"><a id="l00620" name="l00620"></a><span class="lineno">  620</span>      tinyxml2::XMLElement* exports = doc.FirstChildElement(<span class="stringliteral">&quot;package&quot;</span>)-&gt;FirstChildElement(<span class="stringliteral">&quot;export&quot;</span>);</div>
-<div class="line"><a id="l00621" name="l00621"></a><span class="lineno">  621</span> </div>
-<div class="line"><a id="l00622" name="l00622"></a><span class="lineno">  622</span>      <span class="keywordflow">if</span> (exports == <span class="keyword">nullptr</span>)</div>
-<div class="line"><a id="l00623" name="l00623"></a><span class="lineno">  623</span>      {</div>
-<div class="line"><a id="l00624" name="l00624"></a><span class="lineno">  624</span>        RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;No exports found in package.xml file: %s&quot;</span>, package_xml.c_str());</div>
-<div class="line"><a id="l00625" name="l00625"></a><span class="lineno">  625</span>        <span class="keywordflow">continue</span>;</div>
-<div class="line"><a id="l00626" name="l00626"></a><span class="lineno">  626</span>      }</div>
-<div class="line"><a id="l00627" name="l00627"></a><span class="lineno">  627</span> </div>
-<div class="line"><a id="l00628" name="l00628"></a><span class="lineno">  628</span>      <span class="comment">// get capability specs of each type using a lambda</span></div>
-<div class="line"><a id="l00629" name="l00629"></a><span class="lineno">  629</span>      <span class="keyword">auto</span> get_capability_specs = [&amp;](<span class="keyword">const</span> std::string&amp; spec_type) {</div>
-<div class="line"><a id="l00630" name="l00630"></a><span class="lineno">  630</span>        <span class="comment">// get capability spec</span></div>
-<div class="line"><a id="l00631" name="l00631"></a><span class="lineno">  631</span>        <span class="keywordflow">for</span> (tinyxml2::XMLElement* spec = exports-&gt;FirstChildElement(spec_type.c_str()); spec != <span class="keyword">nullptr</span>;</div>
-<div class="line"><a id="l00632" name="l00632"></a><span class="lineno">  632</span>             spec = spec-&gt;NextSiblingElement(spec_type.c_str()))</div>
-<div class="line"><a id="l00633" name="l00633"></a><span class="lineno">  633</span>        {</div>
-<div class="line"><a id="l00634" name="l00634"></a><span class="lineno">  634</span>          <span class="comment">// read spec relative path for spec file from element contents</span></div>
-<div class="line"><a id="l00635" name="l00635"></a><span class="lineno">  635</span>          std::string spec_path = spec-&gt;GetText();</div>
-<div class="line"><a id="l00636" name="l00636"></a><span class="lineno">  636</span>          <span class="comment">// clear white spaces</span></div>
-<div class="line"><a id="l00637" name="l00637"></a><span class="lineno">  637</span>          spec_path.erase(std::remove_if(spec_path.begin(), spec_path.end(), isspace), spec_path.end());</div>
-<div class="line"><a id="l00638" name="l00638"></a><span class="lineno">  638</span>          <span class="comment">// remove leading slash</span></div>
-<div class="line"><a id="l00639" name="l00639"></a><span class="lineno">  639</span>          <span class="keywordflow">if</span> (spec_path[0] == <span class="charliteral">&#39;/&#39;</span>)</div>
-<div class="line"><a id="l00640" name="l00640"></a><span class="lineno">  640</span>          {</div>
-<div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span>            spec_path = spec_path.substr(1);</div>
-<div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span>          }</div>
-<div class="line"><a id="l00643" name="l00643"></a><span class="lineno">  643</span>          <span class="comment">// create a spec message</span></div>
-<div class="line"><a id="l00644" name="l00644"></a><span class="lineno">  644</span>          capabilities2_msgs::msg::CapabilitySpec capability_spec;</div>
-<div class="line"><a id="l00645" name="l00645"></a><span class="lineno">  645</span>          <span class="comment">// add package details</span></div>
-<div class="line"><a id="l00646" name="l00646"></a><span class="lineno">  646</span>          capability_spec.package = package;</div>
-<div class="line"><a id="l00647" name="l00647"></a><span class="lineno">  647</span>          capability_spec.type = spec_type;</div>
-<div class="line"><a id="l00648" name="l00648"></a><span class="lineno">  648</span>          <span class="comment">// try load spec file</span></div>
-<div class="line"><a id="l00649" name="l00649"></a><span class="lineno">  649</span>          <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00650" name="l00650"></a><span class="lineno">  650</span>          {</div>
-<div class="line"><a id="l00651" name="l00651"></a><span class="lineno">  651</span>            <span class="comment">// read spec file</span></div>
-<div class="line"><a id="l00652" name="l00652"></a><span class="lineno">  652</span>            load_spec_content(package_path + <span class="stringliteral">&quot;/&quot;</span> + package + <span class="stringliteral">&quot;/share/&quot;</span> + package + <span class="stringliteral">&quot;/&quot;</span> + spec_path, capability_spec);</div>
-<div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span> </div>
-<div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>            <span class="comment">// add capability to db</span></div>
-<div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span>            RCLCPP_INFO(get_logger(), <span class="stringliteral">&quot;adding capability: %s/%s&quot;</span>, package.c_str(), spec_path.c_str());</div>
-<div class="line"><a id="l00656" name="l00656"></a><span class="lineno">  656</span> </div>
-<div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span>            add_capability(capability_spec);</div>
-<div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span>          }</div>
-<div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>          <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::runtime_error&amp; e)</div>
-<div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span>          {</div>
-<div class="line"><a id="l00661" name="l00661"></a><span class="lineno">  661</span>            RCLCPP_ERROR(get_logger(), <span class="stringliteral">&quot;failed to load spec file: %s&quot;</span>, e.what());</div>
-<div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span>          }</div>
-<div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>        }</div>
-<div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>      };</div>
-<div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span> </div>
-<div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span>      <span class="comment">// get interface specs</span></div>
-<div class="line"><a id="l00667" name="l00667"></a><span class="lineno">  667</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_INTERFACE);</div>
-<div class="line"><a id="l00668" name="l00668"></a><span class="lineno">  668</span>      <span class="comment">// get semantic interface specs</span></div>
-<div class="line"><a id="l00669" name="l00669"></a><span class="lineno">  669</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::SEMANTIC_CAPABILITY_INTERFACE);</div>
-<div class="line"><a id="l00670" name="l00670"></a><span class="lineno">  670</span>      <span class="comment">// get provider specs</span></div>
-<div class="line"><a id="l00671" name="l00671"></a><span class="lineno">  671</span>      get_capability_specs(capabilities2_msgs::msg::CapabilitySpec::CAPABILITY_PROVIDER);</div>
-<div class="line"><a id="l00672" name="l00672"></a><span class="lineno">  672</span>    }</div>
-<div class="line"><a id="l00673" name="l00673"></a><span class="lineno">  673</span>  }</div>
-</div>
-<div class="line"><a id="l00674" name="l00674"></a><span class="lineno">  674</span> </div>
-<div class="foldopen" id="foldopen00681" data-start="{" data-end="}">
-<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a5e0231cf2f4d4c16ec057e5603b0efd1">  681</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a5e0231cf2f4d4c16ec057e5603b0efd1">parse_package_xml</a>(<span class="keyword">const</span> std::string&amp; package_xml, tinyxml2::XMLDocument&amp; doc)</div>
-<div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span>  {</div>
-<div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span>    <span class="comment">// read package.xml</span></div>
-<div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>    std::ifstream package_xml_file(package_xml, std::ifstream::in);</div>
-<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span> </div>
-<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>    <span class="keywordflow">if</span> (!package_xml_file.is_open())</div>
-<div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>    {</div>
-<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;unable to open package.xml file: &quot;</span> + package_xml);</div>
-<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span>    }</div>
-<div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span> </div>
-<div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span>    <span class="comment">// read package.xml file into string</span></div>
-<div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span>    std::string package_xml_string{ std::istreambuf_iterator&lt;char&gt;(package_xml_file),</div>
-<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span>                                    std::istreambuf_iterator&lt;char&gt;() };</div>
-<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span>    package_xml_file.close();</div>
-<div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span> </div>
-<div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span>    <span class="comment">// parse package.xml to xml doc</span></div>
-<div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span>    <span class="keywordflow">if</span> (doc.Parse(package_xml_string.c_str()) != tinyxml2::XML_SUCCESS)</div>
-<div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span>    {</div>
-<div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;failed to parse package.xml file: &quot;</span> + package_xml);</div>
-<div class="line"><a id="l00700" name="l00700"></a><span class="lineno">  700</span>    }</div>
-<div class="line"><a id="l00701" name="l00701"></a><span class="lineno">  701</span>  }</div>
-</div>
-<div class="line"><a id="l00702" name="l00702"></a><span class="lineno">  702</span> </div>
-<div class="foldopen" id="foldopen00709" data-start="{" data-end="}">
-<div class="line"><a id="l00709" name="l00709"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a38bec3f55aab20fb4ef4be05ff20ee20">  709</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1CapabilitiesServer.html#a38bec3f55aab20fb4ef4be05ff20ee20">load_spec_content</a>(<span class="keyword">const</span> std::string&amp; spec_file, capabilities2_msgs::msg::CapabilitySpec&amp; capability_spec)</div>
-<div class="line"><a id="l00710" name="l00710"></a><span class="lineno">  710</span>  {</div>
-<div class="line"><a id="l00711" name="l00711"></a><span class="lineno">  711</span>    <span class="comment">// read spec file</span></div>
-<div class="line"><a id="l00712" name="l00712"></a><span class="lineno">  712</span>    std::ifstream spec_file_file(spec_file, std::ifstream::in);</div>
-<div class="line"><a id="l00713" name="l00713"></a><span class="lineno">  713</span> </div>
-<div class="line"><a id="l00714" name="l00714"></a><span class="lineno">  714</span>    <span class="comment">// file failed guard</span></div>
-<div class="line"><a id="l00715" name="l00715"></a><span class="lineno">  715</span>    <span class="keywordflow">if</span> (!spec_file_file.is_open())</div>
-<div class="line"><a id="l00716" name="l00716"></a><span class="lineno">  716</span>    {</div>
-<div class="line"><a id="l00717" name="l00717"></a><span class="lineno">  717</span>      <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;unable to open capability spec file: &quot;</span> + spec_file);</div>
-<div class="line"><a id="l00718" name="l00718"></a><span class="lineno">  718</span>    }</div>
-<div class="line"><a id="l00719" name="l00719"></a><span class="lineno">  719</span> </div>
-<div class="line"><a id="l00720" name="l00720"></a><span class="lineno">  720</span>    <span class="comment">// load content into msg</span></div>
-<div class="line"><a id="l00721" name="l00721"></a><span class="lineno">  721</span>    std::string content{ std::istreambuf_iterator&lt;char&gt;(spec_file_file), std::istreambuf_iterator&lt;char&gt;() };</div>
-<div class="line"><a id="l00722" name="l00722"></a><span class="lineno">  722</span>    capability_spec.content = content;</div>
-<div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span> </div>
-<div class="line"><a id="l00724" name="l00724"></a><span class="lineno">  724</span>    spec_file_file.close();</div>
-<div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span>  }</div>
-</div>
-<div class="line"><a id="l00726" name="l00726"></a><span class="lineno">  726</span> </div>
-<div class="line"><a id="l00727" name="l00727"></a><span class="lineno">  727</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00728" name="l00728"></a><span class="lineno">  728</span>  <span class="comment">// loop hz</span></div>
-<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">  729</a></span>  <span class="keywordtype">double</span> <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">loop_hz_</a>;</div>
-<div class="line"><a id="l00730" name="l00730"></a><span class="lineno">  730</span> </div>
-<div class="line"><a id="l00731" name="l00731"></a><span class="lineno">  731</span>  <span class="comment">// publishers</span></div>
-<div class="line"><a id="l00732" name="l00732"></a><span class="lineno">  732</span>  <span class="comment">// event publisher</span></div>
-<div class="line"><a id="l00733" name="l00733"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">  733</a></span>  rclcpp::Publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">event_pub_</a>;</div>
-<div class="line"><a id="l00734" name="l00734"></a><span class="lineno">  734</span> </div>
-<div class="line"><a id="l00735" name="l00735"></a><span class="lineno">  735</span>  <span class="comment">// services</span></div>
-<div class="line"><a id="l00736" name="l00736"></a><span class="lineno">  736</span>  <span class="comment">// establish bond</span></div>
-<div class="line"><a id="l00737" name="l00737"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">  737</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::EstablishBond&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">establish_bond_srv_</a>;</div>
-<div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span>  <span class="comment">// start capability</span></div>
-<div class="line"><a id="l00739" name="l00739"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">  739</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::StartCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">start_capability_srv_</a>;</div>
-<div class="line"><a id="l00740" name="l00740"></a><span class="lineno">  740</span>  <span class="comment">// stop capability</span></div>
-<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">  741</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::StopCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">stop_capability_srv_</a>;</div>
-<div class="line"><a id="l00742" name="l00742"></a><span class="lineno">  742</span>  <span class="comment">// free capability</span></div>
-<div class="line"><a id="l00743" name="l00743"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">  743</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::FreeCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">free_capability_srv_</a>;</div>
-<div class="line"><a id="l00744" name="l00744"></a><span class="lineno">  744</span>  <span class="comment">// connect capability</span></div>
-<div class="line"><a id="l00745" name="l00745"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">  745</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::ConnectCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">connect_capability_srv_</a>;</div>
-<div class="line"><a id="l00746" name="l00746"></a><span class="lineno">  746</span>  <span class="comment">// trigger capability</span></div>
-<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">  747</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::TriggerCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">trigger_capability_srv_</a>;</div>
-<div class="line"><a id="l00748" name="l00748"></a><span class="lineno">  748</span>  <span class="comment">// use capability</span></div>
-<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">  749</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::UseCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">use_capability_srv_</a>;</div>
-<div class="line"><a id="l00750" name="l00750"></a><span class="lineno">  750</span>  <span class="comment">// register capability</span></div>
-<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">  751</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::RegisterCapability&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">register_capability_srv_</a>;</div>
-<div class="line"><a id="l00752" name="l00752"></a><span class="lineno">  752</span>  <span class="comment">// query capabilities</span></div>
-<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">  753</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetInterfaces&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">get_interfaces_srv_</a>;</div>
-<div class="line"><a id="l00754" name="l00754"></a><span class="lineno">  754</span>  <span class="comment">// get semantic interfaces</span></div>
-<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">  755</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetSemanticInterfaces&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">get_semantic_interfaces_srv_</a>;</div>
-<div class="line"><a id="l00756" name="l00756"></a><span class="lineno">  756</span>  <span class="comment">// get providers</span></div>
-<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">  757</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetProviders&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">get_providers_srv_</a>;</div>
-<div class="line"><a id="l00758" name="l00758"></a><span class="lineno">  758</span>  <span class="comment">// get capability spec</span></div>
-<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">  759</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetCapabilitySpec&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">get_capability_spec_srv_</a>;</div>
-<div class="line"><a id="l00760" name="l00760"></a><span class="lineno">  760</span>  <span class="comment">// get capability specs</span></div>
-<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">  761</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetCapabilitySpecs&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">get_capability_specs_srv_</a>;</div>
-<div class="line"><a id="l00762" name="l00762"></a><span class="lineno">  762</span>  <span class="comment">// get remappings</span></div>
-<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">  763</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetRemappings&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">get_remappings_srv_</a>;</div>
-<div class="line"><a id="l00764" name="l00764"></a><span class="lineno">  764</span>  <span class="comment">// get running capabilities</span></div>
-<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">  765</a></span>  rclcpp::Service&lt;capabilities2_msgs::srv::GetRunningCapabilities&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">get_running_capabilities_srv_</a>;</div>
-<div class="line"><a id="l00766" name="l00766"></a><span class="lineno">  766</span>};</div>
-</div>
-<div class="line"><a id="l00767" name="l00767"></a><span class="lineno">  767</span> </div>
-<div class="line"><a id="l00768" name="l00768"></a><span class="lineno">  768</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="acapabilities__api_8hpp_html"><div class="ttname"><a href="capabilities__api_8hpp.html">capabilities_api.hpp</a></div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></div><div class="ttdoc">capabilities api mapping message based logic of capabilities to database models handles message conve...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:39</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a02d27d28503b5b56cf5aa3556e1a2118"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">capabilities2_server::CapabilitiesAPI::free_capability</a></div><div class="ttdeci">void free_capability(const std::string &amp;capability, const std::string &amp;bond_id)</div><div class="ttdoc">Free a capability after usage. This will remove the bond and callstop_capability This function can be...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:180</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a0c1bbfe23a34eb6adef90747bba2b34f"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">capabilities2_server::CapabilitiesAPI::get_remappings</a></div><div class="ttdeci">void get_remappings(const std::string &amp;capability_spec, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:542</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1e106040d8bec5321e809c3666601600"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">capabilities2_server::CapabilitiesAPI::stop_capability</a></div><div class="ttdeci">void stop_capability(const std::string &amp;capability)</div><div class="ttdoc">Stop a capability. Internal function only. Do not used this function externally.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:125</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a1e3645b59e7641e486143354562ccfc3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">capabilities2_server::CapabilitiesAPI::event_</a></div><div class="ttdeci">std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:722</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a226adbcdbb5b497953a2dd61d418a7de"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a226adbcdbb5b497953a2dd61d418a7de">capabilities2_server::CapabilitiesAPI::add_capability</a></div><div class="ttdeci">void add_capability(const capabilities2_msgs::msg::CapabilitySpec &amp;spec)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:302</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a35a9b49bc2b1fdcf0311264905f59514"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">capabilities2_server::CapabilitiesAPI::get_running_capabilities</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::RunningCapability &gt; get_running_capabilities()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:585</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a419ed80ae9a32f0d89518b0750ade73c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">capabilities2_server::CapabilitiesAPI::use_capability</a></div><div class="ttdeci">bool use_capability(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider, const std::string &amp;bond_id)</div><div class="ttdoc">Use a capability. This will create a bond id for the requested instance and call start_capability fun...</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:238</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a84971555f626b74b3236c61bd2bf0ef2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a84971555f626b74b3236c61bd2bf0ef2">capabilities2_server::CapabilitiesAPI::connect</a></div><div class="ttdeci">void connect(const std::string &amp;db_file, rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging)</div><div class="ttdoc">connect with the database file</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:51</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a89ca5565eac4c99553fb79e7e8c332c8"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">capabilities2_server::CapabilitiesAPI::get_capability_specs</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::CapabilitySpec &gt; get_capability_specs()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:498</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_a9d25868abf2647c2e77aad620b270c3b"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">capabilities2_server::CapabilitiesAPI::establish_bond</a></div><div class="ttdeci">const std::string establish_bond(rclcpp::Node::SharedPtr node)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:642</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_aaf69b498cc0fcc66267032c8a0a1504c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">capabilities2_server::CapabilitiesAPI::start_capability</a></div><div class="ttdeci">bool start_capability(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider)</div><div class="ttdoc">Start a capability. Internal function only. Do not used this function externally.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:73</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_acd27a3b8a5655712120d8f60e6e21a03"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">capabilities2_server::CapabilitiesAPI::get_interfaces</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_interfaces()</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:402</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ad0323e4febb7e96405a0473e39e58d52"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">capabilities2_server::CapabilitiesAPI::get_semantic_interfaces</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_semantic_interfaces(const std::string &amp;interface)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:414</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ad6f151b6a272325d92aeb7704ded093a"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">capabilities2_server::CapabilitiesAPI::get_providers</a></div><div class="ttdeci">std::vector&lt; std::string &gt; get_providers(const std::string &amp;interface, const bool &amp;include_semantic)</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:426</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ae6de8e860c63da9acde97c4b5cd7a5a5"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">capabilities2_server::CapabilitiesAPI::trigger_capability</a></div><div class="ttdeci">void trigger_capability(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</div><div class="ttdoc">trigger a capability</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:205</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_ae6e049a500dc2554322475a1b4e89c21"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">capabilities2_server::CapabilitiesAPI::connect_capability</a></div><div class="ttdeci">void connect_capability(const std::string &amp;bond_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection)</div><div class="ttdoc">connect RUNNING capabilities together via event type</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:256</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesAPI_html_af2ad7408ac8e69d5cf4d8bb503fd37e8"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">capabilities2_server::CapabilitiesAPI::get_capability_spec</a></div><div class="ttdeci">const capabilities2_msgs::msg::CapabilitySpec get_capability_spec(const std::string &amp;resource)</div><div class="ttdoc">Get the capability spec object for a given resource return the spec in yaml string format.</div><div class="ttdef"><b>Definition</b> capabilities_api.hpp:451</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></div><div class="ttdoc">capabilities server</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:59</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a03500d304d5fef27e356b30b5d23dece"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">capabilities2_server::CapabilitiesServer::connect_capability_cb</a></div><div class="ttdeci">void connect_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:350</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a0e28a32f07cadfecd641727cf7d6df9a"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">capabilities2_server::CapabilitiesServer::free_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::FreeCapability &gt;::SharedPtr free_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:743</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a12ab12a8447c6333dd2383534e2268bb"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">capabilities2_server::CapabilitiesServer::register_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::RegisterCapability &gt;::SharedPtr register_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:751</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a152c07656d903772602e01a23b717c94"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">capabilities2_server::CapabilitiesServer::use_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::UseCapability &gt;::SharedPtr use_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:749</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a1a04b3d8e38c3e738d6dad3e9f90ed32"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">capabilities2_server::CapabilitiesServer::start_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::StartCapability &gt;::SharedPtr start_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:739</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a1eee46a1f8874823530823183406e082"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">capabilities2_server::CapabilitiesServer::get_interfaces_cb</a></div><div class="ttdeci">void get_interfaces_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:399</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a234c5773e90eebb05bd36fe2025f5503"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">capabilities2_server::CapabilitiesServer::connect_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::ConnectCapability &gt;::SharedPtr connect_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:745</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a38bec3f55aab20fb4ef4be05ff20ee20"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a38bec3f55aab20fb4ef4be05ff20ee20">capabilities2_server::CapabilitiesServer::load_spec_content</a></div><div class="ttdeci">void load_spec_content(const std::string &amp;spec_file, capabilities2_msgs::msg::CapabilitySpec &amp;capability_spec)</div><div class="ttdoc">load capability spec content from a file</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:709</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a493ae61330a2da82fd4991055fdc2a2c"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">capabilities2_server::CapabilitiesServer::get_remappings_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetRemappings &gt;::SharedPtr get_remappings_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:763</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a4d626b97ce07ce813f045f334e0672bf"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">capabilities2_server::CapabilitiesServer::establish_bond_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::EstablishBond &gt;::SharedPtr establish_bond_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:737</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a58c477d3ba7423b273778842fe156dcc"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">capabilities2_server::CapabilitiesServer::load_capabilities</a></div><div class="ttdeci">void load_capabilities(const std::string &amp;package_path)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:478</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a5e0231cf2f4d4c16ec057e5603b0efd1"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a5e0231cf2f4d4c16ec057e5603b0efd1">capabilities2_server::CapabilitiesServer::parse_package_xml</a></div><div class="ttdeci">void parse_package_xml(const std::string &amp;package_xml, tinyxml2::XMLDocument &amp;doc)</div><div class="ttdoc">parse package.xml file</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:681</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a60a3176ebff35a89d8066a80e533637e"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">capabilities2_server::CapabilitiesServer::start_capability_cb</a></div><div class="ttdeci">void start_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:228</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a6e8b97337893a97daa58e3f0c11bb565"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">capabilities2_server::CapabilitiesServer::loop_hz_</a></div><div class="ttdeci">double loop_hz_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:729</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a71728f43b140a67280d2eec2a18f00e4"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">capabilities2_server::CapabilitiesServer::get_remappings_cb</a></div><div class="ttdeci">void get_remappings_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:459</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a71a42e1eaa2a7b030b8e0b1c90609315"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">capabilities2_server::CapabilitiesServer::register_capability_cb</a></div><div class="ttdeci">void register_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:381</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a755cc7001a6739ae422492a9b6d4f4e3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">capabilities2_server::CapabilitiesServer::get_providers_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetProviders &gt;::SharedPtr get_providers_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:757</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a8286d3d3b6ad3eefef8bb91abcf349a2"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">capabilities2_server::CapabilitiesServer::get_capability_spec_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetCapabilitySpec &gt;::SharedPtr get_capability_spec_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:759</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a88e047d3b8f4947f2f89160eac2b34e3"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">capabilities2_server::CapabilitiesServer::trigger_capability_cb</a></div><div class="ttdeci">void trigger_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:261</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_a8bc0d2808af84412e1696f768366c114"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">capabilities2_server::CapabilitiesServer::get_capability_specs_cb</a></div><div class="ttdeci">void get_capability_specs_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:449</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aa23ec591bffe34a5b29a317de882c61d"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">capabilities2_server::CapabilitiesServer::stop_capability_cb</a></div><div class="ttdeci">void stop_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:244</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aa55cf315d13a4bbbff41439a4acb6eb7"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">capabilities2_server::CapabilitiesServer::establish_bond_cb</a></div><div class="ttdeci">void establish_bond_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:218</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aa7b2bb889301337796e782ea00d788a9"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">capabilities2_server::CapabilitiesServer::get_interfaces_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetInterfaces &gt;::SharedPtr get_interfaces_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:753</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aa850ac5910b408d86b73b7bc04d82134"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">capabilities2_server::CapabilitiesServer::event_pub_</a></div><div class="ttdeci">rclcpp::Publisher&lt; capabilities2_msgs::msg::CapabilityEventStamped &gt;::SharedPtr event_pub_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:733</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aacf69c819dfe2d31895bd6a4b7831aea"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aacf69c819dfe2d31895bd6a4b7831aea">capabilities2_server::CapabilitiesServer::CapabilitiesServer</a></div><div class="ttdeci">CapabilitiesServer(const rclcpp::NodeOptions &amp;options=rclcpp::NodeOptions())</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:61</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aad26d9c4b7948bff89e9dfc54dae3b33"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">capabilities2_server::CapabilitiesServer::get_capability_specs_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;::SharedPtr get_capability_specs_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:761</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ab351057325bd9c62bbd25657061505d6"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">capabilities2_server::CapabilitiesServer::use_capability_cb</a></div><div class="ttdeci">void use_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:319</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ab479dbd4ed2028355725f553dca81d4e"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">capabilities2_server::CapabilitiesServer::trigger_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::TriggerCapability &gt;::SharedPtr trigger_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:747</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ac358c10e20544260cb65ad6fd3a31c8d"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">capabilities2_server::CapabilitiesServer::get_running_capabilities_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetRunningCapabilities &gt;::SharedPtr get_running_capabilities_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:765</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ad25368b49818a71d8bb5aefb64975fb5"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">capabilities2_server::CapabilitiesServer::get_running_capabilities_cb</a></div><div class="ttdeci">void get_running_capabilities_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:467</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ae3299cfc91495fdff2fc8eb1513e7804"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">capabilities2_server::CapabilitiesServer::get_semantic_interfaces_cb</a></div><div class="ttdeci">void get_semantic_interfaces_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:410</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ae560f31a113bbf9b1be05ec49c04e04e"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">capabilities2_server::CapabilitiesServer::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdoc">Initializes the capabilities server node.</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:82</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ae855a537f8007233ab225e22fb5eca04"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">capabilities2_server::CapabilitiesServer::free_capability_cb</a></div><div class="ttdeci">void free_capability_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:295</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_ae9b834509054095c04cc7f9d1557ec96"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">capabilities2_server::CapabilitiesServer::get_semantic_interfaces_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::GetSemanticInterfaces &gt;::SharedPtr get_semantic_interfaces_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:755</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aed01fea6038bf10c20f4e23325e7b411"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">capabilities2_server::CapabilitiesServer::get_capability_spec_cb</a></div><div class="ttdeci">void get_capability_spec_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:428</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_aee406dd808d0277a3d1babfbaf5d0dee"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">capabilities2_server::CapabilitiesServer::stop_capability_srv_</a></div><div class="ttdeci">rclcpp::Service&lt; capabilities2_msgs::srv::StopCapability &gt;::SharedPtr stop_capability_srv_</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:741</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1CapabilitiesServer_html_afd5d1ff380148dbc66a57e04e92109e0"><div class="ttname"><a href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">capabilities2_server::CapabilitiesServer::get_providers_cb</a></div><div class="ttdeci">void get_providers_cb(const std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Response &gt; res)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:419</div></div>
-<div class="ttc" id="aevent__parameters_8hpp_html"><div class="ttname"><a href="event__parameters_8hpp.html">event_parameters.hpp</a></div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html_a17a8e514c6257c5fddf35be0d6194425"><div class="ttname"><a href="namespacecapabilities2__server.html#a17a8e514c6257c5fddf35be0d6194425">capabilities2_server::expand_tilde</a></div><div class="ttdeci">std::string expand_tilde(std::string &amp;path)</div><div class="ttdef"><b>Definition</b> capabilities_server.hpp:42</div></div>
-<div class="ttc" id="apublished__event_8hpp_html"><div class="ttname"><a href="published__event_8hpp.html">published_event.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
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-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
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-          <td class="paramname"><em>event_code</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
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-          <td class="paramkey"></td>
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-          <td class="paramkey"></td>
-          <td></td>
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-        </tr>
-        <tr>
-          <td></td>
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-          <td></td><td></td>
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-<dl class="params"><dt>Parameters</dt><dd>
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-    <tr><td class="paramname">event_code</td><td>type of event being emitted </td></tr>
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-<p>Reimplemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a53e7f3937b84b488db674020a2b90b5a">capabilities2_events::PublishedEvent</a>.</p>
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-          <td class="paramname"><em>source</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
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-          <td></td><td></td>
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-      </table>
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-<p>on connected event from server </p>
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-  <table class="params">
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-    <tr><td class="paramname">target</td><td></td></tr>
-  </table>
-  </dd>
-</dl>
-
-<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#ae8bacbe30ab75a4703dda81b102b3a13">capabilities2_events::PublishedEvent</a>.</p>
-
-</div>
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-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>source</em>, </td>
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-          <td class="paramkey"></td>
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-          <td class="paramname"><em>target</em>&#160;</td>
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-          <td></td>
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-          <td></td><td></td>
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-<p>on disconnected event from server </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">source</td><td></td></tr>
-    <tr><td class="paramname">target</td><td></td></tr>
-  </table>
-  </dd>
-</dl>
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-<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a32cfbac8d0facda1f52cebba043d46de">capabilities2_events::PublishedEvent</a>.</p>
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-      <table class="memname">
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-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>pid</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
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-  <td class="mlabels-right">
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-<p>on process launched event </p>
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-  <table class="params">
-    <tr><td class="paramname">pid</td><td></td></tr>
-  </table>
-  </dd>
-</dl>
-
-<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">capabilities2_events::PublishedEvent</a>.</p>
-
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>pid</em></td><td>)</td>
-          <td></td>
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-  </table>
-  </dd>
-</dl>
-
-<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a91694a1cf354c72670fd65207986955a">capabilities2_events::PublishedEvent</a>.</p>
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-          <td class="paramname"><em>msg</em></td><td>)</td>
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-  </table>
-  </dd>
-</dl>
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-<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#aa27e427c12928212ca6b0d9073808787">capabilities2_events::PublishedEvent</a>.</p>
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-  </dd>
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-<p>Implemented in <a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a5d840357942cab6bcd4a214d7b03b774">capabilities2_events::PublishedEvent</a>.</p>
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-</div>
-<hr/>The documentation for this class was generated from the following file:<ul>
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-  <ul>
-<li class="navelem"><a class="el" href="namespacecapabilities2__events.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="classcapabilities2__events_1_1EventNode.html">EventNode</a></li>  </ul>
-</div>
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-<div class="header">
-  <div class="headertitle"><div class="title">capabilities2_events::EventNode Member List</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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-<a href="#nested-classes">Classes</a> &#124;
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-<p>an event node is a source of an event  
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-<p><code>#include &quot;<a class="el" href="event__node_8hpp_source.html">event_node.hpp</a>&quot;</code></p>
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-Private Attributes</h2></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>an event node is a source of an event </p>
-<p>events when emitted will trigger interactions with connected nodes </p>
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-          <td class="memname">capabilities2_events::EventNode::EventNode </td>
-          <td>(</td>
-          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt;&#160;</td>
-          <td class="paramname"><em>event_emitter</em> = <code>nullptr</code></td><td>)</td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a0e58130ead683f82e421ea373f670fd0">&#9670;&#160;</a></span>~EventNode()</h2>
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-          <td class="memname">virtual capabilities2_events::EventNode::~EventNode </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
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-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="a54192391a09d30e778b5ef73a07e5476" name="a54192391a09d30e778b5ef73a07e5476"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a54192391a09d30e778b5ef73a07e5476">&#9670;&#160;</a></span>add_connection()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>connection_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const capabilities2_msgs::msg::CapabilityEventCode &amp;&#160;</td>
-          <td class="paramname"><em>type</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
-          <td class="paramname"><em>target</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a>&#160;</td>
-          <td class="paramname"><em>event_cb</em>&#160;</td>
-        </tr>
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-          <td></td>
-          <td>)</td>
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-<p>make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api. </p>
-<p>add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is: "bond_id/trigger_id" which allows event emission to extract bond_id for access control</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">connection_id</td><td>unique identifier for the connection (format: "bond_id/trigger_id") </td></tr>
-    <tr><td class="paramname">type</td><td>type of event to connect to </td></tr>
-    <tr><td class="paramname">target</td><td>target capability to connect to </td></tr>
-    <tr><td class="paramname">event_cb</td><td>callback to trigger target capability with (capability, parameters, bond_id, target_instance_id)</td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="exception"><dt>Exceptions</dt><dd>
-  <table class="exception">
-    <tr><td class="paramname"><a class="el" href="structcapabilities2__events_1_1event__exception.html" title="event exception">event_exception</a></td><td>if connection with given id already exists </td></tr>
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-  </dd>
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-<h2 class="memtitle"><span class="permalink"><a href="#a1ee75f7c81c01519c250045ade85eaf7">&#9670;&#160;</a></span>clear_connections()</h2>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
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-<p>clear all connections from this event node </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a40118ab94ad06cf3759f4833c53ee575">&#9670;&#160;</a></span>connection_count()</h2>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
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-<p>current connection count </p>
-<dl class="section return"><dt>Returns</dt><dd>size_t </dd></dl>
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad1b79fbe33fd75339bcaa77417240e57">&#9670;&#160;</a></span>emit_event()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>instance_id</em>, </td>
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-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const uint8_t &amp;&#160;</td>
-          <td class="paramname"><em>event_type</em>, </td>
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-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
-          <td class="paramname"><em>parameters</em> = <code><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>()</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
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-<p>emit an event from this event node to all matching connections </p>
-<p>event handling </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">bond_id</td><td>the bond_id to match connections with (extracted from connection_id) for access control </td></tr>
-    <tr><td class="paramname">event_type</td><td>the type of event being emitted </td></tr>
-    <tr><td class="paramname">msg_parameters</td><td>the new parameters to emit with the event </td></tr>
-  </table>
-  </dd>
-</dl>
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-</div>
-</div>
-<a id="a17cab4cfcc38f312fb7f37698c43d6b1" name="a17cab4cfcc38f312fb7f37698c43d6b1"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a17cab4cfcc38f312fb7f37698c43d6b1">&#9670;&#160;</a></span>get_id()</h2>
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-          <td> const</td>
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-<p>unique id of this event node </p>
-<dl class="section return"><dt>Returns</dt><dd>const std::string&amp; </dd></dl>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
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-<p>source capability of this event node </p>
-<dl class="section return"><dt>Returns</dt><dd>const capabilities2_msgs::msg::Capability&amp; </dd></dl>
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-<h2 class="memtitle"><span class="permalink"><a href="#a53f3a0dad63b42456ad2a6dd4bddc7ab">&#9670;&#160;</a></span>has_connection()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>connection_id</em></td><td>)</td>
-          <td> const</td>
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-<p>Check if a connection exists. </p>
-<dl class="params"><dt>Parameters</dt><dd>
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-    <tr><td class="paramname">connection_id</td><td></td></tr>
-  </table>
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-<dl class="section return"><dt>Returns</dt><dd>true </dd>
-<dd>
-false </dd></dl>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa66f138bc8fa897c84d8ffd529396002">&#9670;&#160;</a></span>is_event_emitter_set()</h2>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
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-<p>event emitter is set on this node </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a1ae8d0a9622e781f9d8891018c5239a8">&#9670;&#160;</a></span>list_connections()</h2>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
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-<p>List all connections from this event node. </p>
-<dl class="section return"><dt>Returns</dt><dd>std::vector&lt;capabilities2_msgs::msg::CapabilityConnection&gt; </dd></dl>
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-</div>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>connection_id</em></td><td>)</td>
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-<p>Remove a connection by its id. </p>
-<dl class="params"><dt>Parameters</dt><dd>
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-  </dd>
-</dl>
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-<h2 class="memtitle"><span class="permalink"><a href="#a41dc0f4b8ad35d358181f25d646f396e">&#9670;&#160;</a></span>set_event_emitter()</h2>
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-          <td>(</td>
-          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt;&#160;</td>
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-<p>event emitter for this event node </p>
-<p>allows late binding of event emitter (when a node is initialized)</p>
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-          <td>(</td>
-          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
-          <td class="paramname"><em>src</em></td><td>)</td>
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-<p>Set the source object. </p>
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#ac4adaeea856545dfc84174082f6ed856">&#9670;&#160;</a></span>connections_</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a0aff474ac782cae10ca79d37c1f17a44">&#9670;&#160;</a></span>event_emitter_</h2>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">EventBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#ae8bacbe30ab75a4703dda81b102b3a13">on_connected</a>(const std::string &amp;source, const std::string &amp;target)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">on_process_launched</a>(const std::string &amp;pid)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1PublishedEvent.html">capabilities2_events::PublishedEvent</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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-        </tr>
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-  </td>
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-          <td class="memname">void capabilities2_events::PublishedEvent::emit </td>
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-          <td class="paramname"><em>connection_id</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const uint8_t &amp;&#160;</td>
-          <td class="paramname"><em>event_code</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
-          <td class="paramname"><em>source</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
-          <td class="paramname"><em>target</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a>&#160;</td>
-          <td class="paramname"><em>callback</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
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-<p>Reimplemented from <a class="el" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">capabilities2_events::EventBase</a>.</p>
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-          <td class="paramkey"></td>
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-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>target</em>&#160;</td>
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-<dl class="params"><dt>Parameters</dt><dd>
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-  <ul>
-<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">ActionRunner</a></li>  </ul>
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-<div class="header">
-  <div class="headertitle"><div class="title">capabilities2_runner::ActionRunner&lt; ActionT &gt; Member List</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f">action_client_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a591d542f6f91cfec3aec63eb311b4ac6">ActionRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ad4e445a63ba8fbe8421b944eca53dea8">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#afbc108c9cb2305848fcf0ada606475e4">generate_feedback</a>(const typename ActionT::Feedback::ConstSharedPtr msg)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a620f49036d7996a09c5b804285c854fe">generate_goal</a>(capabilities2_events::EventParameters &amp;parameters)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ac27423e74d0466bffb6e94a71865a903">goal_handle_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ae4831885b998d9fd1a3a93e77fc1d7b0">goal_handle_future_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ab849326c650cb28e6b894f069ad9e2ab">goal_msg_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#adec17ec301ee0485a10bb5a1caa82ab9">init_action</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;action_name)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ae1a518ed38168b716d8f964b9345c45e">result_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a6054145b7cf13f6e9a0e62d85169ab7c">result_future_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1">send_goal_options_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a55a723c2c93f6f6842bfd1951d767597">wrapped_result_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-<p>action runner base class  
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-<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
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-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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-<tr class="memdesc:a620f49036d7996a09c5b804285c854fe"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate a goal from parameters.  <br /></td></tr>
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-<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
-<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
-<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
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-<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
-<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
-<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
-<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
-<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
-<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
-<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
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-<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
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-<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<div class="textblock"><div class="compoundTemplParams">template&lt;typename ActionT&gt;<br />
-class capabilities2_runner::ActionRunner&lt; ActionT &gt;</div><p>action runner base class </p>
-<p>Create an action client to run an action based capability </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a591d542f6f91cfec3aec63eb311b4ac6">&#9670;&#160;</a></span>ActionRunner()</h2>
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-          <td>(</td>
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-          <td></td>
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-      </table>
-  </td>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad4e445a63ba8fbe8421b944eca53dea8">&#9670;&#160;</a></span>execution()</h2>
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-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
-          <td class="paramname"><em>parameters</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>thread_id</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
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-          <td></td><td></td>
-        </tr>
-      </table>
-  </td>
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-<p>Trigger process to be executed. </p>
-<p>This method utilizes paramters set via the <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d" title="Trigger the runner.">trigger()</a> function</p>
-<dl class="params"><dt>Parameters</dt><dd>
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-    <tr><td class="paramname">parameters</td><td>pointer to <a class="el" href="structcapabilities2__events_1_1EventParameters.html" title="capability options for a capability runner given by interface and provider">capabilities2_events::EventParameters</a> that contains parameters </td></tr>
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-          <td></td>
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-<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">DummyRunner</a></li>  </ul>
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-  <div class="headertitle"><div class="title">capabilities2_runner::DummyRunner Member List</div></div>
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-<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">capabilities2_runner::DummyRunner</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a871306308d5dc43facc2c490410c38cd">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html">capabilities2_runner::DummyRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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-<tr class="separator:abe103d834226cfae197630ef45387e95 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a144e9cc074f34a69677fa9c2b461160e"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a> () const</td></tr>
-<tr class="memdesc:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first service name.  <br /></td></tr>
-<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
-<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
-<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
-<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
-<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>Dummy runner. </p>
-<p>A sample runner that can be used to test the functionality of capabilities server. It does not perform any real action but logs messages when started and stopped. </p>
-</div><h2 class="groupheader">Member Function Documentation</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a871306308d5dc43facc2c490410c38cd">&#9670;&#160;</a></span>start()</h2>
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-          <td class="paramname"><em>node</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>&#160;</td>
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-<p>start the runner </p>
-<p>runner plugin api </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
-    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file</td></tr>
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-<dl class="section attention"><dt>Attention</dt><dd>Must call init_base in derived class implementation and should call start event </dd></dl>
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-<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase</a>.</p>
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-<p>stop the runner </p>
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-<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase</a>.</p>
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-          <td>(</td>
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-          <td class="paramname"><em>parameters</em>, </td>
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-          <td class="paramtype">const std::string &amp;&#160;</td>
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-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
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-<p>FIXME: implement new event subsystem </p>
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-    <tr><td class="paramname">instance_id</td><td>unique identifier for the instance of the capability </td></tr>
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-<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase</a>.</p>
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-<hr/>The documentation for this class was generated from the following file:<ul>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">handle_goal</a>(const rclcpp_action::GoalUUID &amp;uuid, std::shared_ptr&lt; const capabilities2_msgs::action::Capability::Goal &gt; goal)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner&lt; ActionT &gt;</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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-<div class="textblock"><div class="compoundTemplParams">template&lt;typename ActionT&gt;<br />
-class capabilities2_runner::EnCapRunner&lt; ActionT &gt;</div><p>encapsulated capability runner </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a0bbf60f7f885bc1dddffe90635854bad">&#9670;&#160;</a></span>EnCapRunner()</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab198a797528098b90802453b8878dc58">&#9670;&#160;</a></span>handle_accepted()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt;&#160;</td>
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-          <td></td>
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-<p>handle encap action accepted </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">goal_handle</td><td></td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a25706ef80e4653174c2160d92c6b2d43">&#9670;&#160;</a></span>handle_cancel()</h2>
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-          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a>&lt; ActionT &gt;::handle_cancel </td>
-          <td>(</td>
-          <td class="paramtype">const std::shared_ptr&lt; rclcpp_action::ServerGoalHandle&lt; capabilities2_msgs::action::Capability &gt; &gt;&#160;</td>
-          <td class="paramname"><em>goal_handle</em></td><td>)</td>
-          <td></td>
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-<p>handle encap action cancel goal </p>
-<dl class="params"><dt>Parameters</dt><dd>
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-  </dd>
-</dl>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#abdb6db0942e157b1776dff2cea32de55">&#9670;&#160;</a></span>handle_goal()</h2>
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-          <td class="memname">virtual void <a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a>&lt; ActionT &gt;::handle_goal </td>
-          <td>(</td>
-          <td class="paramtype">const rclcpp_action::GoalUUID &amp;&#160;</td>
-          <td class="paramname"><em>uuid</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">std::shared_ptr&lt; const capabilities2_msgs::action::Capability::Goal &gt;&#160;</td>
-          <td class="paramname"><em>goal</em>&#160;</td>
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-        <tr>
-          <td></td>
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-          <td></td><td></td>
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-      </table>
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-<p>handle encap action goal </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
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-          <td>(</td>
-          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
-          <td class="paramname"><em>node</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
-          <td class="paramname"><em>run_config</em>, </td>
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-          <td class="paramkey"></td>
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-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>action_name</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">std::function&lt; void(Event &amp;)&gt;&#160;</td>
-          <td class="paramname"><em>print</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
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-          <td></td><td></td>
-        </tr>
-      </table>
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-<p>init encapsulated action </p>
-<p>call in start when inheriting from EncapRunner to initialize the encapsulated action server and the base action runner this is deferred since the action client topic name is not known at this level of abstraction</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
-    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
-    <tr><td class="paramname">action_name</td><td>action name used in the yaml file, used to load specific configuration from the run_config </td></tr>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>, </td>
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-<h2 class="groupheader">Member Data Documentation</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a7b6879449e5623ebc4cf78a5e8c9dd02">&#9670;&#160;</a></span>encap_action_</h2>
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-<hr/>The documentation for this class was generated from the following file:<ul>
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-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">generate_request</a>(capabilities2_events::EventParameters &amp;parameters) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">GetCapabilitySpecsRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">init_service</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;service_name)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">param_on_success</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a97bee7f3c56177c44026dcd20948329c">process_response</a>(typename capabilities2_msgs::srv::GetCapabilitySpecs::Response::SharedPtr response) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a20fd8d22e15f75d7acb79663fec67f6c">ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;::process_response</a>(typename ServiceT::Response::SharedPtr)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">response_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-<p>Executor runner class.  
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-<tr class="memdesc:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the interface of the runner.  <br /></td></tr>
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-<tr class="separator:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5ec5051ab90eb6d67890b9a56ac78c66"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a> () const</td></tr>
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-<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
-<tr class="memitem:a3cd9380c3e2739278c1601d844aa5fc9 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a3cd9380c3e2739278c1601d844aa5fc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter=nullptr)</td></tr>
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-<tr class="memdesc:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit an event from this event node to all matching connections  <br /></td></tr>
-<tr class="separator:ad1b79fbe33fd75339bcaa77417240e57 inherit pub_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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-<tr class="memitem:a57653f78da292a2f2944271008cdcb5b" id="r_a57653f78da292a2f2944271008cdcb5b"><td class="memItemLeft" align="right" valign="top">virtual capabilities2_msgs::srv::GetCapabilitySpecs::Request&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">generate_request</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;parameters) override</td></tr>
-<tr class="memdesc:a57653f78da292a2f2944271008cdcb5b"><td class="mdescLeft">&#160;</td><td class="mdescRight">This generate goal function overrides the generate_goal() function from ActionRunner()  <br /></td></tr>
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-<tr class="memdesc:a1e2ce72b2f85ecbc96408093eeaba065"><td class="mdescLeft">&#160;</td><td class="mdescRight">This function overrides the <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065" title="This function overrides the param_on_success() function from RunnerBase to provide specific implement...">param_on_success()</a> function from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">RunnerBase</a> to provide specific implementation for the <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html" title="Executor runner class.">GetCapabilitySpecsRunner</a>.  <br /></td></tr>
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-<tr class="separator:a97bee7f3c56177c44026dcd20948329c"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pro_methods_classcapabilities2__runner_1_1ServiceRunner"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__runner_1_1ServiceRunner')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a></td></tr>
-<tr class="memitem:aaeb5709d7016d6d71df4d1528b61ca41 inherit pro_methods_classcapabilities2__runner_1_1ServiceRunner" id="r_aaeb5709d7016d6d71df4d1528b61ca41"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">execution</a> (<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, const std::string &amp;thread_id) override</td></tr>
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-<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
-<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
-<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
-<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
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-<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
-<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
-<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
-<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
-<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
-<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
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diff --git a/docs/html/classcapabilities2__runner_1_1InputMultiplexRunner-members.html b/docs/html/classcapabilities2__runner_1_1InputMultiplexRunner-members.html
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-   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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-  <ul>
-<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">InputMultiplexRunner</a></li>  </ul>
-</div>
-</div><!-- top -->
-<div class="header">
-  <div class="headertitle"><div class="title">capabilities2_runner::InputMultiplexRunner Member List</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">completed_executions</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a921185df695a0c589c3f76534622c973">InputMultiplexRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
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-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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-<tr class="inherit_header pro_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
-<tr class="memitem:a68a4f300a106474d09ccda51efc57a5a inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a68a4f300a106474d09ccda51efc57a5a"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a> ()</td></tr>
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-<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
-<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
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-<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
-<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
-<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
-<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
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-<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
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-<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
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-<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">LaunchRunner</a></li>  </ul>
-</div>
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-<div class="header">
-  <div class="headertitle"><div class="title">capabilities2_runner::LaunchRunner Member List</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#adb150055c0e372f46c961aae6a4e9dd4">launch_name</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#ace430452667a2365c3555755643c4c4c">LaunchRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html">capabilities2_runner::LaunchRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
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-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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-<p>launch runner base class  
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-<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
-<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
-<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
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-<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter for this event node  <br /></td></tr>
-<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
-<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
-<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
-<tr class="memdesc:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove a connection by its id.  <br /></td></tr>
-<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
-<tr class="memdesc:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">clear all connections from this event node  <br /></td></tr>
-<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ae8d0a9622e781f9d8891018c5239a8"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a> () const</td></tr>
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-<tr class="separator:a1ae8d0a9622e781f9d8891018c5239a8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a53f3a0dad63b42456ad2a6dd4bddc7ab"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a> (const std::string &amp;connection_id) const</td></tr>
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-<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
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-<tr class="separator:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a17cab4cfcc38f312fb7f37698c43d6b1"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a> () const</td></tr>
-<tr class="memdesc:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">unique id of this event node  <br /></td></tr>
-<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a0af021d2aadac8d3b930fcdfc7b69da8 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_aa66f138bc8fa897c84d8ffd529396002"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a> () const</td></tr>
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-<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>launch runner base class </p>
-<p>Create a launch file runner to run a launch file based capability uses process execution to run the launch file and kill the process on stop </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ace430452667a2365c3555755643c4c4c">&#9670;&#160;</a></span>LaunchRunner()</h2>
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-          <td class="memname">virtual void capabilities2_runner::LaunchRunner::start </td>
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-          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
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-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
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-        </tr>
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-<p>Starter function for starting the launch runner. </p>
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-    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
-    <tr><td class="paramname">bond_id</td><td>bond identifier for the runner </td></tr>
-  </table>
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-
-<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase</a>.</p>
-
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-  <ul>
-<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">MultiplexBaseRunner</a></li>  </ul>
-</div>
-</div><!-- top -->
-<div class="header">
-  <div class="headertitle"><div class="title">capabilities2_runner::MultiplexBaseRunner Member List</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">completed_executions</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a7213a134e8a183c4021033e6bd7797c7">execution</a>(int id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a8047a02e3c962fe5704ea9e9ef9c5565">expected_input_count</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#afccbbe50f43831a9ad8efa452ed6c99f">input_count_tracker</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a9e4cab14be73162040c91cae3c674343">MultiplexBaseRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#af52788c65f5ca9fb860cee2332abbbe2">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase::start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#aa5cefe19419078fb0a4eb18858a684fe">stop</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">capabilities2_runner::MultiplexBaseRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase::stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-<a href="classcapabilities2__runner_1_1MultiplexBaseRunner-members.html">List of all members</a>  </div>
-  <div class="headertitle"><div class="title">capabilities2_runner::MultiplexBaseRunner Class Reference</div></div>
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-<p><code>#include &quot;<a class="el" href="multiplex__base__runner_8hpp_source.html">multiplex_base_runner.hpp</a>&quot;</code></p>
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-<table class="memberdecls">
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-<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
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-<tr class="memitem:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9f51d46e66d0e3e33677fc6b41a7ab2b"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a> () const</td></tr>
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-<tr class="memitem:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5ec5051ab90eb6d67890b9a56ac78c66"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a> () const</td></tr>
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-<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
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-<tr class="memdesc:a561039712ffa38c2617baf266fc22896 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Update on_success event parameters with new data if available.  <br /></td></tr>
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-<tr class="memdesc:a7ca628af3cfb83cb2e17f2348c66f5a9 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a parameter name by type.  <br /></td></tr>
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-<tr class="memitem:ad20c4a0a0d7ad6d42ef7ccf24f6a1c65 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a> (const std::string &amp;action_type) const</td></tr>
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-<tr class="memitem:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6667a04bdf0d6a83a7663b4f8b10c0cf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a> (const std::string &amp;resource_type) const</td></tr>
-<tr class="memdesc:a6667a04bdf0d6a83a7663b4f8b10c0cf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get first name of a given resource  <br /></td></tr>
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-<tr class="memitem:a9414f4fca9459b457f306bbf8b4c1cdf inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9414f4fca9459b457f306bbf8b4c1cdf"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a> () const</td></tr>
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-<tr class="memitem:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a144e9cc074f34a69677fa9c2b461160e"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a> () const</td></tr>
-<tr class="memdesc:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first service name.  <br /></td></tr>
-<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
-<tr class="memdesc:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first action name.  <br /></td></tr>
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-<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
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-<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
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-<div id="titlearea">
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-  <ul>
-<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html">NoTriggerRunner</a></li>  </ul>
-</div>
-</div><!-- top -->
-<div class="header">
-  <div class="headertitle"><div class="title">capabilities2_runner::NoTriggerRunner Member List</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-<p>no-trigger runner  
- <a href="classcapabilities2__runner_1_1NoTriggerRunner.html#details">More...</a></p>
-
-<p><code>#include &quot;<a class="el" href="notrigger__runner_8hpp_source.html">notrigger_runner.hpp</a>&quot;</code></p>
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-<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
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-<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
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-<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a53f3a0dad63b42456ad2a6dd4bddc7ab inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a40118ab94ad06cf3759f4833c53ee575 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a40118ab94ad06cf3759f4833c53ee575"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a> () const</td></tr>
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-<tr class="separator:a17cab4cfcc38f312fb7f37698c43d6b1 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">event emitter is set on this node  <br /></td></tr>
-<tr class="separator:aa66f138bc8fa897c84d8ffd529396002 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
-<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
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-<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>no-trigger runner </p>
-<p>provides a no trigger runner implementation for the runner use for child runner classes that do not require a trigger </p>
-</div><h2 class="groupheader">Member Function Documentation</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a436e2217ca2c4fd44ac79271200c64d4">&#9670;&#160;</a></span>trigger()</h2>
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-        <tr>
-          <td class="paramkey"></td>
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-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
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-
-<p>Trigger the runner. </p>
-<p>FIXME: implement new event subsystem </p>
-<p>This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up RunnerBase::triggerExecution in a thread</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
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-    <tr><td class="paramname">bond_id</td><td>unique identifier for the group of connections associated with this runner trigger event </td></tr>
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-  </table>
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-<dl class="section attention"><dt>Attention</dt><dd>should call success and failure events with parameters and bond_id when the trigger process completes. </dd></dl>
-
-<p>Implements <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase</a>.</p>
-
-</div>
-</div>
-<hr/>The documentation for this class was generated from the following file:<ul>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
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diff --git a/docs/html/classcapabilities2__runner_1_1RunnerBase.html b/docs/html/classcapabilities2__runner_1_1RunnerBase.html
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-<div class="header">
-  <div class="summary">
-<a href="#pub-methods">Public Member Functions</a> &#124;
-<a href="#pro-methods">Protected Member Functions</a> &#124;
-<a href="#pro-attribs">Protected Attributes</a> &#124;
-<a href="classcapabilities2__runner_1_1RunnerBase-members.html">List of all members</a>  </div>
-  <div class="headertitle"><div class="title">capabilities2_runner::RunnerBase Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
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-<p>base class for all runners  
- <a href="classcapabilities2__runner_1_1RunnerBase.html#details">More...</a></p>
-
-<p><code>#include &quot;<a class="el" href="runner__base_8hpp_source.html">runner_base.hpp</a>&quot;</code></p>
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-<tr class="memdesc:ad20c4a0a0d7ad6d42ef7ccf24f6a1c65"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the action name by type object.  <br /></td></tr>
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-<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
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-<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
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-<tr class="memdesc:af6414218a6741b276f305e4b266878fb"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
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-<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
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-<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
-<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
-<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
-<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
-<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
-<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
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-<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-Protected Attributes</h2></td></tr>
-<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
-<tr class="memdesc:ab92e5d0bb295489656b6ac35b23eef8e"><td class="mdescLeft">&#160;</td><td class="mdescRight">shared pointer to the capabilities node Allows to use ros node related functionalities  <br /></td></tr>
-<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a94f0b66e78d66b770ba91d9f55b202ce" id="r_a94f0b66e78d66b770ba91d9f55b202ce"><td class="memItemLeft" align="right" valign="top"><a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td></tr>
-<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
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-</table>
-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>base class for all runners </p>
-<p>Defines the runner plugin api. Inherits from EventNode to provide event emission </p>
-</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#ad677f8a60b0e32510794315243a946d6">&#9670;&#160;</a></span>RunnerBase()</h2>
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-          <td class="memname">capabilities2_runner::RunnerBase::RunnerBase </td>
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-          <td></td>
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-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
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-<span class="mlabels"><span class="mlabel">default</span></span>  </td>
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-<h2 class="groupheader">Member Function Documentation</h2>
-<a id="a7a66fa34cdf7a2868dfb9f1d8f8d65ca" name="a7a66fa34cdf7a2868dfb9f1d8f8d65ca"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">&#9670;&#160;</a></span>add_connection()</h2>
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-          <td class="memname">void capabilities2_runner::RunnerBase::add_connection </td>
-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>connection_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const capabilities2_msgs::msg::CapabilityEventCode &amp;&#160;</td>
-          <td class="paramname"><em>type</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const capabilities2_msgs::msg::Capability &amp;&#160;</td>
-          <td class="paramname"><em>target</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt;&#160;</td>
-          <td class="paramname"><em>callback</em>&#160;</td>
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-<p>make EventNode::add_connection public method on runner api. </p>
-<p>add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is: "bond_id/trigger_id" which allows event emission to extract bond_id for access control</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">connection_id</td><td>unique identifier for the connection (format: "bond_id/trigger_id") </td></tr>
-    <tr><td class="paramname">type</td><td>type of event to connect to </td></tr>
-    <tr><td class="paramname">target</td><td>target capability to connect to </td></tr>
-    <tr><td class="paramname">callback</td><td>callback to trigger target capability with (capability, parameters, bond_id) </td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5dcd2ac4205bb7f3cf069e0273ec46b7">&#9670;&#160;</a></span>emit_failed()</h2>
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-          <td class="memname">void capabilities2_runner::RunnerBase::emit_failed </td>
-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>instance_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
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-<p>emit FAILED event </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">bond_id</td><td></td></tr>
-    <tr><td class="paramname">parameters</td><td></td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#ac92696dfbfe4b50331ca156c4449954c">&#9670;&#160;</a></span>emit_started()</h2>
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-          <td class="paramname"><em>bond_id</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>instance_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
-          <td class="paramname"><em>parameters</em> = <code><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>()</code>&#160;</td>
-        </tr>
-        <tr>
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-<p>emit STARTED event </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">bond_id</td><td></td></tr>
-    <tr><td class="paramname">parameters</td><td></td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#af6414218a6741b276f305e4b266878fb">&#9670;&#160;</a></span>emit_stopped()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>, </td>
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-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>instance_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
-          <td class="paramname"><em>parameters</em> = <code><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>()</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
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-<p>emit STOPPED event </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">bond_id</td><td></td></tr>
-    <tr><td class="paramname">parameters</td><td></td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5865a398c1ad27e89d4d6947ef9404c2">&#9670;&#160;</a></span>emit_succeeded()</h2>
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-          <td class="memname">void capabilities2_runner::RunnerBase::emit_succeeded </td>
-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>instance_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
-          <td class="paramname"><em>parameters</em> = <code><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>()</code>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
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-<p>emit SUCCEEDED event </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">bond_id</td><td></td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#aaa8cf2feec5aa8c1b10dcd49f0cc114a">&#9670;&#160;</a></span>enable_events()</h2>
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-          <td>(</td>
-          <td class="paramtype">std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a> &gt;&#160;</td>
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-<p>enable events system for this runner </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>action_type</em></td><td>)</td>
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-<p>Get the action name by type object. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
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-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
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-<p>Get the first action name. </p>
-<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
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-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
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-<p>Get the first parameter name. </p>
-<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>resource_type</em></td><td>)</td>
-          <td> const</td>
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-      </table>
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-<p>get first name of a given resource </p>
-<p>This can be used to get the name of the first action resource in the runner config</p>
-<dl class="section return"><dt>Returns</dt><dd>std::string </dd></dl>
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a144e9cc074f34a69677fa9c2b461160e">&#9670;&#160;</a></span>get_first_service_name()</h2>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
-        </tr>
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-<p>Get the first service name. </p>
-<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
-        </tr>
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-<p>Get the first topic name. </p>
-<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
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-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
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-<p>get the interface of the runner. </p>
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-          <td class="paramname"></td><td>)</td>
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-<p>get the package name to which the runner belong to. </p>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>param_type</em></td><td>)</td>
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-<p>Get a parameter name by type. </p>
-<dl class="params"><dt>Parameters</dt><dd>
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-    <tr><td class="paramname">param_type</td><td></td></tr>
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-          <td> const</td>
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-<p>get the pid of the runner. </p>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
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-<p>get the provider of the runner. </p>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>resource_type</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>msg_type</em>&#160;</td>
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-          <td></td>
-          <td>)</td>
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-<p>Get a resource name by data type from the config. </p>
-<p>This helps to navigate remappings from the runner config</p>
-<p>WARNING: this only gets the first resource found of the given type</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">resource_type</td><td></td></tr>
-    <tr><td class="paramname">msg_type</td><td></td></tr>
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-</dl>
-<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
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-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>srv_type</em></td><td>)</td>
-          <td> const</td>
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-<p>Get a service name by type. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">srv_type</td><td></td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
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-          <td class="memname">const std::string &amp; capabilities2_runner::RunnerBase::get_started_by </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td> const</td>
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-<p>get the starter of the runner. </p>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>topic_type</em></td><td>)</td>
-          <td> const</td>
-        </tr>
-      </table>
-  </td>
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-<p>Get a topic name by type. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">topic_type</td><td></td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>const std::string </dd></dl>
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-<h2 class="memtitle"><span class="permalink"><a href="#a737681af5f4227037a06390bf0bca3e0">&#9670;&#160;</a></span>init_base()</h2>
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-          <td class="memname">void capabilities2_runner::RunnerBase::init_base </td>
-          <td>(</td>
-          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
-          <td class="paramname"><em>node</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const <a class="el" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> &amp;&#160;</td>
-          <td class="paramname"><em>run_config</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
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-<p>Initializer function for initializing the base runner in place of constructor due to plugin semantics. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
-    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
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-  </dd>
-</dl>
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a9a5419cab317ef239d2f197714136660">&#9670;&#160;</a></span>param_on_failure()</h2>
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-          <td class="memname">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> capabilities2_runner::RunnerBase::param_on_failure </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
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-      </table>
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-<p>Update on_failure event parameters with new data if available. </p>
-<p>This function is used to inject new data into the CapabilityOptions containing parameters related to the on_failure trigger event</p>
-<p>A pattern needs to be implemented in the derived class</p>
-<dl class="section return"><dt>Returns</dt><dd>CapabilityOptions containing new parameters </dd></dl>
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-          <td class="memname">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> capabilities2_runner::RunnerBase::param_on_started </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
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-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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-<p>Update on_started event parameters with new data if available. </p>
-<p>This function is used to inject new data into the CapabilityOptions containing parameters related to the on_started trigger event</p>
-<p>A pattern needs to be implemented in the derived class</p>
-<dl class="section return"><dt>Returns</dt><dd>CapabilityOptions containing new parameters </dd></dl>
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-          <td class="memname">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> capabilities2_runner::RunnerBase::param_on_stopped </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
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-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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-<p>Update on_stopped event parameters with new data if available. </p>
-<p>This function is used to inject new data into the CapabilityOptions containing parameters related to the on_stopped trigger event</p>
-<p>A pattern needs to be implemented in the derived class</p>
-<dl class="section return"><dt>Returns</dt><dd>CapabilityOptions containing new parameters </dd></dl>
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-</div>
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-          <td class="memname">virtual <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> capabilities2_runner::RunnerBase::param_on_success </td>
-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
-<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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-<p>Update on_success event parameters with new data if available. </p>
-<p>This function is used to inject new data into the CapabilityOptions containing parameters related to the on_success trigger event</p>
-<p>A pattern needs to be implemented in the derived class</p>
-<dl class="section return"><dt>Returns</dt><dd>CapabilityOptions containing new parameters </dd></dl>
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-<p>Reimplemented in <a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">capabilities2_runner::GetCapabilitySpecsRunner</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#af253678258e86285dc2a12ecb5c1db84">&#9670;&#160;</a></span>start()</h2>
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-          <td class="paramname"><em>run_config</em>, </td>
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-          <td class="paramkey"></td>
-          <td></td>
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-          <td class="paramname"><em>bond_id</em>&#160;</td>
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-<dl class="params"><dt>Parameters</dt><dd>
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-    <tr><td class="paramname">node</td><td>shared pointer to the capabilities node. Allows to use ros node related functionalities </td></tr>
-    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file</td></tr>
-  </table>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>instance_id</em> = <code>&quot;&quot;</code>&#160;</td>
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-<p>stop the runner </p>
-<dl class="section attention"><dt>Attention</dt><dd>should clean up threads and should call stop event </dd></dl>
-
-<p>Implemented in <a class="el" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">capabilities2_runner::ActionRunner&lt; ActionT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html#a5373c2eb3f97948d213aab4f95bc19c9">capabilities2_runner::LaunchRunner</a>, <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;</a>, <a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">capabilities2_runner::InputMultiplexRunner</a>, <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a>, and <a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#ae7c05952eaa590755e7ec4a722321513">capabilities2_runner::DummyRunner</a>.</p>
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-          <td>(</td>
-          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> &amp;&#160;</td>
-          <td class="paramname"><em>parameters</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>instance_id</em>&#160;</td>
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-<p>Trigger the runner. </p>
-<p>FIXME: implement new event subsystem </p>
-<p>This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up RunnerBase::triggerExecution in a thread</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">parameters</td><td>capability options that contain parameters for the trigger </td></tr>
-    <tr><td class="paramname">bond_id</td><td>unique identifier for the group of connections associated with this runner trigger event </td></tr>
-    <tr><td class="paramname">instance_id</td><td>unique identifier for the instance of the capability </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section attention"><dt>Attention</dt><dd>should call success and failure events with parameters and bond_id when the trigger process completes. </dd></dl>
-
-<p>Implemented in <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">capabilities2_runner::ThreadTriggerRunner</a>, <a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html#a436e2217ca2c4fd44ac79271200c64d4">capabilities2_runner::NoTriggerRunner</a>, and <a class="el" href="classcapabilities2__runner_1_1DummyRunner.html#a0b767e28a66171727b2f9609375963f2">capabilities2_runner::DummyRunner</a>.</p>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab92e5d0bb295489656b6ac35b23eef8e">&#9670;&#160;</a></span>node_</h2>
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-<p>shared pointer to the capabilities node Allows to use ros node related functionalities </p>
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-<p>run_config_ runner configuration </p>
-
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diff --git a/docs/html/classcapabilities2__runner_1_1ServiceRunner-members.html b/docs/html/classcapabilities2__runner_1_1ServiceRunner-members.html
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-<div id="nav-path" class="navpath">
-  <ul>
-<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">ServiceRunner</a></li>  </ul>
-</div>
-</div><!-- top -->
-<div class="header">
-  <div class="headertitle"><div class="title">capabilities2_runner::ServiceRunner&lt; ServiceT &gt; Member List</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">generate_request</a>(capabilities2_events::EventParameters &amp;parameters)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">init_service</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;service_name)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a20fd8d22e15f75d7acb79663fec67f6c">process_response</a>(typename ServiceT::Response::SharedPtr)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">response_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">ServiceRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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diff --git a/docs/html/classcapabilities2__runner_1_1ServiceRunner.html b/docs/html/classcapabilities2__runner_1_1ServiceRunner.html
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-<a href="#pro-attribs">Protected Attributes</a> &#124;
-<a href="classcapabilities2__runner_1_1ServiceRunner-members.html">List of all members</a>  </div>
-  <div class="headertitle"><div class="title">capabilities2_runner::ServiceRunner&lt; ServiceT &gt; Class Template Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
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-<div class="contents">
-
-<p>service runner base class  
- <a href="classcapabilities2__runner_1_1ServiceRunner.html#details">More...</a></p>
-
-<p><code>#include &quot;<a class="el" href="service__runner_8hpp_source.html">service_runner.hpp</a>&quot;</code></p>
-<div class="dynheader">
-Inheritance diagram for capabilities2_runner::ServiceRunner&lt; ServiceT &gt;:</div>
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-<tr class="inherit_header pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__runner_1_1ThreadTriggerRunner')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td></tr>
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-<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
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-<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
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-<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><div class="compoundTemplParams">template&lt;typename ServiceT&gt;<br />
-class capabilities2_runner::ServiceRunner&lt; ServiceT &gt;</div><p>service runner base class </p>
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-<dl class="params"><dt>Parameters</dt><dd>
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-    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-<p>add threaded trigger execution to the runner  
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-<tr class="inherit_header pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classcapabilities2__runner_1_1RunnerBase')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td></tr>
-<tr class="memitem:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase" id="r_ab92e5d0bb295489656b6ac35b23eef8e"><td class="memItemLeft" align="right" valign="top">rclcpp::Node::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td></tr>
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-<tr class="separator:ab92e5d0bb295489656b6ac35b23eef8e inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">run_config_ runner configuration  <br /></td></tr>
-<tr class="separator:a94f0b66e78d66b770ba91d9f55b202ce inherit pro_attribs_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
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-Private Member Functions</h2></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>add threaded trigger execution to the runner </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a88e489fd1a04dd9f308e2fd7f792035c">&#9670;&#160;</a></span>ThreadTriggerRunner()</h2>
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-          <td>(</td>
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-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a10133774ae4ef6f39f9d94ebbed1b58c">&#9670;&#160;</a></span>bond_from_thread_id()</h2>
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-<p>helper function to extract bond_id from thread_id </p>
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diff --git a/docs/html/classcapabilities2__runner_1_1TopicRunner-members.html b/docs/html/classcapabilities2__runner_1_1TopicRunner-members.html
deleted file mode 100644
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-<div id="titlearea">
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-   <div id="projectname">Capabilities2<span id="projectnumber">&#160;0.1.2</span>
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-<div id="nav-path" class="navpath">
-  <ul>
-<li class="navelem"><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></li><li class="navelem"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">TopicRunner</a></li>  </ul>
-</div>
-</div><!-- top -->
-<div class="header">
-  <div class="headertitle"><div class="title">capabilities2_runner::TopicRunner&lt; TopicT &gt; Member List</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a>(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">block_mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">bond_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a53228a48218f60e37c93cefe61a314e3">callback</a>(const typename TopicT::SharedPtr &amp;msg)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">cv_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a5ee42f409bc9001b397d767a264bf4f6">execution</a>(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(const std::string &amp;action_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(const std::string &amp;resource_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(const std::string &amp;param_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(const std::string &amp;resource_type, const std::string &amp;msg_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(const std::string &amp;srv_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(const std::string &amp;topic_type) const</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(const std::string &amp;connection_id) const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a485da884c40ea98cef38f74ba5b27684">init_subscriber</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;topic_name)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(const std::string &amp;thread_id)</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">latest_message_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">mutable</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>() const</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(const std::string &amp;connection_id)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt; EventBase &gt; event_emitter)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(const capabilities2_msgs::msg::Capability &amp;src)</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a></td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"><span class="mlabel">pure virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">stop</a>(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">subscription_</a></td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html#ac99cd688150e5cfe539e69866e01ae20">TopicRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner&lt; TopicT &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></td><td class="entry"></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</td><td class="entry"><a class="el" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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diff --git a/docs/html/classcapabilities2__runner_1_1TopicRunner.html b/docs/html/classcapabilities2__runner_1_1TopicRunner.html
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-<p>Topic runner base class.  
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-<tr class="memitem:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a9f51d46e66d0e3e33677fc6b41a7ab2b"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a> () const</td></tr>
-<tr class="memdesc:a9f51d46e66d0e3e33677fc6b41a7ab2b inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">get the interface of the runner.  <br /></td></tr>
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-<tr class="separator:abdb647861aa50def64cb7005e1234d5c inherit pub_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a5ec5051ab90eb6d67890b9a56ac78c66 inherit pub_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5ec5051ab90eb6d67890b9a56ac78c66"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a> () const</td></tr>
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-<tr class="inherit_header pub_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
-<tr class="memitem:a3cd9380c3e2739278c1601d844aa5fc9 inherit pub_methods_classcapabilities2__events_1_1EventNode" id="r_a3cd9380c3e2739278c1601d844aa5fc9"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter=nullptr)</td></tr>
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-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
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-<tr class="memdesc:a5ee42f409bc9001b397d767a264bf4f6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Trigger process to be executed.  <br /></td></tr>
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-<tr class="memdesc:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first service name.  <br /></td></tr>
-<tr class="separator:a144e9cc074f34a69677fa9c2b461160e inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a6c40b1ee8b85cd357ebc9102ee1b5d12"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a> () const</td></tr>
-<tr class="memdesc:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the first action name.  <br /></td></tr>
-<tr class="separator:a6c40b1ee8b85cd357ebc9102ee1b5d12 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STARTED event  <br /></td></tr>
-<tr class="separator:ac92696dfbfe4b50331ca156c4449954c inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="memdesc:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit STOPPED event  <br /></td></tr>
-<tr class="separator:af6414218a6741b276f305e4b266878fb inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5865a398c1ad27e89d4d6947ef9404c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
-<tr class="memdesc:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit SUCCEEDED event  <br /></td></tr>
-<tr class="separator:a5865a398c1ad27e89d4d6947ef9404c2 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase" id="r_a5dcd2ac4205bb7f3cf069e0273ec46b7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a> (const std::string &amp;bond_id, const std::string &amp;instance_id, <a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters=<a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</td></tr>
-<tr class="memdesc:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="mdescLeft">&#160;</td><td class="mdescRight">emit FAILED event  <br /></td></tr>
-<tr class="separator:a5dcd2ac4205bb7f3cf069e0273ec46b7 inherit pro_methods_classcapabilities2__runner_1_1RunnerBase"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="inherit_header pro_methods_classcapabilities2__events_1_1EventNode"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classcapabilities2__events_1_1EventNode')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></td></tr>
-<tr class="memitem:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a10f7d884696c76f58fa43a03d69369f4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a> (const capabilities2_msgs::msg::Capability &amp;src)</td></tr>
-<tr class="memdesc:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the source object.  <br /></td></tr>
-<tr class="separator:a10f7d884696c76f58fa43a03d69369f4 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a41dc0f4b8ad35d358181f25d646f396e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a> (std::shared_ptr&lt; <a class="el" href="classcapabilities2__events_1_1EventBase.html">EventBase</a> &gt; event_emitter)</td></tr>
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-<tr class="separator:a41dc0f4b8ad35d358181f25d646f396e inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a54192391a09d30e778b5ef73a07e5476"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a> (const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, <a class="el" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</td></tr>
-<tr class="memdesc:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="mdescLeft">&#160;</td><td class="mdescRight">make <a class="el" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476" title="make EventNode::add_connection public method on runner api.">EventNode::add_connection</a> public method on runner api.  <br /></td></tr>
-<tr class="separator:a54192391a09d30e778b5ef73a07e5476 inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1aefc3465612e5a4662190ae251f9ded"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a> (const std::string &amp;connection_id)</td></tr>
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-<tr class="separator:a1aefc3465612e5a4662190ae251f9ded inherit pro_methods_classcapabilities2__events_1_1EventNode"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a1ee75f7c81c01519c250045ade85eaf7 inherit pro_methods_classcapabilities2__events_1_1EventNode" id="r_a1ee75f7c81c01519c250045ade85eaf7"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a> ()</td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#a53228a48218f60e37c93cefe61a314e3">&#9670;&#160;</a></span>callback()</h2>
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-    <tr><td class="paramname">run_config</td><td>runner configuration loaded from the yaml file </td></tr>
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-<p>bond cache class  
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-<p><code>#include &quot;<a class="el" href="bond__cache_8hpp_source.html">bond_cache.hpp</a>&quot;</code></p>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>bond cache class </p>
-<p>keep track of bonds established by clients and associated resources this is used to manage the lifecycle of capabilities based on client bonds a capability can have multiple bonds from different clients </p>
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-<p>Construct a Bond Cache with a specific bond topic. </p>
-<dl class="params"><dt>Parameters</dt><dd>
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-<h2 class="memtitle"><span class="permalink"><a href="#a95f5c2beb3e72240154de125ff0c3555">&#9670;&#160;</a></span>add_bond()</h2>
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-<p>Add a bond to the cache. </p>
-<dl class="params"><dt>Parameters</dt><dd>
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-<p>capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners  
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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-</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a226adbcdbb5b497953a2dd61d418a7de">&#9670;&#160;</a></span>add_capability()</h2>
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-          <td class="paramtype">const capabilities2_msgs::msg::CapabilitySpec &amp;&#160;</td>
-          <td class="paramname"><em>spec</em></td><td>)</td>
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-<p>connect with the database file </p>
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-<p>connect RUNNING capabilities together via event type </p>
-<p>TODO: Allow connections for not-running capabilities by storing connections in the db FIXME: implement new event subsystem Each running capability is a node that can be connected to other capabilities these connections emit events when the capability states change </p>
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-<p>Free a capability after usage. This will remove the bond and callstop_capability This function can be used externally. </p>
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-<p>Get the capability spec object for a given resource return the spec in yaml string format. </p>
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-<p>get pid of capability </p>
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-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>capability_spec</em>, </td>
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-        <tr>
-          <td class="paramkey"></td>
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-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
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-    <tr><td class="paramname">capability</td><td>capability name to be started </td></tr>
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-<p>trigger a capability </p>
-<p>This is a new function for a capability provider (runner) that is already started but has additional parameters to be triggered. This function can be used externally.</p>
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-          <td class="paramkey"></td>
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-          <td class="paramkey"></td>
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-          <td class="paramkey"></td>
-          <td></td>
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-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6a06e320c5c1ac224f7879bbe05e6a8e">CapabilitiesDB</a>(const std::string db_file=&quot;cache/capabilities.sqlite3&quot;)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a969c480de1f0f537f67f4f0db0d1eb67">close</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#adc7238b52504f21326ff65d8d68c08f0">create_tables</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a23dfb4f5d456df66de81b0dd2b9face1">db_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a67c5398900d16d720335f8eb4294316d">db_file_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#acaffd52c473cbfe7d744ba9bd8a289b2">DBBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3b40692ba92825e177d8e211369cfb97">exec</a>(const std::string &amp;query)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">exists</a>(const std::string &amp;resource_name)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">exists_any</a>(const std::string &amp;resource_name)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a5f8e47a5091b45fe625723b13528b5ac">get_interface</a>(const std::string &amp;name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae263c0a66dccf6f7cee043f8da2050a9">get_interfaces</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a0109b906d50a62d7408271780e9a8707">get_provider</a>(const std::string &amp;name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">get_providers</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">get_providers_by_interface</a>(const std::string &amp;interface_name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">get_remappable</a>(const std::string &amp;name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">get_run_config</a>(const std::string &amp;provider_name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">get_running</a>(const std::string &amp;provider_name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">get_semantic_interface</a>(const std::string &amp;name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">get_semantic_interfaces</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">get_semantic_interfaces_by_interface</a>(const std::string &amp;interface_name) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">insert_interface</a>(const models::interface_model_t &amp;interface) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">insert_provider</a>(const models::provider_model_t &amp;provider) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4703582a0735e3a22ed0019164c02ed1">insert_semantic_interface</a>(const models::semantic_interface_model_t &amp;semantic_interface) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">open</a>() override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a665a94af8591b998356567340f9155b9">to_interface</a>(sqlite3_stmt *stmt)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ac6c2407ebde5f7debcf32bc064f8c0bc">to_provider</a>(sqlite3_stmt *stmt)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a3eb0881736fa825daef5ec83e1d919be">to_semantic_interface</a>(sqlite3_stmt *stmt)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">update_interface</a>(const models::interface_model_t &amp;interface) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">update_provider</a>(const models::provider_model_t &amp;provider)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">update_semantic_interface</a>(const models::semantic_interface_model_t &amp;semantic_interface) override</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">virtual</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a40951e3346502f6e147865e1ab025e39">~CapabilitiesDB</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html">capabilities2_server::CapabilitiesDB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html#a3243648e7ac9ee0a7cd3e4fb35c920cb">~DBBase</a>()=default</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></td><td class="entry"><span class="mlabel">virtual</span></td></tr>
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-<h2 class="memtitle"><span class="permalink"><a href="#a40951e3346502f6e147865e1ab025e39">&#9670;&#160;</a></span>~CapabilitiesDB()</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a3c6ed044e3cd0e60b5fcfac889ab0eea">&#9670;&#160;</a></span>apply_provider_remappings()</h2>
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-          <td>(</td>
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-<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a33858ef496c7de81c1b6a4f5fe047dcc">capabilities2_server::DBBase</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5f02b94abb740a6ef0fd43daf4c1e0a0">&#9670;&#160;</a></span>apply_remappings()</h2>
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-<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a3ce61c146ff1a5bbea444efc503fcac8">capabilities2_server::DBBase</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a9ce49d71065acc667a5ce863a9e1f2a2">&#9670;&#160;</a></span>apply_semantic_remappings()</h2>
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-          <td>(</td>
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-<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a8e6b541fd85a3a96fe9cf0f854786372">capabilities2_server::DBBase</a>.</p>
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-<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#ae00a3ede155478862be6f4ba8881ff9c">capabilities2_server::DBBase</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#adc7238b52504f21326ff65d8d68c08f0">&#9670;&#160;</a></span>create_tables()</h2>
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-<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#aee888f726ca6acde1dbd6d7bbb67cd4a">capabilities2_server::DBBase</a>.</p>
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-          <td class="paramname"><em>query</em></td><td>)</td>
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-<h2 class="memtitle"><span class="permalink"><a href="#a5f8e47a5091b45fe625723b13528b5ac">&#9670;&#160;</a></span>get_interface()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
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-<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">capabilities2_server::DBBase</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#ae263c0a66dccf6f7cee043f8da2050a9">&#9670;&#160;</a></span>get_interfaces()</h2>
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-<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">capabilities2_server::DBBase</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a0109b906d50a62d7408271780e9a8707">&#9670;&#160;</a></span>get_provider()</h2>
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-          <td class="paramname"><em>name</em></td><td>)</td>
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-<h2 class="memtitle"><span class="permalink"><a href="#abcb12877bac9acaa5b55f0517cd83c71">&#9670;&#160;</a></span>get_providers()</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a999ce91780aeeb0cd2f449eeb96a749d">&#9670;&#160;</a></span>get_providers_by_interface()</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a7147928b1a095676069664c31f91deae">&#9670;&#160;</a></span>get_remappable()</h2>
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-<p>Get remappable model by name. </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a6b3f7671a717e9fcc3eada08a914dd76">&#9670;&#160;</a></span>get_run_config()</h2>
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-<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">capabilities2_server::DBBase</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a64d22db986833f277560784f956e328b">&#9670;&#160;</a></span>get_running()</h2>
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-          <td>(</td>
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-<p>Implements <a class="el" href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">capabilities2_server::DBBase</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a115b3d1151e5866ff968e96691b541a3">&#9670;&#160;</a></span>get_semantic_interface()</h2>
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-  <div class="headertitle"><div class="title">capabilities2_server::CapabilitiesServer Member List</div></div>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692">bond_cache_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a03500d304d5fef27e356b30b5d23dece">connect_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::ConnectCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a234c5773e90eebb05bd36fe2025f5503">connect_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">establish_bond</a>(rclcpp::Node::SharedPtr node)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa55cf315d13a4bbbff41439a4acb6eb7">establish_bond_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::EstablishBond::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a4d626b97ce07ce813f045f334e0672bf">establish_bond_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e3645b59e7641e486143354562ccfc3">event_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">protected</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa850ac5910b408d86b73b7bc04d82134">event_pub_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a02d27d28503b5b56cf5aa3556e1a2118">free_capability</a>(const std::string &amp;capability, const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae855a537f8007233ab225e22fb5eca04">free_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::FreeCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">free_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af2ad7408ac8e69d5cf4d8bb503fd37e8">get_capability_spec</a>(const std::string &amp;resource)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aed01fea6038bf10c20f4e23325e7b411">get_capability_spec_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpec::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8286d3d3b6ad3eefef8bb91abcf349a2">get_capability_spec_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a89ca5565eac4c99553fb79e7e8c332c8">get_capability_specs</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a8bc0d2808af84412e1696f768366c114">get_capability_specs_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetCapabilitySpecs::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aad26d9c4b7948bff89e9dfc54dae3b33">get_capability_specs_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acd27a3b8a5655712120d8f60e6e21a03">get_interfaces</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1eee46a1f8874823530823183406e082">get_interfaces_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetInterfaces::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa7b2bb889301337796e782ea00d788a9">get_interfaces_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a25529ea4994cd0e839500fff111b620c">get_pid</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad6f151b6a272325d92aeb7704ded093a">get_providers</a>(const std::string &amp;interface, const bool &amp;include_semantic)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#afd5d1ff380148dbc66a57e04e92109e0">get_providers_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetProviders::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a755cc7001a6739ae422492a9b6d4f4e3">get_providers_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a0c1bbfe23a34eb6adef90747bba2b34f">get_remappings</a>(const std::string &amp;capability_spec, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71728f43b140a67280d2eec2a18f00e4">get_remappings_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRemappings::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a493ae61330a2da82fd4991055fdc2a2c">get_remappings_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ad25368b49818a71d8bb5aefb64975fb5">get_running_capabilities_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetRunningCapabilities::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ac358c10e20544260cb65ad6fd3a31c8d">get_running_capabilities_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ad0323e4febb7e96405a0473e39e58d52">get_semantic_interfaces</a>(const std::string &amp;interface)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae3299cfc91495fdff2fc8eb1513e7804">get_semantic_interfaces_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::GetSemanticInterfaces::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae9b834509054095c04cc7f9d1557ec96">get_semantic_interfaces_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ae560f31a113bbf9b1be05ec49c04e04e">initialize</a>()</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a5c6b0cbb72426b457e5469285f7d4451">internal_bond_ids_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a58c477d3ba7423b273778842fe156dcc">load_capabilities</a>(const std::string &amp;package_path)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a38bec3f55aab20fb4ef4be05ff20ee20">load_spec_content</a>(const std::string &amp;spec_file, capabilities2_msgs::msg::CapabilitySpec &amp;capability_spec)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aed8b4cad33f58aa31b3ed1be0c48f5d2">logging_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a6e8b97337893a97daa58e3f0c11bb565">loop_hz_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a8af0a6969caee569e51664a7258927ba">on_bond_broken</a>(const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#acfc34192e7ebdf7bd32bb720eba44953">on_bond_established</a>(const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a5e0231cf2f4d4c16ec057e5603b0efd1">parse_package_xml</a>(const std::string &amp;package_xml, tinyxml2::XMLDocument &amp;doc)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a71a42e1eaa2a7b030b8e0b1c90609315">register_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::RegisterCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a12ab12a8447c6333dd2383534e2268bb">register_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#af88813815d1201f52e2e2f19b43068d2">runner_cache_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#aaf69b498cc0fcc66267032c8a0a1504c">start_capability</a>(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a60a3176ebff35a89d8066a80e533637e">start_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StartCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32">start_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a1e106040d8bec5321e809c3666601600">stop_capability</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aa23ec591bffe34a5b29a317de882c61d">stop_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::StopCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee">stop_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6de8e860c63da9acde97c4b5cd7a5a5">trigger_capability</a>(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a88e047d3b8f4947f2f89160eac2b34e3">trigger_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::TriggerCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab479dbd4ed2028355725f553dca81d4e">trigger_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">use_capability</a>(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider, const std::string &amp;bond_id)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html">capabilities2_server::CapabilitiesAPI</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#ab351057325bd9c62bbd25657061505d6">use_capability_cb</a>(const std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Request &gt; req, std::shared_ptr&lt; capabilities2_msgs::srv::UseCapability::Response &gt; res)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a152c07656d903772602e01a23b717c94">use_capability_srv_</a></td><td class="entry"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html">capabilities2_server::CapabilitiesServer</a></td><td class="entry"><span class="mlabel">private</span></td></tr>
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-<p>capabilities server  
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-<p><code>#include &quot;<a class="el" href="capabilities__server_8hpp_source.html">capabilities_server.hpp</a>&quot;</code></p>
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-<tr class="memitem:a7e33013361270175186e7e23fe7342ce inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a7e33013361270175186e7e23fe7342ce"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a7e33013361270175186e7e23fe7342ce">CapabilitiesAPI</a> ()</td></tr>
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-<tr class="memitem:a419ed80ae9a32f0d89518b0750ade73c inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a419ed80ae9a32f0d89518b0750ade73c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a419ed80ae9a32f0d89518b0750ade73c">use_capability</a> (rclcpp::Node::SharedPtr node, const std::string &amp;capability, const std::string &amp;provider, const std::string &amp;bond_id)</td></tr>
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-<tr class="memitem:ae6e049a500dc2554322475a1b4e89c21 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_ae6e049a500dc2554322475a1b4e89c21"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#ae6e049a500dc2554322475a1b4e89c21">connect_capability</a> (const std::string &amp;bond_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection)</td></tr>
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-<tr class="separator:acd27a3b8a5655712120d8f60e6e21a03 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:ad6f151b6a272325d92aeb7704ded093a inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:af2ad7408ac8e69d5cf4d8bb503fd37e8 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a89ca5565eac4c99553fb79e7e8c332c8 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a0c1bbfe23a34eb6adef90747bba2b34f inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a35a9b49bc2b1fdcf0311264905f59514 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a35a9b49bc2b1fdcf0311264905f59514"><td class="memItemLeft" align="right" valign="top">std::vector&lt; capabilities2_msgs::msg::RunningCapability &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a35a9b49bc2b1fdcf0311264905f59514">get_running_capabilities</a> ()</td></tr>
-<tr class="separator:a35a9b49bc2b1fdcf0311264905f59514 inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a25529ea4994cd0e839500fff111b620c inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a9d25868abf2647c2e77aad620b270c3b inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI" id="r_a9d25868abf2647c2e77aad620b270c3b"><td class="memItemLeft" align="right" valign="top">const std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesAPI.html#a9d25868abf2647c2e77aad620b270c3b">establish_bond</a> (rclcpp::Node::SharedPtr node)</td></tr>
-<tr class="separator:a9d25868abf2647c2e77aad620b270c3b inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a8af0a6969caee569e51664a7258927ba inherit pub_methods_classcapabilities2__server_1_1CapabilitiesAPI"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-methods" name="pri-methods"></a>
-Private Member Functions</h2></td></tr>
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-<tr class="separator:a5e0231cf2f4d4c16ec057e5603b0efd1"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a38bec3f55aab20fb4ef4be05ff20ee20"><td class="memSeparator" colspan="2">&#160;</td></tr>
-</table><table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pri-attribs" name="pri-attribs"></a>
-Private Attributes</h2></td></tr>
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-<tr class="separator:aa850ac5910b408d86b73b7bc04d82134"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a4d626b97ce07ce813f045f334e0672bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:a1a04b3d8e38c3e738d6dad3e9f90ed32"><td class="memSeparator" colspan="2">&#160;</td></tr>
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-<tr class="separator:aee406dd808d0277a3d1babfbaf5d0dee"><td class="memSeparator" colspan="2">&#160;</td></tr>
-<tr class="memitem:a0e28a32f07cadfecd641727cf7d6df9a" id="r_a0e28a32f07cadfecd641727cf7d6df9a"><td class="memItemLeft" align="right" valign="top">rclcpp::Service&lt; capabilities2_msgs::srv::FreeCapability &gt;::SharedPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classcapabilities2__server_1_1CapabilitiesServer.html#a0e28a32f07cadfecd641727cf7d6df9a">free_capability_srv_</a></td></tr>
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-<p>Initializes the capabilities server node. </p>
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-<p>load capability spec content from a file </p>
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-<p>parse package.xml file </p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a60a3176ebff35a89d8066a80e533637e">&#9670;&#160;</a></span>start_capability_cb()</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a88e047d3b8f4947f2f89160eac2b34e3">&#9670;&#160;</a></span>trigger_capability_cb()</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#ab351057325bd9c62bbd25657061505d6">&#9670;&#160;</a></span>use_capability_cb()</h2>
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-  <div class="headertitle"><div class="title">capabilities2_server::DBBase Member List</div></div>
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-<p>This is the complete list of members for <a class="el" href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a>, including all inherited members.</p>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#abcb12877bac9acaa5b55f0517cd83c71">capabilities2_server::CapabilitiesDB</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a7e3aaa33b84b31afd25d2e60ff2b2e92">&#9670;&#160;</a></span>get_providers_by_interface()</h2>
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-          <td>(</td>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a999ce91780aeeb0cd2f449eeb96a749d">capabilities2_server::CapabilitiesDB</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a1cdfd02055ff2da5da686e6f1a18d13f">&#9670;&#160;</a></span>get_remappable()</h2>
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-<div class="memitem">
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-          <td>(</td>
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-          <td></td>
-        </tr>
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-<p>Get remappable model by name. </p>
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-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">name</td><td></td></tr>
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-  </dd>
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-
-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a7147928b1a095676069664c31f91deae">capabilities2_server::CapabilitiesDB</a>.</p>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#a1baa8d0c23479b279f326cd46066aefc">&#9670;&#160;</a></span>get_run_config()</h2>
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-          <td>(</td>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6b3f7671a717e9fcc3eada08a914dd76">capabilities2_server::CapabilitiesDB</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a86052bfef2ad74e6d00ad4139509000d">&#9670;&#160;</a></span>get_running()</h2>
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-          <td>(</td>
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-          <td class="paramname"><em>provider_name</em></td><td>)</td>
-          <td></td>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a64d22db986833f277560784f956e328b">capabilities2_server::CapabilitiesDB</a>.</p>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#af2568e0f4a1c256cb2e8388eb9e020ac">&#9670;&#160;</a></span>get_semantic_interface()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>name</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a115b3d1151e5866ff968e96691b541a3">capabilities2_server::CapabilitiesDB</a>.</p>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#aa568f8af482c3c94933baf37e4e94413">&#9670;&#160;</a></span>get_semantic_interfaces()</h2>
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-          <td>(</td>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#ae5f180b570d6c8d57d3b7ed570fa2bc4">capabilities2_server::CapabilitiesDB</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#a55534cfabcb9d0f6434c9384ba413c66">&#9670;&#160;</a></span>get_semantic_interfaces_by_interface()</h2>
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-<div class="memitem">
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>interface_name</em></td><td>)</td>
-          <td></td>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4f577301e5acdf73d56bbdc53ba21e5a">capabilities2_server::CapabilitiesDB</a>.</p>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a2e631fa1b823bdeb503e5b4ebdf09b82">&#9670;&#160;</a></span>insert_interface()</h2>
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-<div class="memitem">
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-          <td class="memname">virtual void capabilities2_server::DBBase::insert_interface </td>
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-          <td class="paramname"><em>interface</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
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-<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
-  </tr>
-</table>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a2b35eba2ee6659c550ed36dd74f39f73">capabilities2_server::CapabilitiesDB</a>.</p>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a9c164a0de5d6fe507d5c1a4a55544277">&#9670;&#160;</a></span>insert_provider()</h2>
-
-<div class="memitem">
-<div class="memproto">
-<table class="mlabels">
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-  <td class="mlabels-left">
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-        <tr>
-          <td class="memname">virtual void capabilities2_server::DBBase::insert_provider </td>
-          <td>(</td>
-          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> &amp;&#160;</td>
-          <td class="paramname"><em>provider</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
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-<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
-  </tr>
-</table>
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-
-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a6e9c623ecba7812750ee32864e1ed448">capabilities2_server::CapabilitiesDB</a>.</p>
-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a26f67efa62c5964604f26ce926793134">&#9670;&#160;</a></span>insert_semantic_interface()</h2>
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-<div class="memitem">
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-        <tr>
-          <td class="memname">virtual void capabilities2_server::DBBase::insert_semantic_interface </td>
-          <td>(</td>
-          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> &amp;&#160;</td>
-          <td class="paramname"><em>semantic_interface</em></td><td>)</td>
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-      </table>
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-</div><div class="memdoc">
-
-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a4703582a0735e3a22ed0019164c02ed1">capabilities2_server::CapabilitiesDB</a>.</p>
-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a4f87c768118f852d3c0945d4d45d6c7b">&#9670;&#160;</a></span>open()</h2>
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-          <td class="memname">virtual void capabilities2_server::DBBase::open </td>
-          <td>(</td>
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-          <td></td>
-        </tr>
-      </table>
-  </td>
-  <td class="mlabels-right">
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-
-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#aba9186d82c6c65188a80f9ac146df1df">capabilities2_server::CapabilitiesDB</a>.</p>
-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a8ef578c5c658448b2898eb8148c1c399">&#9670;&#160;</a></span>update_interface()</h2>
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-          <td></td>
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-      </table>
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-<span class="mlabels"><span class="mlabel">pure virtual</span></span>  </td>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#aa10f6716c7eb019bad310fa8e580880b">capabilities2_server::CapabilitiesDB</a>.</p>
-
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-<h2 class="memtitle"><span class="permalink"><a href="#a422b18b726f0afedba3532d416ba77f9">&#9670;&#160;</a></span>update_provider()</h2>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a74033ce662666907c361fa22fa9e80c2">capabilities2_server::CapabilitiesDB</a>.</p>
-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a2f2ac558c6c1563e7f94c95594a04ef5">&#9670;&#160;</a></span>update_semantic_interface()</h2>
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-<p>Implemented in <a class="el" href="classcapabilities2__server_1_1CapabilitiesDB.html#a45dde34e7373e6aec64c1f78d673e0cb">capabilities2_server::CapabilitiesDB</a>.</p>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">add_connection</a>(const std::string &amp;capability, const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection, std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_emitter=nullptr)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">provider</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">remove_runner</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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-  <tr class="odd"><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(const std::string &amp;capability)</td><td class="entry"><a class="el" href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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-<a href="#pub-methods">Public Member Functions</a> &#124;
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-<p>runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use  
- <a href="classcapabilities2__server_1_1RunnerCache.html#details">More...</a></p>
-
-<p><code>#include &quot;<a class="el" href="runner__cache_8hpp_source.html">runner_cache.hpp</a>&quot;</code></p>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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-<p>There are two main types of runners:</p><ol type="1">
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-<h2 class="memtitle"><span class="permalink"><a href="#aba905c19f2ffec5e72028d8a246a3edf">&#9670;&#160;</a></span>add_connection()</h2>
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-          <td class="paramname"><em>capability</em>, </td>
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-<p>Add state change connection between runners via an event. </p>
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-    <tr><td class="paramname">capability</td><td>capability from where the event originates </td></tr>
-    <tr><td class="paramname">connection_id</td><td>unique id for the connection </td></tr>
-    <tr><td class="paramname">connection</td><td>connection options for the event </td></tr>
-    <tr><td class="paramname">event_emitter</td><td>event emitter to be used by this runner for emitting events on state changes to the target capability </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#aefd112af41b8ef36ccdce3cfebb5dd25">&#9670;&#160;</a></span>add_runner()</h2>
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-          <td class="memname">void capabilities2_server::RunnerCache::add_runner </td>
-          <td>(</td>
-          <td class="paramtype">rclcpp::Node::SharedPtr&#160;</td>
-          <td class="paramname"><em>node</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>capability</em>, </td>
-        </tr>
-        <tr>
-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype">const <a class="el" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> &amp;&#160;</td>
-          <td class="paramname"><em>run_config</em>&#160;</td>
-        </tr>
-        <tr>
-          <td></td>
-          <td>)</td>
-          <td></td><td></td>
-        </tr>
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-
-<p>Add a runner to the cache. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">node</td><td>pointer to the origin node, generally the <a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a> </td></tr>
-    <tr><td class="paramname">capability</td><td>capability name to be loaded </td></tr>
-    <tr><td class="paramname">run_config</td><td>run_config of the runner to be loaded </td></tr>
-  </table>
-  </dd>
-</dl>
-
-</div>
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a245acdb1f0c4b4b81f1ed46906b446cb">&#9670;&#160;</a></span>get_running_capabilities()</h2>
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-          <td>(</td>
-          <td class="paramname"></td><td>)</td>
-          <td></td>
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-</table>
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-
-<p>Get a list of active runners in the cache. </p>
-<dl class="section return"><dt>Returns</dt><dd>const std::vector&lt;std::string&gt; of runners </dd></dl>
-
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-</div>
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-          <td class="memname">const std::string capabilities2_server::RunnerCache::pid </td>
-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>capability</em></td><td>)</td>
-          <td></td>
-        </tr>
-      </table>
-  </td>
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-<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
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-
-<p>get pid of capability </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">capability</td><td>capability of which the pid is requested </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>value of pid </dd></dl>
-
-</div>
-</div>
-<a id="a20513c9b45a313ab7bdc6f2d15f490c8" name="a20513c9b45a313ab7bdc6f2d15f490c8"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a20513c9b45a313ab7bdc6f2d15f490c8">&#9670;&#160;</a></span>provider()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>capability</em></td><td>)</td>
-          <td></td>
-        </tr>
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-
-<p>Get provider of capability. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">capability</td><td>capability of which the provider is requested </td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>provider name </dd></dl>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>capability</em></td><td>)</td>
-          <td></td>
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-<p>Remove a given runner. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">capability</td><td>capability to be removed </td></tr>
-    <tr><td class="paramname">bond_id</td><td>bond_id of the capability instance to be removed</td></tr>
-  </table>
-  </dd>
-</dl>
-<p>This will stop the runner and remove it from the cache. If the runner is not found then an error is thrown. </p>
-
-</div>
-</div>
-<a id="a278cd90fadd01341151fb48b8c93745e" name="a278cd90fadd01341151fb48b8c93745e"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a278cd90fadd01341151fb48b8c93745e">&#9670;&#160;</a></span>running()</h2>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>capability</em></td><td>)</td>
-          <td></td>
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-<p>Check if a capability has a runner. </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">capability</td><td></td></tr>
-  </table>
-  </dd>
-</dl>
-<dl class="section return"><dt>Returns</dt><dd>true </dd>
-<dd>
-false </dd></dl>
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-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>capability</em></td><td>)</td>
-          <td></td>
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-<p>get started_by of capability </p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">capability</td><td>capability of which the started_by is requested </td></tr>
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-  </dd>
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-          <td>(</td>
-          <td class="paramtype">const std::string &amp;&#160;</td>
-          <td class="paramname"><em>bond_id</em>, </td>
-        </tr>
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-          <td class="paramkey"></td>
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-          <td class="paramkey"></td>
-          <td></td>
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-          <td class="paramname"><em>instance_id</em>, </td>
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-          <td class="paramkey"></td>
-          <td></td>
-          <td class="paramtype"><a class="el" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&#160;</td>
-          <td class="paramname"><em>parameters</em>&#160;</td>
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-          <td></td>
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-          <td></td><td></td>
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-<p>Trigger a runner in the cache. </p>
-<p>xml parameters are used</p>
-<dl class="params"><dt>Parameters</dt><dd>
-  <table class="params">
-    <tr><td class="paramname">capability</td><td>capability name to be loaded </td></tr>
-    <tr><td class="paramname">parameters</td><td>parameters related to the runner in std::string form for compatibility across various runners </td></tr>
-    <tr><td class="paramname">bond_id</td><td>unique identifier for the group on connections associated with this runner trigger </td></tr>
-    <tr><td class="paramname">instance_id</td><td>unique identifier for the instance of the capability </td></tr>
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-</div>
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-<hr/>The documentation for this class was generated from the following file:<ul>
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-<a href="db__base_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;<a class="code" href="interface_8hpp.html">capabilities2_server/models/interface.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="semantic__interface_8hpp.html">capabilities2_server/models/semantic_interface.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;<a class="code" href="provider_8hpp.html">capabilities2_server/models/provider.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="remappable__base_8hpp.html">capabilities2_server/models/remappable_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="running_8hpp.html">capabilities2_server/models/running.hpp</a>&gt;</span></div>
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-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
-<div class="foldopen" id="foldopen00013" data-start="{" data-end="};">
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html">   13</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1DBBase.html">DBBase</a></div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">public</span>:</div>
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-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>  <span class="comment">/* inserters */</span></div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>  <span class="comment">// insert interface</span></div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a2e631fa1b823bdeb503e5b4ebdf09b82">   22</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a2e631fa1b823bdeb503e5b4ebdf09b82">insert_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&amp; interface) = 0;</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  <span class="comment">// insert semantic interface</span></div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a26f67efa62c5964604f26ce926793134">   25</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a26f67efa62c5964604f26ce926793134">insert_semantic_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&amp; semantic_interface) = 0;</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>  <span class="comment">// insert provider</span></div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a9c164a0de5d6fe507d5c1a4a55544277">   28</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a9c164a0de5d6fe507d5c1a4a55544277">insert_provider</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&amp; provider) = 0;</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
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-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  <span class="comment">// get interface</span></div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">   33</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">get_interface</a>(<span class="keyword">const</span> std::string&amp; name) = 0;</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  <span class="comment">// get interfaces</span></div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">   36</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::interface_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">get_interfaces</a>() = 0;</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>  <span class="comment">// get semantic interface</span></div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">   39</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">get_semantic_interface</a>(<span class="keyword">const</span> std::string&amp; name) = 0;</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>  <span class="comment">// get semantic interfaces</span></div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#aa568f8af482c3c94933baf37e4e94413">   42</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::semantic_interface_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#aa568f8af482c3c94933baf37e4e94413">get_semantic_interfaces</a>() = 0;</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>  <span class="comment">// get provider</span></div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">   45</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">get_provider</a>(<span class="keyword">const</span> std::string&amp; name) = 0;</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  <span class="comment">// get providers</span></div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a76d7ce342e2a4d5930717437a190ec5b">   48</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::provider_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a76d7ce342e2a4d5930717437a190ec5b">get_providers</a>() = 0;</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span> </div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">   58</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">get_remappable</a>(<span class="keyword">const</span> std::string&amp; name) = 0;</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>  <span class="comment">/* updaters */</span></div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  <span class="comment">// update interface</span></div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a8ef578c5c658448b2898eb8148c1c399">   63</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a8ef578c5c658448b2898eb8148c1c399">update_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a>&amp; interface) = 0;</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>  <span class="comment">// update semantic interface</span></div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a2f2ac558c6c1563e7f94c95594a04ef5">   66</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a2f2ac558c6c1563e7f94c95594a04ef5">update_semantic_interface</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a>&amp; semantic_interface) = 0;</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>  <span class="comment">// update provider</span></div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a422b18b726f0afedba3532d416ba77f9">   69</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a422b18b726f0afedba3532d416ba77f9">update_provider</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a>&amp; provider) = 0;</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>  <span class="comment">/* foreign keys */</span></div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>  <span class="comment">// get providers by interface</span></div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a7e3aaa33b84b31afd25d2e60ff2b2e92">   74</a></span>  <span class="keyword">virtual</span> std::vector&lt;models::provider_model_t&gt; <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a7e3aaa33b84b31afd25d2e60ff2b2e92">get_providers_by_interface</a>(<span class="keyword">const</span> std::string&amp; interface_name) = 0;</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>  <span class="comment">// get semantic interfaces by interface</span></div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>  <span class="keyword">virtual</span> std::vector&lt;models::semantic_interface_model_t&gt;</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a55534cfabcb9d0f6434c9384ba413c66">   78</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a55534cfabcb9d0f6434c9384ba413c66">get_semantic_interfaces_by_interface</a>(<span class="keyword">const</span> std::string&amp; interface_name) = 0;</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>  <span class="comment">// get running model from provider</span></div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">   81</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1running__model__t.html">models::running_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">get_running</a>(<span class="keyword">const</span> std::string&amp; provider_name) = 0;</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>  <span class="comment">// apply a remapping to a specification model</span></div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a3ce61c146ff1a5bbea444efc503fcac8">   84</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a3ce61c146ff1a5bbea444efc503fcac8">apply_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">models::specification_model_t</a>&amp; spec, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappable__base__t.html">models::remappable_base_t</a>&amp; remappable) = 0;</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>  <span class="comment">// apply semantics to interface</span></div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a8e6b541fd85a3a96fe9cf0f854786372">   87</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a8e6b541fd85a3a96fe9cf0f854786372">apply_semantic_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">models::semantic_interface_model_t</a> semantic) = 0;</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>  <span class="comment">// apply provider remappings</span></div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a33858ef496c7de81c1b6a4f5fe047dcc">   90</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">models::interface_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a33858ef496c7de81c1b6a4f5fe047dcc">apply_provider_remappings</a>(<a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1provider__model__t.html">models::provider_model_t</a> provider) = 0;</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>  <span class="comment">// get run config model</span></div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">   93</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">get_run_config</a>(<span class="keyword">const</span> std::string&amp; provider_name) = 0;</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>  <span class="comment">// exists in db templated by model type</span></div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div>
-<div class="foldopen" id="foldopen00097" data-start="{" data-end="}">
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">   97</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">exists</a>(<span class="keyword">const</span> std::string&amp; resource_name)</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>  {</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">// clearly not in db as it does not match a valid model type</span></div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">&quot;invalid model type&quot;</span>);</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>  }</div>
-</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>  <span class="comment">// exists in db anywhere</span></div>
-<div class="foldopen" id="foldopen00104" data-start="{" data-end="}">
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">  104</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">exists_any</a>(<span class="keyword">const</span> std::string&amp; resource_name)</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>  {</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    <span class="comment">// query all tables for name</span></div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>    <span class="comment">// if name is in any table, then it exists</span></div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <span class="keywordflow">return</span> !<a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#abf14e11a090bdbe9fd96bc04f498b703">get_interface</a>(resource_name).<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty() ||</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>           !<a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">get_semantic_interface</a>(resource_name).<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty() ||</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>           !<a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">get_provider</a>(resource_name).<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty();</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>  }</div>
-</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span> </div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#a4f87c768118f852d3c0945d4d45d6c7b">  114</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#a4f87c768118f852d3c0945d4d45d6c7b">open</a>() = 0;</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#ae00a3ede155478862be6f4ba8881ff9c">  115</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#ae00a3ede155478862be6f4ba8881ff9c">close</a>() = 0;</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1DBBase.html#aee888f726ca6acde1dbd6d7bbb67cd4a">  116</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1DBBase.html#aee888f726ca6acde1dbd6d7bbb67cd4a">create_tables</a>() = 0;</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>};</div>
-</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span><span class="comment">// &#39;exists&#39; template specializations</span></div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span><span class="comment">// interface exists in db</span></div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span><span class="keyword">template</span> &lt;&gt;</div>
-<div class="foldopen" id="foldopen00122" data-start="{" data-end="}">
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#a6e3d2cbc55c111a6f09bb9adbbf91977">  122</a></span><span class="keywordtype">bool</span> DBBase::exists&lt;models::interface_model_t&gt;(<span class="keyword">const</span> std::string&amp; resource_name)</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>{</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>  <span class="keywordflow">return</span> !get_interface(resource_name).header.name.empty();</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>}</div>
-</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span><span class="comment">// semantic interface exists in db</span></div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span><span class="keyword">template</span> &lt;&gt;</div>
-<div class="foldopen" id="foldopen00129" data-start="{" data-end="}">
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#a01ea1d7937d31e53be0186ccbbded6cd">  129</a></span><span class="keywordtype">bool</span> DBBase::exists&lt;models::semantic_interface_model_t&gt;(<span class="keyword">const</span> std::string&amp; resource_name)</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>{</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>  <span class="keywordflow">return</span> !get_semantic_interface(resource_name).header.name.empty();</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>}</div>
-</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span><span class="comment">// provider exists in db</span></div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span><span class="keyword">template</span> &lt;&gt;</div>
-<div class="foldopen" id="foldopen00136" data-start="{" data-end="}">
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#a30c6a598ad096b7253c2b1217c9ddce6">  136</a></span><span class="keywordtype">bool</span> DBBase::exists&lt;models::provider_model_t&gt;(<span class="keyword">const</span> std::string&amp; resource_name)</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>{</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  <span class="keywordflow">return</span> !get_provider(resource_name).header.name.empty();</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>}</div>
-</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span> </div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html">capabilities2_server::DBBase</a></div><div class="ttdef"><b>Definition</b> db_base.hpp:14</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a1baa8d0c23479b279f326cd46066aefc"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a1baa8d0c23479b279f326cd46066aefc">capabilities2_server::DBBase::get_run_config</a></div><div class="ttdeci">virtual models::run_config_model_t get_run_config(const std::string &amp;provider_name)=0</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a1cdfd02055ff2da5da686e6f1a18d13f"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a1cdfd02055ff2da5da686e6f1a18d13f">capabilities2_server::DBBase::get_remappable</a></div><div class="ttdeci">virtual models::remappable_base_t get_remappable(const std::string &amp;name)=0</div><div class="ttdoc">Get remappable model by name.</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a26f67efa62c5964604f26ce926793134"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a26f67efa62c5964604f26ce926793134">capabilities2_server::DBBase::insert_semantic_interface</a></div><div class="ttdeci">virtual void insert_semantic_interface(const models::semantic_interface_model_t &amp;semantic_interface)=0</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a2e631fa1b823bdeb503e5b4ebdf09b82"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a2e631fa1b823bdeb503e5b4ebdf09b82">capabilities2_server::DBBase::insert_interface</a></div><div class="ttdeci">virtual void insert_interface(const models::interface_model_t &amp;interface)=0</div></div>
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-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a3243648e7ac9ee0a7cd3e4fb35c920cb"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a3243648e7ac9ee0a7cd3e4fb35c920cb">capabilities2_server::DBBase::~DBBase</a></div><div class="ttdeci">virtual ~DBBase()=default</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a33858ef496c7de81c1b6a4f5fe047dcc"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a33858ef496c7de81c1b6a4f5fe047dcc">capabilities2_server::DBBase::apply_provider_remappings</a></div><div class="ttdeci">virtual models::interface_model_t apply_provider_remappings(models::provider_model_t provider)=0</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a357eee3862ce2b244753561bf43247af"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a357eee3862ce2b244753561bf43247af">capabilities2_server::DBBase::exists_any</a></div><div class="ttdeci">virtual bool exists_any(const std::string &amp;resource_name)</div><div class="ttdef"><b>Definition</b> db_base.hpp:104</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a3ce61c146ff1a5bbea444efc503fcac8"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a3ce61c146ff1a5bbea444efc503fcac8">capabilities2_server::DBBase::apply_remappings</a></div><div class="ttdeci">virtual void apply_remappings(models::specification_model_t &amp;spec, const models::remappable_base_t &amp;remappable)=0</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a422b18b726f0afedba3532d416ba77f9"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a422b18b726f0afedba3532d416ba77f9">capabilities2_server::DBBase::update_provider</a></div><div class="ttdeci">virtual void update_provider(const models::provider_model_t &amp;provider)=0</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a4f87c768118f852d3c0945d4d45d6c7b"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a4f87c768118f852d3c0945d4d45d6c7b">capabilities2_server::DBBase::open</a></div><div class="ttdeci">virtual void open()=0</div></div>
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-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a7e3aaa33b84b31afd25d2e60ff2b2e92"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a7e3aaa33b84b31afd25d2e60ff2b2e92">capabilities2_server::DBBase::get_providers_by_interface</a></div><div class="ttdeci">virtual std::vector&lt; models::provider_model_t &gt; get_providers_by_interface(const std::string &amp;interface_name)=0</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a8039f4e932039c398c1f46cc3e018a70"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a8039f4e932039c398c1f46cc3e018a70">capabilities2_server::DBBase::exists</a></div><div class="ttdeci">bool exists(const std::string &amp;resource_name)</div><div class="ttdef"><b>Definition</b> db_base.hpp:97</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a86052bfef2ad74e6d00ad4139509000d"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a86052bfef2ad74e6d00ad4139509000d">capabilities2_server::DBBase::get_running</a></div><div class="ttdeci">virtual models::running_model_t get_running(const std::string &amp;provider_name)=0</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a87b94d8ecedda3792f2b69d669b82602"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a87b94d8ecedda3792f2b69d669b82602">capabilities2_server::DBBase::get_provider</a></div><div class="ttdeci">virtual models::provider_model_t get_provider(const std::string &amp;name)=0</div></div>
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-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a8ef578c5c658448b2898eb8148c1c399"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a8ef578c5c658448b2898eb8148c1c399">capabilities2_server::DBBase::update_interface</a></div><div class="ttdeci">virtual void update_interface(const models::interface_model_t &amp;interface)=0</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_a9c164a0de5d6fe507d5c1a4a55544277"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#a9c164a0de5d6fe507d5c1a4a55544277">capabilities2_server::DBBase::insert_provider</a></div><div class="ttdeci">virtual void insert_provider(const models::provider_model_t &amp;provider)=0</div></div>
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-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_ab62ed1810957d69e7c95198337e3a882"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#ab62ed1810957d69e7c95198337e3a882">capabilities2_server::DBBase::get_interfaces</a></div><div class="ttdeci">virtual std::vector&lt; models::interface_model_t &gt; get_interfaces()=0</div></div>
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-<div class="ttc" id="aclasscapabilities2__server_1_1DBBase_html_af2568e0f4a1c256cb2e8388eb9e020ac"><div class="ttname"><a href="classcapabilities2__server_1_1DBBase.html#af2568e0f4a1c256cb2e8388eb9e020ac">capabilities2_server::DBBase::get_semantic_interface</a></div><div class="ttdeci">virtual models::semantic_interface_model_t get_semantic_interface(const std::string &amp;name)=0</div></div>
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-<a href="defineable__base_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
-<div class="foldopen" id="foldopen00009" data-start="{" data-end="}">
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server_1_1models.html">    9</a></span><span class="keyword">namespace </span>models</div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
-<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">   21</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">defineable_base_t</a></div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  <span class="comment">// the definition stored as a string</span></div>
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-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  <span class="comment">// is the definition valid</span></div>
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-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
-<div class="foldopen" id="foldopen00028" data-start="{" data-end="}">
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-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>      <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a> = node[<span class="stringliteral">&quot;definition&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>      <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a5d607a31ac2fa6e91c3503795336b8f0">valid</a> = <span class="keyword">true</span>;</div>
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-<div class="foldopen" id="foldopen00038" data-start="{" data-end="}">
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-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a5d607a31ac2fa6e91c3503795336b8f0">valid</a>;</div>
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-</div>
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-</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>}  <span class="comment">// namespace models</span></div>
-</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">capabilities2_server::models::defineable_base_t</a></div><div class="ttdoc">defineable base</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:22</div></div>
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---font-family-title: Tahoma,Arial,sans-serif;
---font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
---font-family-search: Arial,Verdana,sans-serif;
---font-family-icon: Arial,Helvetica;
---font-family-tooltip: Roboto,sans-serif;
-
-}
-
-@media (prefers-color-scheme: dark) {
-  html:not(.dark-mode) {
-    color-scheme: dark;
-
-/* page base colors */
---page-background-color: black;
---page-foreground-color: #C9D1D9;
---page-link-color: #90A5CE;
---page-visited-link-color: #A3B4D7;
-
-/* index */
---index-odd-item-bg-color: #0B101A;
---index-even-item-bg-color: black;
---index-header-color: #C4CFE5;
---index-separator-color: #334975;
-
-/* header */
---header-background-color: #070B11;
---header-separator-color: #141C2E;
---header-gradient-image: url('nav_hd.png');
---group-header-separator-color: #283A5D;
---group-header-color: #90A5CE;
---inherit-header-color: #A0A0A0;
-
---footer-foreground-color: #5B7AB7;
---footer-logo-width: 60px;
---citation-label-color: #90A5CE;
---glow-color: cyan;
-
---title-background-color: #090D16;
---title-separator-color: #354C79;
---directory-separator-color: #283A5D;
---separator-color: #283A5D;
-
---blockquote-background-color: #101826;
---blockquote-border-color: #283A5D;
-
---scrollbar-thumb-color: #283A5D;
---scrollbar-background-color: #070B11;
-
---icon-background-color: #334975;
---icon-foreground-color: #C4CFE5;
---icon-doc-image: url('docd.svg');
---icon-folder-open-image: url('folderopend.svg');
---icon-folder-closed-image: url('folderclosedd.svg');
-
-/* brief member declaration list */
---memdecl-background-color: #0B101A;
---memdecl-separator-color: #2C3F65;
---memdecl-foreground-color: #BBB;
---memdecl-template-color: #7C95C6;
-
-/* detailed member list */
---memdef-border-color: #233250;
---memdef-title-background-color: #1B2840;
---memdef-title-gradient-image: url('nav_fd.png');
---memdef-proto-background-color: #19243A;
---memdef-proto-text-color: #9DB0D4;
---memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9);
---memdef-doc-background-color: black;
---memdef-param-name-color: #D28757;
---memdef-template-color: #7C95C6;
-
-/* tables */
---table-cell-border-color: #283A5D;
---table-header-background-color: #283A5D;
---table-header-foreground-color: #C4CFE5;
-
-/* labels */
---label-background-color: #354C7B;
---label-left-top-border-color: #4665A2;
---label-right-bottom-border-color: #283A5D;
---label-foreground-color: #CCCCCC;
-
-/** navigation bar/tree/menu */
---nav-background-color: #101826;
---nav-foreground-color: #364D7C;
---nav-gradient-image: url('tab_bd.png');
---nav-gradient-hover-image: url('tab_hd.png');
---nav-gradient-active-image: url('tab_ad.png');
---nav-gradient-active-image-parent: url("../tab_ad.png");
---nav-separator-image: url('tab_sd.png');
---nav-breadcrumb-image: url('bc_sd.png');
---nav-breadcrumb-border-color: #2A3D61;
---nav-splitbar-image: url('splitbard.png');
---nav-font-size-level1: 13px;
---nav-font-size-level2: 10px;
---nav-font-size-level3: 9px;
---nav-text-normal-color: #B6C4DF;
---nav-text-hover-color: #DCE2EF;
---nav-text-active-color: #DCE2EF;
---nav-text-normal-shadow: 0px 1px 1px black;
---nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-menu-button-color: #B6C4DF;
---nav-menu-background-color: #05070C;
---nav-menu-foreground-color: #BBBBBB;
---nav-menu-toggle-color: rgba(255, 255, 255, 0.2);
---nav-arrow-color: #334975;
---nav-arrow-selected-color: #90A5CE;
-
-/* table of contents */
---toc-background-color: #151E30;
---toc-border-color: #202E4A;
---toc-header-color: #A3B4D7;
---toc-down-arrow-image: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px'><text x='0' y='5' font-size='10' fill='grey'>&%238595;</text></svg>");
-
-/** search field */
---search-background-color: black;
---search-foreground-color: #C5C5C5;
---search-magnification-image: url('mag_d.svg');
---search-magnification-select-image: url('mag_seld.svg');
---search-active-color: #C5C5C5;
---search-filter-background-color: #101826;
---search-filter-foreground-color: #90A5CE;
---search-filter-border-color: #7C95C6;
---search-filter-highlight-text-color: #BCC9E2;
---search-filter-highlight-bg-color: #283A5D;
---search-results-background-color: #101826;
---search-results-foreground-color: #90A5CE;
---search-results-border-color: #7C95C6;
---search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C;
-
-/** code fragments */
---code-keyword-color: #CC99CD;
---code-type-keyword-color: #AB99CD;
---code-flow-keyword-color: #E08000;
---code-comment-color: #717790;
---code-preprocessor-color: #65CABE;
---code-string-literal-color: #7EC699;
---code-char-literal-color: #00E0F0;
---code-xml-cdata-color: #C9D1D9;
---code-vhdl-digit-color: #FF00FF;
---code-vhdl-char-color: #C0C0C0;
---code-vhdl-keyword-color: #CF53C9;
---code-vhdl-logic-color: #FF0000;
---code-link-color: #79C0FF;
---code-external-link-color: #79C0FF;
---fragment-foreground-color: #C9D1D9;
---fragment-background-color: black;
---fragment-border-color: #30363D;
---fragment-lineno-border-color: #30363D;
---fragment-lineno-background-color: black;
---fragment-lineno-foreground-color: #6E7681;
---fragment-lineno-link-fg-color: #6E7681;
---fragment-lineno-link-bg-color: #303030;
---fragment-lineno-link-hover-fg-color: #8E96A1;
---fragment-lineno-link-hover-bg-color: #505050;
---tooltip-foreground-color: #C9D1D9;
---tooltip-background-color: #202020;
---tooltip-border-color: #C9D1D9;
---tooltip-doc-color: #D9E1E9;
---tooltip-declaration-color: #20C348;
---tooltip-link-color: #79C0FF;
---tooltip-shadow: none;
---fold-line-color: #808080;
---fold-minus-image: url('minusd.svg');
---fold-plus-image: url('plusd.svg');
---fold-minus-image-relpath: url('../../minusd.svg');
---fold-plus-image-relpath: url('../../plusd.svg');
-
-/** font-family */
---font-family-normal: Roboto,sans-serif;
---font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
---font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
---font-family-title: Tahoma,Arial,sans-serif;
---font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
---font-family-search: Arial,Verdana,sans-serif;
---font-family-icon: Arial,Helvetica;
---font-family-tooltip: Roboto,sans-serif;
-
-}}
-body {
-    background-color: var(--page-background-color);
-    color: var(--page-foreground-color);
-}
-
-body, table, div, p, dl {
-	font-weight: 400;
-	font-size: 14px;
-	font-family: var(--font-family-normal);
-	line-height: 22px;
-}
-
-/* @group Heading Levels */
-
-.title {
-	font-weight: 400;
-	font-size: 14px;
-	font-family: var(--font-family-normal);
-	line-height: 28px;
-	font-size: 150%;
-	font-weight: bold;
-	margin: 10px 2px;
-}
-
-h1.groupheader {
-	font-size: 150%;
-}
-
-h2.groupheader {
-	border-bottom: 1px solid var(--group-header-separator-color);
-	color: var(--group-header-color);
-	font-size: 150%;
-	font-weight: normal;
-	margin-top: 1.75em;
-	padding-top: 8px;
-	padding-bottom: 4px;
-	width: 100%;
-}
-
-h3.groupheader {
-	font-size: 100%;
-}
-
-h1, h2, h3, h4, h5, h6 {
-	-webkit-transition: text-shadow 0.5s linear;
-	-moz-transition: text-shadow 0.5s linear;
-	-ms-transition: text-shadow 0.5s linear;
-	-o-transition: text-shadow 0.5s linear;
-	transition: text-shadow 0.5s linear;
-	margin-right: 15px;
-}
-
-h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
-	text-shadow: 0 0 15px var(--glow-color);
-}
-
-dt {
-	font-weight: bold;
-}
-
-p.startli, p.startdd {
-	margin-top: 2px;
-}
-
-th p.starttd, th p.intertd, th p.endtd {
-        font-size: 100%;
-        font-weight: 700;
-}
-
-p.starttd {
-	margin-top: 0px;
-}
-
-p.endli {
-	margin-bottom: 0px;
-}
-
-p.enddd {
-	margin-bottom: 4px;
-}
-
-p.endtd {
-	margin-bottom: 2px;
-}
-
-p.interli {
-}
-
-p.interdd {
-}
-
-p.intertd {
-}
-
-/* @end */
-
-caption {
-	font-weight: bold;
-}
-
-span.legend {
-	font-size: 70%;
-	text-align: center;
-}
-
-h3.version {
-	font-size: 90%;
-	text-align: center;
-}
-
-div.navtab {
-	padding-right: 15px;
-	text-align: right;
-	line-height: 110%;
-}
-
-div.navtab table {
-	border-spacing: 0;
-}
-
-td.navtab {
-	padding-right: 6px;
-	padding-left: 6px;
-}
-
-td.navtabHL {
-	background-image: var(--nav-gradient-active-image);
-	background-repeat:repeat-x;
-	padding-right: 6px;
-	padding-left: 6px;
-}
-
-td.navtabHL a, td.navtabHL a:visited {
-	color: var(--nav-text-hover-color);
-	text-shadow: var(--nav-text-hover-shadow);
-}
-
-a.navtab {
-	font-weight: bold;
-}
-
-div.qindex{
-	text-align: center;
-	width: 100%;
-	line-height: 140%;
-	font-size: 130%;
-	color: var(--index-separator-color);
-}
-
-#main-menu a:focus {
-	outline: auto;
-	z-index: 10;
-	position: relative;
-}
-
-dt.alphachar{
-	font-size: 180%;
-	font-weight: bold;
-}
-
-.alphachar a{
-	color: var(--index-header-color);
-}
-
-.alphachar a:hover, .alphachar a:visited{
-	text-decoration: none;
-}
-
-.classindex dl {
-	padding: 25px;
-	column-count:1
-}
-
-.classindex dd {
-	display:inline-block;
-	margin-left: 50px;
-	width: 90%;
-	line-height: 1.15em;
-}
-
-.classindex dl.even {
-	background-color: var(--index-even-item-bg-color);
-}
-
-.classindex dl.odd {
-	background-color: var(--index-odd-item-bg-color);
-}
-
-@media(min-width: 1120px) {
-	.classindex dl {
-		column-count:2
-	}
-}
-
-@media(min-width: 1320px) {
-	.classindex dl {
-		column-count:3
-	}
-}
-
-
-/* @group Link Styling */
-
-a {
-	color: var(--page-link-color);
-	font-weight: normal;
-	text-decoration: none;
-}
-
-.contents a:visited {
-	color: var(--page-visited-link-color);
-}
-
-a:hover {
-	text-decoration: underline;
-}
-
-a.el {
-	font-weight: bold;
-}
-
-a.elRef {
-}
-
-a.code, a.code:visited, a.line, a.line:visited {
-	color: var(--code-link-color);
-}
-
-a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
-	color: var(--code-external-link-color);
-}
-
-a.code.hl_class { /* style for links to class names in code snippets */ }
-a.code.hl_struct { /* style for links to struct names in code snippets */ }
-a.code.hl_union { /* style for links to union names in code snippets */ }
-a.code.hl_interface { /* style for links to interface names in code snippets */ }
-a.code.hl_protocol { /* style for links to protocol names in code snippets */ }
-a.code.hl_category { /* style for links to category names in code snippets */ }
-a.code.hl_exception { /* style for links to exception names in code snippets */ }
-a.code.hl_service { /* style for links to service names in code snippets */ }
-a.code.hl_singleton { /* style for links to singleton names in code snippets */ }
-a.code.hl_concept { /* style for links to concept names in code snippets */ }
-a.code.hl_namespace { /* style for links to namespace names in code snippets */ }
-a.code.hl_package { /* style for links to package names in code snippets */ }
-a.code.hl_define { /* style for links to macro names in code snippets */ }
-a.code.hl_function { /* style for links to function names in code snippets */ }
-a.code.hl_variable { /* style for links to variable names in code snippets */ }
-a.code.hl_typedef { /* style for links to typedef names in code snippets */ }
-a.code.hl_enumvalue { /* style for links to enum value names in code snippets */ }
-a.code.hl_enumeration { /* style for links to enumeration names in code snippets */ }
-a.code.hl_signal { /* style for links to Qt signal names in code snippets */ }
-a.code.hl_slot { /* style for links to Qt slot names in code snippets */ }
-a.code.hl_friend { /* style for links to friend names in code snippets */ }
-a.code.hl_dcop { /* style for links to KDE3 DCOP names in code snippets */ }
-a.code.hl_property { /* style for links to property names in code snippets */ }
-a.code.hl_event { /* style for links to event names in code snippets */ }
-a.code.hl_sequence { /* style for links to sequence names in code snippets */ }
-a.code.hl_dictionary { /* style for links to dictionary names in code snippets */ }
-
-/* @end */
-
-dl.el {
-	margin-left: -1cm;
-}
-
-ul {
-  overflow: visible;
-}
-
-ul.multicol {
-        -moz-column-gap: 1em;
-        -webkit-column-gap: 1em;
-        column-gap: 1em;
-        -moz-column-count: 3;
-        -webkit-column-count: 3;
-        column-count: 3;
-        list-style-type: none;
-}
-
-#side-nav ul {
-  overflow: visible; /* reset ul rule for scroll bar in GENERATE_TREEVIEW window */
-}
-
-#main-nav ul {
-  overflow: visible; /* reset ul rule for the navigation bar drop down lists */
-}
-
-.fragment {
-  text-align: left;
-  direction: ltr;
-  overflow-x: auto; /*Fixed: fragment lines overlap floating elements*/
-  overflow-y: hidden;
-}
-
-pre.fragment {
-        border: 1px solid var(--fragment-border-color);
-        background-color: var(--fragment-background-color);
-	color: var(--fragment-foreground-color);
-        padding: 4px 6px;
-        margin: 4px 8px 4px 2px;
-        overflow: auto;
-        word-wrap: break-word;
-        font-size:  9pt;
-        line-height: 125%;
-        font-family: var(--font-family-monospace);
-        font-size: 105%;
-}
-
-div.fragment {
-	padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/
-	margin: 4px 8px 4px 2px;
-	color: var(--fragment-foreground-color);
-	background-color: var(--fragment-background-color);
-	border: 1px solid var(--fragment-border-color);
-}
-
-div.line {
-	font-family: var(--font-family-monospace);
-        font-size: 13px;
-	min-height: 13px;
-	line-height: 1.2;
-	text-wrap: unrestricted;
-	white-space: -moz-pre-wrap; /* Moz */
-	white-space: -pre-wrap;     /* Opera 4-6 */
-	white-space: -o-pre-wrap;   /* Opera 7 */
-	white-space: pre-wrap;      /* CSS3  */
-	word-wrap: break-word;      /* IE 5.5+ */
-	text-indent: -53px;
-	padding-left: 53px;
-	padding-bottom: 0px;
-	margin: 0px;
-	-webkit-transition-property: background-color, box-shadow;
-	-webkit-transition-duration: 0.5s;
-	-moz-transition-property: background-color, box-shadow;
-	-moz-transition-duration: 0.5s;
-	-ms-transition-property: background-color, box-shadow;
-	-ms-transition-duration: 0.5s;
-	-o-transition-property: background-color, box-shadow;
-	-o-transition-duration: 0.5s;
-	transition-property: background-color, box-shadow;
-	transition-duration: 0.5s;
-}
-
-div.line:after {
-    content:"\000A";
-    white-space: pre;
-}
-
-div.line.glow {
-	background-color: var(--glow-color);
-	box-shadow: 0 0 10px var(--glow-color);
-}
-
-span.fold {
-        margin-left: 5px;
-        margin-right: 1px;
-        margin-top: 0px;
-        margin-bottom: 0px;
-        padding: 0px;
-	display: inline-block;
-	width: 12px;
-	height: 12px;
-	background-repeat:no-repeat;
-        background-position:center;
-}
-
-span.lineno {
-	padding-right: 4px;
-        margin-right: 9px;
-	text-align: right;
-	border-right: 2px solid var(--fragment-lineno-border-color);
-	color: var(--fragment-lineno-foreground-color);
-	background-color: var(--fragment-lineno-background-color);
-        white-space: pre;
-}
-span.lineno a, span.lineno a:visited {
-	color: var(--fragment-lineno-link-fg-color);
-	background-color: var(--fragment-lineno-link-bg-color);
-}
-
-span.lineno a:hover {
-	color: var(--fragment-lineno-link-hover-fg-color);
-	background-color: var(--fragment-lineno-link-hover-bg-color);
-}
-
-.lineno {
-	-webkit-touch-callout: none;
-	-webkit-user-select: none;
-	-khtml-user-select: none;
-	-moz-user-select: none;
-	-ms-user-select: none;
-	user-select: none;
-}
-
-div.classindex ul {
-        list-style: none;
-        padding-left: 0;
-}
-
-div.classindex span.ai {
-        display: inline-block;
-}
-
-div.groupHeader {
-	margin-left: 16px;
-	margin-top: 12px;
-	font-weight: bold;
-}
-
-div.groupText {
-	margin-left: 16px;
-	font-style: italic;
-}
-
-body {
-	color: var(--page-foreground-color);
-        margin: 0;
-}
-
-div.contents {
-	margin-top: 10px;
-	margin-left: 12px;
-	margin-right: 8px;
-}
-
-p.formulaDsp {
-	text-align: center;
-}
-
-img.dark-mode-visible {
-	display: none;
-}
-img.light-mode-visible {
-	display: none;
-}
-
-img.formulaDsp {
-	
-}
-
-img.formulaInl, img.inline {
-	vertical-align: middle;
-}
-
-div.center {
-	text-align: center;
-        margin-top: 0px;
-        margin-bottom: 0px;
-        padding: 0px;
-}
-
-div.center img {
-	border: 0px;
-}
-
-address.footer {
-	text-align: right;
-	padding-right: 12px;
-}
-
-img.footer {
-	border: 0px;
-	vertical-align: middle;
-	width: var(--footer-logo-width);
-}
-
-.compoundTemplParams {
-	color: var(--memdecl-template-color);
-	font-size: 80%;
-	line-height: 120%;
-}
-
-/* @group Code Colorization */
-
-span.keyword {
-	color: var(--code-keyword-color);
-}
-
-span.keywordtype {
-	color: var(--code-type-keyword-color);
-}
-
-span.keywordflow {
-	color: var(--code-flow-keyword-color);
-}
-
-span.comment {
-	color: var(--code-comment-color);
-}
-
-span.preprocessor {
-	color: var(--code-preprocessor-color);
-}
-
-span.stringliteral {
-	color: var(--code-string-literal-color);
-}
-
-span.charliteral {
-	color: var(--code-char-literal-color);
-}
-
-span.xmlcdata {
-	color: var(--code-xml-cdata-color);
-}
-
-span.vhdldigit { 
-	color: var(--code-vhdl-digit-color);
-}
-
-span.vhdlchar { 
-	color: var(--code-vhdl-char-color);
-}
-
-span.vhdlkeyword { 
-	color: var(--code-vhdl-keyword-color);
-}
-
-span.vhdllogic { 
-	color: var(--code-vhdl-logic-color);
-}
-
-blockquote {
-        background-color: var(--blockquote-background-color);
-        border-left: 2px solid var(--blockquote-border-color);
-        margin: 0 24px 0 4px;
-        padding: 0 12px 0 16px;
-}
-
-/* @end */
-
-td.tiny {
-	font-size: 75%;
-}
-
-.dirtab {
-	padding: 4px;
-	border-collapse: collapse;
-	border: 1px solid var(--table-cell-border-color);
-}
-
-th.dirtab {
-	background-color: var(--table-header-background-color);
-	color: var(--table-header-foreground-color);
-	font-weight: bold;
-}
-
-hr {
-	height: 0px;
-	border: none;
-	border-top: 1px solid var(--separator-color);
-}
-
-hr.footer {
-	height: 1px;
-}
-
-/* @group Member Descriptions */
-
-table.memberdecls {
-	border-spacing: 0px;
-	padding: 0px;
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deleted file mode 100644
index 79a7635..0000000
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diff --git a/docs/html/dynsections.js b/docs/html/dynsections.js
deleted file mode 100644
index b73c828..0000000
--- a/docs/html/dynsections.js
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- @licstart  The following is the entire license notice for the JavaScript code in this file.
-
- The MIT License (MIT)
-
- Copyright (C) 1997-2020 by Dimitri van Heesch
-
- Permission is hereby granted, free of charge, to any person obtaining a copy of this software
- and associated documentation files (the "Software"), to deal in the Software without restriction,
- including without limitation the rights to use, copy, modify, merge, publish, distribute,
- sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all copies or
- substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
- BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
- @licend  The above is the entire license notice for the JavaScript code in this file
- */
-function toggleVisibility(linkObj)
-{
- var base = $(linkObj).attr('id');
- var summary = $('#'+base+'-summary');
- var content = $('#'+base+'-content');
- var trigger = $('#'+base+'-trigger');
- var src=$(trigger).attr('src');
- if (content.is(':visible')===true) {
-   content.hide();
-   summary.show();
-   $(linkObj).addClass('closed').removeClass('opened');
-   $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png');
- } else {
-   content.show();
-   summary.hide();
-   $(linkObj).removeClass('closed').addClass('opened');
-   $(trigger).attr('src',src.substring(0,src.length-10)+'open.png');
- }
- return false;
-}
-
-function updateStripes()
-{
-  $('table.directory tr').
-       removeClass('even').filter(':visible:even').addClass('even');
-  $('table.directory tr').
-       removeClass('odd').filter(':visible:odd').addClass('odd');
-}
-
-function toggleLevel(level)
-{
-  $('table.directory tr').each(function() {
-    var l = this.id.split('_').length-1;
-    var i = $('#img'+this.id.substring(3));
-    var a = $('#arr'+this.id.substring(3));
-    if (l<level+1) {
-      i.removeClass('iconfopen iconfclosed').addClass('iconfopen');
-      a.html('&#9660;');
-      $(this).show();
-    } else if (l==level+1) {
-      i.removeClass('iconfclosed iconfopen').addClass('iconfclosed');
-      a.html('&#9658;');
-      $(this).show();
-    } else {
-      $(this).hide();
-    }
-  });
-  updateStripes();
-}
-
-function toggleFolder(id)
-{
-  // the clicked row
-  var currentRow = $('#row_'+id);
-
-  // all rows after the clicked row
-  var rows = currentRow.nextAll("tr");
-
-  var re = new RegExp('^row_'+id+'\\d+_$', "i"); //only one sub
-
-  // only match elements AFTER this one (can't hide elements before)
-  var childRows = rows.filter(function() { return this.id.match(re); });
-
-  // first row is visible we are HIDING
-  if (childRows.filter(':first').is(':visible')===true) {
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-<a href="encap__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;capabilities2_runner/notrigger_action_runner.hpp&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;capabilities2_msgs/action/capability.hpp&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> ActionT&gt;</div>
-<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html">   21</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1EnCapRunner.html">EnCapRunner</a> : <span class="keyword">public</span> NoTriggerActionRunner&lt;ActionT&gt;</div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a0bbf60f7f885bc1dddffe90635854bad">   24</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a0bbf60f7f885bc1dddffe90635854bad">EnCapRunner</a>() : NoTriggerActionRunner()</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  {</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>  }</div>
-</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
-<div class="foldopen" id="foldopen00040" data-start="{" data-end="}">
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a7782f8488a37196d1246fef965c75443">   40</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a7782f8488a37196d1246fef965c75443">init_encapsulated_action</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config,</div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>                                        <span class="keyword">const</span> std::string&amp; action_name, std::function&lt;<span class="keywordtype">void</span>(Event&amp;)&gt; print)</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>  {</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// init the base action runner</span></div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    init_action(node, run_config, action_name, print);</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="comment">// create an encapsulating action server</span></div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a> = rclcpp_action::create_server&lt;capabilities2_msgs::action::Capability&gt;(</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        node_, <span class="stringliteral">&quot;~/encap/&quot;</span> + get_provider(),</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">EnCapRunner::handle_goal</a>, <span class="keyword">this</span>, std::placeholders::_1, std::placeholders::_2),</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">EnCapRunner::handle_cancel</a>, <span class="keyword">this</span>, std::placeholders::_1),</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>        std::bind(&amp;<a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">EnCapRunner::handle_accepted</a>, <span class="keyword">this</span>, std::placeholders::_1));</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>  }</div>
-</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
-<div class="foldopen" id="foldopen00060" data-start="{" data-end="}">
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a68e87f8c49301e1e001c232a80fa2f16">   60</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a68e87f8c49301e1e001c232a80fa2f16">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// stop the encapsulating action server</span></div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a>-&gt;cancel_all_goals();</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a>.reset();</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="comment">// stop the base class</span></div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">ActionRunner::stop</a>(bond_id, instance_id);</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="comment">// emit stopped event</span></div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    emit_stopped(bond_id, instance_id, param_on_stopped());</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>  }</div>
-</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>  <span class="comment">// encapsulated action server related functions</span></div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">   80</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#abdb6db0942e157b1776dff2cea32de55">handle_goal</a>(<span class="keyword">const</span> rclcpp_action::GoalUUID&amp; uuid,</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>                           std::shared_ptr&lt;const capabilities2_msgs::action::Capability::Goal&gt; goal);</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">   88</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#a25706ef80e4653174c2160d92c6b2d43">handle_cancel</a>(</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>      <span class="keyword">const</span> std::shared_ptr&lt;rclcpp_action::ServerGoalHandle&lt;capabilities2_msgs::action::Capability&gt;&gt; goal_handle);</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">   96</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1EnCapRunner.html#ab198a797528098b90802453b8878dc58">handle_accepted</a>(</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>      <span class="keyword">const</span> std::shared_ptr&lt;rclcpp_action::ServerGoalHandle&lt;capabilities2_msgs::action::Capability&gt;&gt; goal_handle);</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">  101</a></span>  std::shared_ptr&lt;rclcpp_action::Server&lt;capabilities2_msgs::action::Capability&gt;&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1EnCapRunner.html#a7b6879449e5623ebc4cf78a5e8c9dd02">encap_action_</a>;</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>};</div>
-</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ActionRunner_html_a0417718f4ad7a9318169a14abb182fa5"><div class="ttname"><a href="classcapabilities2__runner_1_1ActionRunner.html#a0417718f4ad7a9318169a14abb182fa5">capabilities2_runner::ActionRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> action_runner.hpp:68</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html">capabilities2_runner::EnCapRunner</a></div><div class="ttdoc">encapsulated capability runner</div><div class="ttdef"><b>Definition</b> encap_runner.hpp:22</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1EnCapRunner_html_a0bbf60f7f885bc1dddffe90635854bad"><div class="ttname"><a href="classcapabilities2__runner_1_1EnCapRunner.html#a0bbf60f7f885bc1dddffe90635854bad">capabilities2_runner::EnCapRunner::EnCapRunner</a></div><div class="ttdeci">EnCapRunner()</div><div class="ttdef"><b>Definition</b> encap_runner.hpp:24</div></div>
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-<a href="event__base_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="event__parameters_8hpp.html">capabilities2_events/event_parameters.hpp</a>&gt;</span></div>
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-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
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-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html">   42</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__events_1_1EventBase.html">EventBase</a></div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>{</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">   45</a></span>  <span class="keyword">typedef</span> std::string <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a>;</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">   46</a></span>  <span class="keyword">typedef</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97">parameter_t</a>;</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">   47</a></span>  <span class="keyword">typedef</span> std::string <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a>;</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">   48</a></span>  <span class="keyword">typedef</span> std::string <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a>;</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">   49</a></span>  <span class="keyword">typedef</span> std::function&lt;void(<span class="keyword">const</span> <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b">access_id_t</a>&amp;, <span class="keyword">const</span> <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capability_str_t</a>&amp;, <span class="keyword">const</span> <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">target_instance_id_t</a>&amp;, <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">parameter_t</a>)&gt; <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a>;</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00052" data-start="{" data-end="}">
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">   52</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">EventBase</a>()</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>  {</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  }</div>
-</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">   56</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">~EventBase</a>() = <span class="keywordflow">default</span>;</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
-<div class="foldopen" id="foldopen00071" data-start="{" data-end="}">
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">   71</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">emit</a>(<span class="keyword">const</span> std::string&amp; connection_id, <span class="keyword">const</span> uint8_t&amp; event_code,</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>                    <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; source,</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>                    <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; target, <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">event_callback_t</a> callback)</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>  {</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// extract bond_id from connection_id (format: &quot;bond_id/instance_id/target_instance_id&quot;)</span></div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordtype">size_t</span> first_pos = connection_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    std::string bond_id = (first_pos != std::string::npos) ? connection_id.substr(0, first_pos) : connection_id;</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="comment">// do callback with bond_id for access control</span></div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordflow">if</span> (callback)</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    {</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      callback(bond_id, target.capability, target.instance_id, <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>(target));</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    }</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>  }</div>
-</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#af933897ae9b7098b051cc1fcdb74968f">   92</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#af933897ae9b7098b051cc1fcdb74968f">on_server_ready</a>(<span class="keyword">const</span> std::string&amp; msg) = 0;</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a9a583f7cfb886ba392d2c76e83e30bfb">   99</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a9a583f7cfb886ba392d2c76e83e30bfb">on_process_launched</a>(<span class="keyword">const</span> std::string&amp; pid) = 0;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a021776e08657b8cf8f1b1f9926201f97">  106</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a021776e08657b8cf8f1b1f9926201f97">on_process_terminated</a>(<span class="keyword">const</span> std::string&amp; pid) = 0;</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#afad67998148a34956d1e68aa93c57ce0">  113</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#afad67998148a34956d1e68aa93c57ce0">on_triggered</a>(<span class="keyword">const</span> std::string&amp; trigger_id) = 0;</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#a6deb16537eaa81d11acf71bc47c1a900">  121</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a6deb16537eaa81d11acf71bc47c1a900">on_connected</a>(<span class="keyword">const</span> std::string&amp; source, <span class="keyword">const</span> std::string&amp; target) = 0;</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventBase.html#ab49fc1628a210ce16cb2c9e79e27f528">  129</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#ab49fc1628a210ce16cb2c9e79e27f528">on_disconnected</a>(<span class="keyword">const</span> std::string&amp; source, <span class="keyword">const</span> std::string&amp; target) = 0;</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>};</div>
-</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>}  <span class="comment">// namespace capabilities2_events</span></div>
-</div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></div><div class="ttdoc">event base class</div><div class="ttdef"><b>Definition</b> event_base.hpp:43</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a01410f9659983468b791d4aaf0c563f7"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a01410f9659983468b791d4aaf0c563f7">capabilities2_events::EventBase::~EventBase</a></div><div class="ttdeci">~EventBase()=default</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a01f110c6b7c9517f8f8ae134b8b22c8e"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">capabilities2_events::EventBase::event_callback_t</a></div><div class="ttdeci">std::function&lt; void(const access_id_t &amp;, const capability_str_t &amp;, const target_instance_id_t &amp;, parameter_t)&gt; event_callback_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:49</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a021776e08657b8cf8f1b1f9926201f97"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a021776e08657b8cf8f1b1f9926201f97">capabilities2_events::EventBase::on_process_terminated</a></div><div class="ttdeci">virtual void on_process_terminated(const std::string &amp;pid)=0</div><div class="ttdoc">on process terminated event</div></div>
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-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a0fadc2464ce9a54a913aa55e806b7d8c"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">capabilities2_events::EventBase::emit</a></div><div class="ttdeci">virtual void emit(const std::string &amp;connection_id, const uint8_t &amp;event_code, const capabilities2_msgs::msg::Capability &amp;source, const capabilities2_msgs::msg::Capability &amp;target, event_callback_t callback)</div><div class="ttdoc">emit an event</div><div class="ttdef"><b>Definition</b> event_base.hpp:71</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a19f418e37fa9e7c9fe06680b265ceeef"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a19f418e37fa9e7c9fe06680b265ceeef">capabilities2_events::EventBase::EventBase</a></div><div class="ttdeci">EventBase()</div><div class="ttdef"><b>Definition</b> event_base.hpp:52</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a62651f0f057c4b561ae19578ba5c5822"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822">capabilities2_events::EventBase::capability_str_t</a></div><div class="ttdeci">std::string capability_str_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:45</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a6deb16537eaa81d11acf71bc47c1a900"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a6deb16537eaa81d11acf71bc47c1a900">capabilities2_events::EventBase::on_connected</a></div><div class="ttdeci">virtual void on_connected(const std::string &amp;source, const std::string &amp;target)=0</div><div class="ttdoc">on connected event from server</div></div>
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-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a9a583f7cfb886ba392d2c76e83e30bfb"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a9a583f7cfb886ba392d2c76e83e30bfb">capabilities2_events::EventBase::on_process_launched</a></div><div class="ttdeci">virtual void on_process_launched(const std::string &amp;pid)=0</div><div class="ttdoc">on process launched event</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_ab49fc1628a210ce16cb2c9e79e27f528"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#ab49fc1628a210ce16cb2c9e79e27f528">capabilities2_events::EventBase::on_disconnected</a></div><div class="ttdeci">virtual void on_disconnected(const std::string &amp;source, const std::string &amp;target)=0</div><div class="ttdoc">on disconnected event from server</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_ada022c0828aaa8cd023f4cebda9b8209"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209">capabilities2_events::EventBase::target_instance_id_t</a></div><div class="ttdeci">std::string target_instance_id_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:48</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_af933897ae9b7098b051cc1fcdb74968f"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#af933897ae9b7098b051cc1fcdb74968f">capabilities2_events::EventBase::on_server_ready</a></div><div class="ttdeci">virtual void on_server_ready(const std::string &amp;msg)=0</div><div class="ttdoc">on server ready event</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_afad67998148a34956d1e68aa93c57ce0"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#afad67998148a34956d1e68aa93c57ce0">capabilities2_events::EventBase::on_triggered</a></div><div class="ttdeci">virtual void on_triggered(const std::string &amp;trigger_id)=0</div><div class="ttdoc">on triggered event from server</div></div>
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-<div class="ttc" id="anamespacecapabilities2__events_html"><div class="ttname"><a href="namespacecapabilities2__events.html">capabilities2_events</a></div><div class="ttdef"><b>Definition</b> event_base.hpp:14</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html">capabilities2_events::event_exception</a></div><div class="ttdoc">event exception</div><div class="ttdef"><b>Definition</b> event_base.hpp:22</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html_a44b87bc6a5964f8f3eeadf062df8fbe3"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">capabilities2_events::event_exception::what</a></div><div class="ttdeci">virtual const char * what() const noexcept override</div><div class="ttdef"><b>Definition</b> event_base.hpp:29</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html_ad7d805afcac28ab78f9323bd6a740962"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html#ad7d805afcac28ab78f9323bd6a740962">capabilities2_events::event_exception::event_exception</a></div><div class="ttdeci">event_exception(const std::string &amp;what)</div><div class="ttdef"><b>Definition</b> event_base.hpp:25</div></div>
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diff --git a/docs/html/event__node_8hpp__incl.map b/docs/html/event__node_8hpp__incl.map
deleted file mode 100644
index 7ecbac2..0000000
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-<a href="event__node_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;<a class="code" href="uuid__generator_8hpp.html">capabilities2_events/uuid_generator.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="preprocessor">#include &lt;<a class="code" href="event__base_8hpp.html">capabilities2_events/event_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</span></div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_event_code.hpp&gt;</span></div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_connection.hpp&gt;</span></div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__events.html">capabilities2_events</a></div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>{</div>
-<div class="foldopen" id="foldopen00025" data-start="{" data-end="};">
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html">   25</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__events_1_1EventNode.html">EventNode</a></div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>{</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="keyword">private</span>:</div>
-<div class="foldopen" id="foldopen00035" data-start="{" data-end="};">
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">   35</a></span>  <span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">EventPipe</a></div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  {</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="comment">// connection type</span></div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a6ba64f70d3638982a9ed986a57b30e5b">   38</a></span>    capabilities2_msgs::msg::CapabilityEventCode <a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a6ba64f70d3638982a9ed986a57b30e5b">type</a>;</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="comment">// connection target</span></div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a94675fdb0b3dd0e0f490b2878da45b33">   41</a></span>    capabilities2_msgs::msg::Capability <a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a94675fdb0b3dd0e0f490b2878da45b33">target</a>;</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// event callback with signature: (capability, parameters, bond_id)</span></div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a16c36ae362fd1de3c6046acbe0307c40">   44</a></span>    <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> <a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a16c36ae362fd1de3c6046acbe0307c40">callback</a>;</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>  };</div>
-</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">   48</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">EventNode</a>(std::shared_ptr&lt;EventBase&gt; event_emitter = <span class="keyword">nullptr</span>)</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    : <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a>(<a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a>::gen_uuid_str()), <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>(), <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>(event_emitter), <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>()</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  {</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>  }</div>
-</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">   53</a></span>  <span class="keyword">virtual</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">~EventNode</a>() = <span class="keywordflow">default</span>;</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
-<div class="foldopen" id="foldopen00064" data-start="{" data-end="}">
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">   64</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id, <span class="keyword">const</span> uint8_t&amp; event_type,</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>                  <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  {</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// check if event emitter is set</span></div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>)</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    {</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <span class="comment">// No event emitter configured - silently skip</span></div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      <span class="comment">// This allows runners to work without event system if needed</span></div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    }</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// check each connection</span></div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; [conn_id, connection] : <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>)</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    {</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      <span class="comment">// extract bond_id from connection_id (format: &quot;bond_id/instance_id/target_instance_id&quot;)</span></div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>      <span class="keywordtype">size_t</span> first_pos = conn_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>      <span class="keywordtype">size_t</span> second_pos = conn_id.find(<span class="charliteral">&#39;/&#39;</span>, first_pos + 1);</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>      std::string conn_bond_id = (first_pos != std::string::npos) ? conn_id.substr(0, first_pos) : conn_id;</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      std::string conn_instance_id =</div>
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-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>      <span class="comment">// get targets for this event type and id namespace</span></div>
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-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>        <span class="comment">// parameterise target capability with parameters from the trigger</span></div>
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-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="comment">// extend or replace parameters of the target capability if any non empty parameters are provided</span></div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>        <span class="keywordflow">if</span> (!parameters.is_empty())</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>          <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; option : parameters.options)</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>            old_parameters.set_value(option.key, option.get_value(), option.type);</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>        <span class="comment">// create a new target capability message with updated parameters to emit with the event</span></div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>        <span class="keyword">auto</span> target_with_params = old_parameters.toMsg();</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span> </div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>        <span class="comment">// copy capability and provider from original target as parameters only contains the options</span></div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>        target_with_params.capability = connection.target.capability;</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>        target_with_params.provider = connection.target.provider;</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>        target_with_params.instance_id = connection.target.instance_id;</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span> </div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        <span class="comment">// emit event via event api</span></div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        <span class="comment">// NOTE: callback invocation is handled by event api</span></div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>        <span class="comment">// this allows the nodes to be decoupled</span></div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        <span class="comment">// nodes just keep track of connections</span></div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        <span class="comment">// modifying execution of other nodes is not owned by this class</span></div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        <span class="comment">// this lets the execution flow be made thread-safe</span></div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>        <span class="comment">// in the scope where the thread is owned</span></div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>        <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>-&gt;emit(conn_id, event_type, <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>, target_with_params, connection.callback);</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>      }</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    }</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>  }</div>
-</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span> </div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span><span class="keyword">protected</span>:</div>
-<div class="foldopen" id="foldopen00123" data-start="{" data-end="}">
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">  123</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(<span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; src)</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>  {</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a> = src;</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>  }</div>
-</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
-<div class="foldopen" id="foldopen00135" data-start="{" data-end="}">
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">  135</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(std::shared_ptr&lt;EventBase&gt; event_emitter)</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>  {</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a> = event_emitter;</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  }</div>
-</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
-<div class="foldopen" id="foldopen00154" data-start="{" data-end="}">
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">  154</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">add_connection</a>(<span class="keyword">const</span> std::string&amp; connection_id, <span class="keyword">const</span> capabilities2_msgs::msg::CapabilityEventCode&amp; type,</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>                      <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; target, <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> event_cb)</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>  {</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="comment">// validate connection id</span></div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.find(connection_id) != <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.end())</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>    {</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1event__exception.html">event_exception</a>(<span class="stringliteral">&quot;connection with id: &quot;</span> + connection_id + <span class="stringliteral">&quot; already exists&quot;</span>);</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    }</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span> </div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="comment">// set up an event pipe</span></div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>    <a class="code hl_struct" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">EventPipe</a> conn;</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    conn.<a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a6ba64f70d3638982a9ed986a57b30e5b">type</a> = type;</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>    conn.<a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a94675fdb0b3dd0e0f490b2878da45b33">target</a> = target;</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    conn.<a class="code hl_variable" href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a16c36ae362fd1de3c6046acbe0307c40">callback</a> = event_cb;</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span> </div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>    <span class="comment">// add connection</span></div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>[connection_id] = conn;</div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>)</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>    {</div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>      <span class="comment">// emit connected event</span></div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>      <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>-&gt;on_connected(<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>.capability, target.capability);</div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    }</div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>  }</div>
-</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span> </div>
-<div class="foldopen" id="foldopen00184" data-start="{" data-end="}">
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">  184</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">remove_connection</a>(<span class="keyword">const</span> std::string&amp; connection_id)</div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>  {</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="comment">// remove connection</span></div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>    <span class="keyword">auto</span> it = <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.find(connection_id);</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>    <span class="keywordflow">if</span> (it == <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.end())</div>
-<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span>    {</div>
-<div class="line"><a id="l00190" name="l00190"></a><span class="lineno">  190</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1event__exception.html">event_exception</a>(<span class="stringliteral">&quot;connection with id: &quot;</span> + connection_id + <span class="stringliteral">&quot; does not exist&quot;</span>);</div>
-<div class="line"><a id="l00191" name="l00191"></a><span class="lineno">  191</span>    }</div>
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno">  192</span>    <span class="keyword">auto</span> target = it-&gt;second.target;</div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.erase(connection_id);</div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span> </div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="comment">// emit disconnected event</span></div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>)</div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    {</div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>      <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>-&gt;on_disconnected(<a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>.capability, target.capability);</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>    }</div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>  }</div>
-</div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span> </div>
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>  <span class="comment">// helper members</span></div>
-<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span> </div>
-<div class="foldopen" id="foldopen00207" data-start="{" data-end="}">
-<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">  207</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">clear_connections</a>()</div>
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno">  208</span>  {</div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.clear();</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>  }</div>
-</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span> </div>
-<div class="foldopen" id="foldopen00217" data-start="{" data-end="}">
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">  217</a></span>  std::vector&lt;capabilities2_msgs::msg::CapabilityConnection&gt; <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">list_connections</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>    std::vector&lt;capabilities2_msgs::msg::CapabilityConnection&gt; conns;</div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span> </div>
-<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; [conn_id, connection] : <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>)</div>
-<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>    {</div>
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>      capabilities2_msgs::msg::CapabilityConnection c;</div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>      c.type = connection.type;</div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>      c.source = <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>;</div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>      c.target = connection.target;</div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>      conns.push_back(c);</div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    }</div>
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span> </div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>    <span class="keywordflow">return</span> conns;</div>
-<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>  }</div>
-</div>
-<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span> </div>
-<div class="foldopen" id="foldopen00240" data-start="{" data-end="}">
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">  240</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">has_connection</a>(<span class="keyword">const</span> std::string&amp; connection_id)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.find(connection_id) != <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.end();</div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>  }</div>
-</div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span> </div>
-<div class="foldopen" id="foldopen00250" data-start="{" data-end="}">
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">  250</a></span>  <span class="keywordtype">size_t</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">connection_count</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>.size();</div>
-<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>  }</div>
-</div>
-<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span> </div>
-<div class="foldopen" id="foldopen00260" data-start="{" data-end="}">
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">  260</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">get_id</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a>;</div>
-<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>  }</div>
-</div>
-<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span> </div>
-<div class="foldopen" id="foldopen00270" data-start="{" data-end="}">
-<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">  270</a></span>  <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">get_source</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00271" name="l00271"></a><span class="lineno">  271</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>;</div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>  }</div>
-</div>
-<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span> </div>
-<div class="foldopen" id="foldopen00278" data-start="{" data-end="}">
-<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">  278</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00280" name="l00280"></a><span class="lineno">  280</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a> != <span class="keyword">nullptr</span>;</div>
-<div class="line"><a id="l00281" name="l00281"></a><span class="lineno">  281</span>  }</div>
-</div>
-<div class="line"><a id="l00282" name="l00282"></a><span class="lineno">  282</span> </div>
-<div class="line"><a id="l00283" name="l00283"></a><span class="lineno">  283</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00284" name="l00284"></a><span class="lineno">  284</span>  <span class="comment">// unique id of the event node</span></div>
-<div class="line"><a id="l00285" name="l00285"></a><span class="lineno">  285</span>  <span class="comment">// using uuid string</span></div>
-<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">  286</a></span>  std::string <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">id_</a>;</div>
-<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span> </div>
-<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>  <span class="comment">// source capability of this event node</span></div>
-<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">  289</a></span>  capabilities2_msgs::msg::Capability <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">source_</a>;</div>
-<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span> </div>
-<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>  <span class="comment">// event emitter used to emit events</span></div>
-<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>  <span class="comment">// store as member to avoid passing around</span></div>
-<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">  293</a></span>  std::shared_ptr&lt;EventBase&gt; <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">event_emitter_</a>;</div>
-<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span> </div>
-<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>  <span class="comment">// connections from this event node to target capabilities</span></div>
-<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>  <span class="comment">// Key: connection_id (format: &quot;bond_id/trigger_id&quot;)</span></div>
-<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>  <span class="comment">// Value: EventPipe with type, target, callback</span></div>
-<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">  298</a></span>  std::map&lt;std::string, EventPipe&gt; <a class="code hl_variable" href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">connections_</a>;</div>
-<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>};</div>
-</div>
-<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>}  <span class="comment">// namespace capabilities2_events</span></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a01f110c6b7c9517f8f8ae134b8b22c8e"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">capabilities2_events::EventBase::event_callback_t</a></div><div class="ttdeci">std::function&lt; void(const access_id_t &amp;, const capability_str_t &amp;, const target_instance_id_t &amp;, parameter_t)&gt; event_callback_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:49</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></div><div class="ttdoc">an event node is a source of an event</div><div class="ttdef"><b>Definition</b> event_node.hpp:26</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a0af021d2aadac8d3b930fcdfc7b69da8"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a0af021d2aadac8d3b930fcdfc7b69da8">capabilities2_events::EventNode::get_source</a></div><div class="ttdeci">const capabilities2_msgs::msg::Capability &amp; get_source() const</div><div class="ttdoc">source capability of this event node</div><div class="ttdef"><b>Definition</b> event_node.hpp:270</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a0aff474ac782cae10ca79d37c1f17a44"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a0aff474ac782cae10ca79d37c1f17a44">capabilities2_events::EventNode::event_emitter_</a></div><div class="ttdeci">std::shared_ptr&lt; EventBase &gt; event_emitter_</div><div class="ttdef"><b>Definition</b> event_node.hpp:293</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a0e58130ead683f82e421ea373f670fd0"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a0e58130ead683f82e421ea373f670fd0">capabilities2_events::EventNode::~EventNode</a></div><div class="ttdeci">virtual ~EventNode()=default</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a10f7d884696c76f58fa43a03d69369f4"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">capabilities2_events::EventNode::set_source</a></div><div class="ttdeci">void set_source(const capabilities2_msgs::msg::Capability &amp;src)</div><div class="ttdoc">Set the source object.</div><div class="ttdef"><b>Definition</b> event_node.hpp:123</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a17cab4cfcc38f312fb7f37698c43d6b1"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a17cab4cfcc38f312fb7f37698c43d6b1">capabilities2_events::EventNode::get_id</a></div><div class="ttdeci">const std::string &amp; get_id() const</div><div class="ttdoc">unique id of this event node</div><div class="ttdef"><b>Definition</b> event_node.hpp:260</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a1ae8d0a9622e781f9d8891018c5239a8"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a1ae8d0a9622e781f9d8891018c5239a8">capabilities2_events::EventNode::list_connections</a></div><div class="ttdeci">std::vector&lt; capabilities2_msgs::msg::CapabilityConnection &gt; list_connections() const</div><div class="ttdoc">List all connections from this event node.</div><div class="ttdef"><b>Definition</b> event_node.hpp:217</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a1aefc3465612e5a4662190ae251f9ded"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a1aefc3465612e5a4662190ae251f9ded">capabilities2_events::EventNode::remove_connection</a></div><div class="ttdeci">void remove_connection(const std::string &amp;connection_id)</div><div class="ttdoc">Remove a connection by its id.</div><div class="ttdef"><b>Definition</b> event_node.hpp:184</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a1ee75f7c81c01519c250045ade85eaf7"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a1ee75f7c81c01519c250045ade85eaf7">capabilities2_events::EventNode::clear_connections</a></div><div class="ttdeci">void clear_connections()</div><div class="ttdoc">clear all connections from this event node</div><div class="ttdef"><b>Definition</b> event_node.hpp:207</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a39d451da5c7fac76f125307884baf4b4"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a39d451da5c7fac76f125307884baf4b4">capabilities2_events::EventNode::id_</a></div><div class="ttdeci">std::string id_</div><div class="ttdef"><b>Definition</b> event_node.hpp:286</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a3cd9380c3e2739278c1601d844aa5fc9"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a3cd9380c3e2739278c1601d844aa5fc9">capabilities2_events::EventNode::EventNode</a></div><div class="ttdeci">EventNode(std::shared_ptr&lt; EventBase &gt; event_emitter=nullptr)</div><div class="ttdef"><b>Definition</b> event_node.hpp:48</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a40118ab94ad06cf3759f4833c53ee575"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a40118ab94ad06cf3759f4833c53ee575">capabilities2_events::EventNode::connection_count</a></div><div class="ttdeci">size_t connection_count() const</div><div class="ttdoc">current connection count</div><div class="ttdef"><b>Definition</b> event_node.hpp:250</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a41dc0f4b8ad35d358181f25d646f396e"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">capabilities2_events::EventNode::set_event_emitter</a></div><div class="ttdeci">void set_event_emitter(std::shared_ptr&lt; EventBase &gt; event_emitter)</div><div class="ttdoc">event emitter for this event node</div><div class="ttdef"><b>Definition</b> event_node.hpp:135</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a53f3a0dad63b42456ad2a6dd4bddc7ab"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a53f3a0dad63b42456ad2a6dd4bddc7ab">capabilities2_events::EventNode::has_connection</a></div><div class="ttdeci">bool has_connection(const std::string &amp;connection_id) const</div><div class="ttdoc">Check if a connection exists.</div><div class="ttdef"><b>Definition</b> event_node.hpp:240</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a54192391a09d30e778b5ef73a07e5476"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a54192391a09d30e778b5ef73a07e5476">capabilities2_events::EventNode::add_connection</a></div><div class="ttdeci">void add_connection(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, EventBase::event_callback_t event_cb)</div><div class="ttdoc">make EventNode::add_connection public method on runner api.</div><div class="ttdef"><b>Definition</b> event_node.hpp:154</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a749cc5b8b86f3ac4d82ecc2b124d46ce"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce">capabilities2_events::EventNode::source_</a></div><div class="ttdeci">capabilities2_msgs::msg::Capability source_</div><div class="ttdef"><b>Definition</b> event_node.hpp:289</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_aa66f138bc8fa897c84d8ffd529396002"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">capabilities2_events::EventNode::is_event_emitter_set</a></div><div class="ttdeci">bool is_event_emitter_set() const</div><div class="ttdoc">event emitter is set on this node</div><div class="ttdef"><b>Definition</b> event_node.hpp:278</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_ac4adaeea856545dfc84174082f6ed856"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#ac4adaeea856545dfc84174082f6ed856">capabilities2_events::EventNode::connections_</a></div><div class="ttdeci">std::map&lt; std::string, EventPipe &gt; connections_</div><div class="ttdef"><b>Definition</b> event_node.hpp:298</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_ad1b79fbe33fd75339bcaa77417240e57"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">capabilities2_events::EventNode::emit_event</a></div><div class="ttdeci">void emit_event(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit an event from this event node to all matching connections</div><div class="ttdef"><b>Definition</b> event_node.hpp:64</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html">capabilities2_events::UUIDGenerator</a></div><div class="ttdef"><b>Definition</b> uuid_generator.hpp:8</div></div>
-<div class="ttc" id="aevent__base_8hpp_html"><div class="ttname"><a href="event__base_8hpp.html">event_base.hpp</a></div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html"><div class="ttname"><a href="namespacecapabilities2__events.html">capabilities2_events</a></div><div class="ttdef"><b>Definition</b> event_base.hpp:14</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventNode_1_1EventPipe_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html">capabilities2_events::EventNode::EventPipe</a></div><div class="ttdoc">event pipe structure</div><div class="ttdef"><b>Definition</b> event_node.hpp:36</div></div>
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-<div class="ttc" id="astructcapabilities2__events_1_1EventNode_1_1EventPipe_html_a6ba64f70d3638982a9ed986a57b30e5b"><div class="ttname"><a href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a6ba64f70d3638982a9ed986a57b30e5b">capabilities2_events::EventNode::EventPipe::type</a></div><div class="ttdeci">capabilities2_msgs::msg::CapabilityEventCode type</div><div class="ttdef"><b>Definition</b> event_node.hpp:38</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventNode_1_1EventPipe_html_a94675fdb0b3dd0e0f490b2878da45b33"><div class="ttname"><a href="structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a94675fdb0b3dd0e0f490b2878da45b33">capabilities2_events::EventNode::EventPipe::target</a></div><div class="ttdeci">capabilities2_msgs::msg::Capability target</div><div class="ttdef"><b>Definition</b> event_node.hpp:41</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html">capabilities2_events::event_exception</a></div><div class="ttdoc">event exception</div><div class="ttdef"><b>Definition</b> event_base.hpp:22</div></div>
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-  <div class="headertitle"><div class="title">event_parameters.hpp File Reference</div></div>
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-<div class="textblock"><code>#include &lt;string&gt;</code><br />
-<code>#include &lt;vector&gt;</code><br />
-<code>#include &lt;any&gt;</code><br />
-<code>#include &lt;stdexcept&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</code><br />
-<code>#include &lt;capabilities2_msgs/msg/capability_parameter.hpp&gt;</code><br />
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-<a href="event__parameters_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;any&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;stdexcept&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability.hpp&gt;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_parameter.hpp&gt;</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__events.html">capabilities2_events</a></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>{</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span> </div>
-<div class="foldopen" id="foldopen00013" data-start="{" data-end="};">
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1options__exception.html">   13</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__events_1_1options__exception.html">options_exception</a> : <span class="keyword">public</span> std::runtime_error</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>  <span class="keyword">using </span>std::runtime_error::runtime_error;</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="foldopen" id="foldopen00017" data-start="{" data-end="}">
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1options__exception.html#af6cd097f7264ece12deaa7ae6cc9f0dc">   17</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1options__exception.html#af6cd097f7264ece12deaa7ae6cc9f0dc">options_exception</a>(<span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">what</a>) : std::runtime_error(<a class="code hl_function" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">what</a>)</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  {</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>  }</div>
-</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
-<div class="foldopen" id="foldopen00021" data-start="{" data-end="}">
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">   21</a></span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code hl_function" href="structcapabilities2__events_1_1options__exception.html#ac09b30e0d9fa0933bd3ba0cee8d53532">what</a>() const noexcept<span class="keyword"> override</span></div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="keywordflow">return</span> std::runtime_error::what();</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  }</div>
-</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>};</div>
-</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
-<div class="foldopen" id="foldopen00027" data-start="{" data-end="};">
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">   27</a></span><span class="keyword">enum class</span> <a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a></div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>{</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5">BOOL</a>,</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229">DOUBLE</a>,</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92">INT</a>,</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949">STRING</a>,</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2">UNCONVERTED</a>,</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424">VECTOR_BOOL</a>,</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe">VECTOR_DOUBLE</a>,</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8">VECTOR_INT</a>,</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">VECTOR_STRING</a></div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>};</div>
-</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
-<div class="foldopen" id="foldopen00046" data-start="{" data-end="};">
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html">   46</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__events_1_1Parameter.html">Parameter</a></div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>{</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">   48</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a>;</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">   49</a></span>  std::vector&lt;std::string&gt; <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>;</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">   50</a></span>  <a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a> <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a>;</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a3fd3f8d62c0e49aa657535e3df9c8430">   52</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a3fd3f8d62c0e49aa657535e3df9c8430">Parameter</a>() = <span class="keywordflow">default</span>;</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
-<div class="foldopen" id="foldopen00054" data-start="{" data-end="}">
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a097dc936b8692fa57498b7975a3fe8a9">   54</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a097dc936b8692fa57498b7975a3fe8a9">Parameter</a>(<span class="keyword">const</span> capabilities2_msgs::msg::CapabilityParameter&amp; msg)</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>  {</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a> = msg.key;</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a> = msg.value;</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a> = <span class="keyword">static_cast&lt;</span><a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a><span class="keyword">&gt;</span>(msg.type);</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>  }</div>
-</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
-<div class="foldopen" id="foldopen00061" data-start="{" data-end="}">
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a3b30e4d048001e9cd6e25df5f8ebc392">   61</a></span>  std::any <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a3b30e4d048001e9cd6e25df5f8ebc392">get_value</a>()</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>  {</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordflow">switch</span> (<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a>)</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    {</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5">OptionType::BOOL</a>:</div>
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-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229">OptionType::DOUBLE</a>:</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        <span class="keywordflow">return</span> std::stod(<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>[0]);</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92">OptionType::INT</a>:</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <span class="keywordflow">return</span> std::stoi(<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>[0]);</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949">OptionType::STRING</a>:</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>[0];</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424">OptionType::VECTOR_BOOL</a>: {</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        std::vector&lt;bool&gt; vec;</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>)</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>          vec.push_back(v == <span class="stringliteral">&quot;true&quot;</span>);</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="keywordflow">return</span> vec;</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      }</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe">OptionType::VECTOR_DOUBLE</a>: {</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>        std::vector&lt;double&gt; vec;</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>)</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>          vec.push_back(std::stod(v));</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>        <span class="keywordflow">return</span> vec;</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>      }</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8">OptionType::VECTOR_INT</a>: {</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        std::vector&lt;int&gt; vec;</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>)</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>          vec.push_back(std::stoi(v));</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>        <span class="keywordflow">return</span> vec;</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>      }</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">OptionType::VECTOR_STRING</a>:</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>;</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    }</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>  }</div>
-</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
-<div class="foldopen" id="foldopen00096" data-start="{" data-end="}">
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a7e297cd1d51c0c23a56146275f41c431">   96</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a7e297cd1d51c0c23a56146275f41c431">set_value</a>(std::string new_key, std::any new_value, <a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a> new_type)</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>  {</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a> = new_key;</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a> = new_type;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordflow">switch</span> (<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a>)</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    {</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5">OptionType::BOOL</a>:</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::any_cast&lt;bool&gt;(new_value) ? <span class="stringliteral">&quot;true&quot;</span> : <span class="stringliteral">&quot;false&quot;</span>);</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229">OptionType::DOUBLE</a>:</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::to_string(std::any_cast&lt;double&gt;(new_value)));</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92">OptionType::INT</a>:</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::to_string(std::any_cast&lt;int&gt;(new_value)));</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949">OptionType::STRING</a>:</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::any_cast&lt;std::string&gt;(new_value));</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424">OptionType::VECTOR_BOOL</a>: {</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>        <span class="keyword">const</span> <span class="keyword">auto</span>&amp; vec = std::any_cast&lt;std::vector&lt;bool&gt;&gt;(new_value);</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : vec)</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>          <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(v ? <span class="stringliteral">&quot;true&quot;</span> : <span class="stringliteral">&quot;false&quot;</span>);</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>      }</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe">OptionType::VECTOR_DOUBLE</a>: {</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>        <span class="keyword">const</span> <span class="keyword">auto</span>&amp; vec = std::any_cast&lt;std::vector&lt;double&gt;&gt;(new_value);</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : vec)</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>          <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::to_string(v));</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>      }</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8">OptionType::VECTOR_INT</a>: {</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>        <span class="keyword">const</span> <span class="keyword">auto</span>&amp; vec = std::any_cast&lt;std::vector&lt;int&gt;&gt;(new_value);</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.clear();</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; v : vec)</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>          <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>.push_back(std::to_string(v));</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>      }</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>      <span class="keywordflow">case</span> <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">OptionType::VECTOR_STRING</a>:</div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>        <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a> = std::any_cast&lt;std::vector&lt;std::string&gt;&gt;(new_value);</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>        <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>      <span class="keywordflow">default</span>:</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>        <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1options__exception.html">options_exception</a>(<span class="stringliteral">&quot;Unsupported OptionType&quot;</span>);</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    }</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>  }</div>
-</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span> </div>
-<div class="foldopen" id="foldopen00149" data-start="{" data-end="}">
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1Parameter.html#a40731837f170a632f96e0187c8138e7a">  149</a></span>  capabilities2_msgs::msg::CapabilityParameter <a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a40731837f170a632f96e0187c8138e7a">toMsg</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    capabilities2_msgs::msg::CapabilityParameter msg;</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    msg.key = <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a57b71a8358c3a4af184b1713a772474a">key</a>;</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>    msg.value = <a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a5cd5fb07b1a96468bdbed99bd904a234">value</a>;</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    msg.type = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(<a class="code hl_variable" href="structcapabilities2__events_1_1Parameter.html#a63eaf7bcb8ab3f2a3839c9963563b546">type</a>);</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>    <span class="keywordflow">return</span> msg;</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>  }</div>
-</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>};</div>
-</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span> </div>
-<div class="foldopen" id="foldopen00166" data-start="{" data-end="};">
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html">  166</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">EventParameters</a></div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>{</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">  168</a></span>  std::vector&lt;Parameter&gt; <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a> = {};</div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#a57fdeb9d660eee744ef4bcd58e96339e">  170</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#a57fdeb9d660eee744ef4bcd58e96339e">EventParameters</a>() = <span class="keywordflow">default</span>;</div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
-<div class="foldopen" id="foldopen00172" data-start="{" data-end="}">
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#a124050d50c5d5870b1e85697c33ba759">  172</a></span>  <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#a124050d50c5d5870b1e85697c33ba759">EventParameters</a>(<span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; msg)</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>  {</div>
-<div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>.clear();</div>
-<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; option_msg : msg.parameters)</div>
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>    {</div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>      <span class="keyword">auto</span> option = <a class="code hl_struct" href="structcapabilities2__events_1_1Parameter.html">Parameter</a>(option_msg);</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>      <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>.push_back(option);</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>    }</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  }</div>
-</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span> </div>
-<div class="foldopen" id="foldopen00182" data-start="{" data-end="}">
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#ac26732100aab80ff256b54636c57b85c">  182</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#ac26732100aab80ff256b54636c57b85c">is_empty</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>.empty();</div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>  }</div>
-</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span> </div>
-<div class="foldopen" id="foldopen00193" data-start="{" data-end="}">
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">  193</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">has_value</a>(<span class="keyword">const</span> std::string&amp; key)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; option : <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>)</div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>      <span class="keywordflow">if</span> (option.key == key)</div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>        <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>  }</div>
-</div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span> </div>
-<div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">  208</a></span>  std::any <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">get_value</a>(<span class="keyword">const</span> std::string&amp; key, std::any default_value)</div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>  {</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">has_value</a>(key))</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>      <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; option : <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>)</div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>      {</div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>        <span class="keywordflow">if</span> (option.key == key)</div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>        {</div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>          <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>          {</div>
-<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>            <span class="keywordflow">return</span> option.get_value();</div>
-<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>          }</div>
-<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span>          <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
-<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span>          {</div>
-<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span>            <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1options__exception.html">options_exception</a>(<span class="stringliteral">&quot;Failed to convert option &#39;&quot;</span> + option.key + <span class="stringliteral">&quot;&#39;: &quot;</span> + e.what());</div>
-<div class="line"><a id="l00222" name="l00222"></a><span class="lineno">  222</span>          }</div>
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno">  223</span>        }</div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>      }</div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>      <span class="keywordflow">return</span> default_value;</div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>  }</div>
-</div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span> </div>
-<div class="foldopen" id="foldopen00237" data-start="{" data-end="}">
-<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">  237</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">set_value</a>(<span class="keyword">const</span> std::string&amp; key, <span class="keyword">const</span> std::any&amp; value, <span class="keyword">const</span> <a class="code hl_enumeration" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">OptionType</a>&amp; type)</div>
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span>  {</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>    <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; option : <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>)</div>
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>      <span class="keywordflow">if</span> (option.key == key)</div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>      {</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>        <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>        {</div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>          option.set_value(key, value, type);</div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>          <span class="keywordflow">return</span>;</div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>        }</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        <span class="keywordflow">catch</span> (<span class="keyword">const</span> std::exception&amp; e)</div>
-<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>        {</div>
-<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span>          <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__events_1_1options__exception.html">options_exception</a>(<span class="stringliteral">&quot;Failed to set option &#39;&quot;</span> + option.key + <span class="stringliteral">&quot;&#39;: &quot;</span> + e.what());</div>
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>        }</div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span>      }</div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span> </div>
-<div class="line"><a id="l00253" name="l00253"></a><span class="lineno">  253</span>    <span class="comment">// Parameter not found, add new one</span></div>
-<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span>    <a class="code hl_struct" href="structcapabilities2__events_1_1Parameter.html">Parameter</a> new_option;</div>
-<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>    new_option.<a class="code hl_function" href="structcapabilities2__events_1_1Parameter.html#a7e297cd1d51c0c23a56146275f41c431">set_value</a>(key, value, type);</div>
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>    <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>.push_back(new_option);</div>
-<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>  }</div>
-</div>
-<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span> </div>
-<div class="foldopen" id="foldopen00259" data-start="{" data-end="}">
-<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="structcapabilities2__events_1_1EventParameters.html#af4cb9521061d29b8e77d19cd7b13cfdd">  259</a></span>  capabilities2_msgs::msg::Capability <a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#af4cb9521061d29b8e77d19cd7b13cfdd">toMsg</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00261" name="l00261"></a><span class="lineno">  261</span>    capabilities2_msgs::msg::Capability msg;</div>
-<div class="line"><a id="l00262" name="l00262"></a><span class="lineno">  262</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; option : <a class="code hl_variable" href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">options</a>)</div>
-<div class="line"><a id="l00263" name="l00263"></a><span class="lineno">  263</span>      msg.parameters.push_back(option.toMsg());</div>
-<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>    <span class="keywordflow">return</span> msg;</div>
-<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>  }</div>
-</div>
-<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>};</div>
-</div>
-<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span> </div>
-<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span>}  <span class="comment">// namespace capabilities2_events</span></div>
-<div class="ttc" id="anamespacecapabilities2__events_html"><div class="ttname"><a href="namespacecapabilities2__events.html">capabilities2_events</a></div><div class="ttdef"><b>Definition</b> event_base.hpp:14</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5af"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5af">capabilities2_events::OptionType</a></div><div class="ttdeci">OptionType</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:28</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2">capabilities2_events::OptionType::UNCONVERTED</a></div><div class="ttdeci">@ UNCONVERTED</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">capabilities2_events::OptionType::VECTOR_STRING</a></div><div class="ttdeci">@ VECTOR_STRING</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8">capabilities2_events::OptionType::VECTOR_INT</a></div><div class="ttdeci">@ VECTOR_INT</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92">capabilities2_events::OptionType::INT</a></div><div class="ttdeci">@ INT</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe">capabilities2_events::OptionType::VECTOR_DOUBLE</a></div><div class="ttdeci">@ VECTOR_DOUBLE</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949">capabilities2_events::OptionType::STRING</a></div><div class="ttdeci">@ STRING</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5">capabilities2_events::OptionType::BOOL</a></div><div class="ttdeci">@ BOOL</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424">capabilities2_events::OptionType::VECTOR_BOOL</a></div><div class="ttdeci">@ VECTOR_BOOL</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229">capabilities2_events::OptionType::DOUBLE</a></div><div class="ttdeci">@ DOUBLE</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_a06e1a6f60cb6c8830d6769532b1f3cdb"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">capabilities2_events::EventParameters::get_value</a></div><div class="ttdeci">std::any get_value(const std::string &amp;key, std::any default_value)</div><div class="ttdoc">Get the value of an option by key.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:208</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_a124050d50c5d5870b1e85697c33ba759"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#a124050d50c5d5870b1e85697c33ba759">capabilities2_events::EventParameters::EventParameters</a></div><div class="ttdeci">EventParameters(const capabilities2_msgs::msg::Capability &amp;msg)</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:172</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_a57fdeb9d660eee744ef4bcd58e96339e"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#a57fdeb9d660eee744ef4bcd58e96339e">capabilities2_events::EventParameters::EventParameters</a></div><div class="ttdeci">EventParameters()=default</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_abc8bda9430434f26bb4db99e17455e5a"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">capabilities2_events::EventParameters::set_value</a></div><div class="ttdeci">void set_value(const std::string &amp;key, const std::any &amp;value, const OptionType &amp;type)</div><div class="ttdoc">Set the value of an option by key, if the option does not exist it will be created.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:237</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_ac26732100aab80ff256b54636c57b85c"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#ac26732100aab80ff256b54636c57b85c">capabilities2_events::EventParameters::is_empty</a></div><div class="ttdeci">bool is_empty() const</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:182</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_ae339697fb5abfa540e2e4338f9266308"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#ae339697fb5abfa540e2e4338f9266308">capabilities2_events::EventParameters::options</a></div><div class="ttdeci">std::vector&lt; Parameter &gt; options</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:168</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_af3f6a280eb464e33f4f4ba7092a70cac"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#af3f6a280eb464e33f4f4ba7092a70cac">capabilities2_events::EventParameters::has_value</a></div><div class="ttdeci">bool has_value(const std::string &amp;key) const</div><div class="ttdoc">Check if an option with the given key exists.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:193</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_af4cb9521061d29b8e77d19cd7b13cfdd"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#af4cb9521061d29b8e77d19cd7b13cfdd">capabilities2_events::EventParameters::toMsg</a></div><div class="ttdeci">capabilities2_msgs::msg::Capability toMsg() const</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:259</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html">capabilities2_events::Parameter</a></div><div class="ttdoc">Key value pair for capability options.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:47</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a097dc936b8692fa57498b7975a3fe8a9"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a097dc936b8692fa57498b7975a3fe8a9">capabilities2_events::Parameter::Parameter</a></div><div class="ttdeci">Parameter(const capabilities2_msgs::msg::CapabilityParameter &amp;msg)</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:54</div></div>
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-<div class="ttc" id="astructcapabilities2__events_1_1Parameter_html_a3fd3f8d62c0e49aa657535e3df9c8430"><div class="ttname"><a href="structcapabilities2__events_1_1Parameter.html#a3fd3f8d62c0e49aa657535e3df9c8430">capabilities2_events::Parameter::Parameter</a></div><div class="ttdeci">Parameter()=default</div></div>
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-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">   18</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">GetCapabilitySpecsRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1ServiceRunner.html">ServiceRunner</a>()</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>  {</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>  }</div>
-</div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span> </div>
-<div class="foldopen" id="foldopen00029" data-start="{" data-end="}">
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">   29</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">start</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config, <span class="keyword">const</span> std::string&amp; bond_id)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">init_service</a>(node, run_config, <span class="stringliteral">&quot;/capabilities/get_capability_specs&quot;</span>);</div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="comment">// emit start event</span></div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(bond_id, <span class="stringliteral">&quot;&quot;</span>, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>());</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  }</div>
-</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>  <span class="keyword">virtual</span> capabilities2_msgs::srv::GetCapabilitySpecs::Request</div>
-<div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">   45</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">generate_request</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    capabilities2_msgs::srv::GetCapabilitySpecs::Request request;</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="keywordflow">return</span> request;</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>  }</div>
-</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
-<div class="foldopen" id="foldopen00057" data-start="{" data-end="}">
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">   57</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">param_on_success</a>()<span class="keyword"> override</span></div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="comment">// Create an Event Parameter with CapabilitySpecs content</span></div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    std::vector&lt;std::string&gt; capability_spec_strings;</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; spec : <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">response_</a>-&gt;capability_specs)</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    {</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>      std::string spec_string = <span class="stringliteral">&quot;package: &quot;</span> + spec.package + <span class="stringliteral">&quot;, type: &quot;</span> + spec.type +</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>                                <span class="stringliteral">&quot;, default_provider: &quot;</span> + spec.default_provider + <span class="stringliteral">&quot;, content: &quot;</span> + spec.content;</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      capability_spec_strings.push_back(spec_string);</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    }</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="comment">// Create EventParameters and set the capability specs as a parameter for the on_success event</span></div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters;</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    parameters.<a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">set_value</a>(<span class="stringliteral">&quot;CapabilitySpecs&quot;</span>, capability_spec_strings, <a class="code hl_enumvalue" href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">capabilities2_events::OptionType::VECTOR_STRING</a>);</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;GetCapabilitySpecsRunner creating param_on_success with %zu capability specs&quot;</span>, capability_spec_strings.size());</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span> </div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keywordflow">return</span> parameters;</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  }</div>
-</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="foldopen" id="foldopen00077" data-start="{" data-end="}">
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a97bee7f3c56177c44026dcd20948329c">   77</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a97bee7f3c56177c44026dcd20948329c">process_response</a>(<span class="keyword">typename</span> capabilities2_msgs::srv::GetCapabilitySpecs::Response::SharedPtr response)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="comment">// This function can be used to log the response or perform any additional processing if needed</span></div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;GetCapabilitySpecsRunner received response with %zu capability specs&quot;</span>, response-&gt;capability_specs.size());</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>  }</div>
-</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>};</div>
-</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html">capabilities2_runner::GetCapabilitySpecsRunner</a></div><div class="ttdoc">Executor runner class.</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:16</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_a1e2ce72b2f85ecbc96408093eeaba065"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a1e2ce72b2f85ecbc96408093eeaba065">capabilities2_runner::GetCapabilitySpecsRunner::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success() override</div><div class="ttdoc">This function overrides the param_on_success() function from RunnerBase to provide specific implement...</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:57</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_a57653f78da292a2f2944271008cdcb5b"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a57653f78da292a2f2944271008cdcb5b">capabilities2_runner::GetCapabilitySpecsRunner::generate_request</a></div><div class="ttdeci">virtual capabilities2_msgs::srv::GetCapabilitySpecs::Request generate_request(capabilities2_events::EventParameters &amp;parameters) override</div><div class="ttdoc">This generate goal function overrides the generate_goal() function from ActionRunner()</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:45</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_a848b090faf5103681df61bf494495966"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a848b090faf5103681df61bf494495966">capabilities2_runner::GetCapabilitySpecsRunner::GetCapabilitySpecsRunner</a></div><div class="ttdeci">GetCapabilitySpecsRunner()</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:18</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_a97bee7f3c56177c44026dcd20948329c"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#a97bee7f3c56177c44026dcd20948329c">capabilities2_runner::GetCapabilitySpecsRunner::process_response</a></div><div class="ttdeci">virtual void process_response(typename capabilities2_msgs::srv::GetCapabilitySpecs::Response::SharedPtr response) override</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:77</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1GetCapabilitySpecsRunner_html_ac6e0cc26c38f4ae100f6e2b8a70e4e36"><div class="ttname"><a href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html#ac6e0cc26c38f4ae100f6e2b8a70e4e36">capabilities2_runner::GetCapabilitySpecsRunner::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</div><div class="ttdoc">Starter function for starting the action runner.</div><div class="ttdef"><b>Definition</b> get_capability_specs_runner.hpp:29</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a68a4f300a106474d09ccda51efc57a5a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">capabilities2_runner::RunnerBase::param_on_started</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_started()</div><div class="ttdoc">Update on_started event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:226</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ac92696dfbfe4b50331ca156c4449954c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase::emit_started</a></div><div class="ttdeci">void emit_started(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STARTED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:418</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a></div><div class="ttdoc">service runner base class</div><div class="ttdef"><b>Definition</b> service_runner.hpp:17</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_ace6965aa2bfd8927f48977a0125f2e87"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;::init_service</a></div><div class="ttdeci">virtual void init_service(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;service_name)</div><div class="ttdoc">Initializer function for initializing the service runner in place of constructor due to plugin semant...</div><div class="ttdef"><b>Definition</b> service_runner.hpp:33</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_af9e954bc70da5f30aaf2906658805188"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">capabilities2_runner::ServiceRunner&lt; capabilities2_msgs::srv::GetCapabilitySpecs &gt;::response_</a></div><div class="ttdeci">ServiceT::Response::SharedPtr response_</div><div class="ttdef"><b>Definition</b> service_runner.hpp:159</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20"><div class="ttname"><a href="namespacecapabilities2__events.html#a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20">capabilities2_events::OptionType::VECTOR_STRING</a></div><div class="ttdeci">@ VECTOR_STRING</div></div>
-<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
-<div class="ttc" id="aservice__runner_8hpp_html"><div class="ttname"><a href="service__runner_8hpp.html">service_runner.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html_abc8bda9430434f26bb4db99e17455e5a"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html#abc8bda9430434f26bb4db99e17455e5a">capabilities2_events::EventParameters::set_value</a></div><div class="ttdeci">void set_value(const std::string &amp;key, const std::any &amp;value, const OptionType &amp;type)</div><div class="ttdoc">Set the value of an option by key, if the option does not exist it will be created.</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:237</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
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-</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
-<div class="foldopen" id="foldopen00021" data-start="{" data-end="};">
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html">   21</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html">modifiable_base_t</a></div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>{</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  <span class="comment">// TODO: implement creation and modified logic in db handler</span></div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#aebfa99a284e69c5e560962f61fe283e2">   24</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#aebfa99a284e69c5e560962f61fe283e2">date_created</a>;</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#a176b552939443a9c0d329b12ad604b0e">   25</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#a176b552939443a9c0d329b12ad604b0e">date_modified</a>;</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>};</div>
-</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
-<div class="foldopen" id="foldopen00029" data-start="{" data-end="};">
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html">   29</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html">soft_deleteable_base_t</a></div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>{</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span>  <span class="comment">// TODO: implement soft delete logic in db handler</span></div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html#a1480da544e2fcd0a4bda449621f472a5">   32</a></span>  <span class="keywordtype">bool</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html#a1480da544e2fcd0a4bda449621f472a5">is_deleted</a> = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>};</div>
-</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
-<div class="foldopen" id="foldopen00040" data-start="{" data-end="};">
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html">   40</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a> : <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html">identifiable_base_t</a>, <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.html">soft_deleteable_base_t</a>, <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html">modifiable_base_t</a></div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>{</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">   42</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">   43</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a>;</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">   44</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a>;</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">   45</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a>;</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span> </div>
-<div class="foldopen" id="foldopen00047" data-start="{" data-end="}">
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">   47</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>  {</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> = node[<span class="stringliteral">&quot;name&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> = node[<span class="stringliteral">&quot;spec_version&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> = node[<span class="stringliteral">&quot;spec_type&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a> = node[<span class="stringliteral">&quot;description&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>  }</div>
-</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
-<div class="foldopen" id="foldopen00055" data-start="{" data-end="}">
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">   55</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    YAML::Node node;</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    node[<span class="stringliteral">&quot;name&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    node[<span class="stringliteral">&quot;spec_version&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a>;</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    node[<span class="stringliteral">&quot;spec_type&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a>;</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    node[<span class="stringliteral">&quot;description&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a>;</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordflow">return</span> node;</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  }</div>
-</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
-<div class="foldopen" id="foldopen00065" data-start="{" data-end="}">
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">   65</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">to_sql_table</a>()</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  {</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// name, version, type, description</span></div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="comment">// name is the primary key</span></div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keywordflow">return</span> <span class="stringliteral">&quot;name TEXT NOT NULL PRIMARY KEY, version TEXT NOT NULL, type TEXT NOT NULL, description TEXT&quot;</span>;</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>  }</div>
-</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
-<div class="foldopen" id="foldopen00072" data-start="{" data-end="}">
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">   72</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">to_sql_values</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    <span class="keywordflow">return</span> <span class="stringliteral">&quot;&#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">version</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">type</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">description</a>) + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  }</div>
-</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>};</div>
-</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>}  <span class="comment">// namespace models</span></div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html_aee2e1db0d5ab5e2c6252db5378dc9d53"><div class="ttname"><a href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server::to_sql_safe</a></div><div class="ttdeci">std::string to_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a generic std::string to a sql safe std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:15</div></div>
-<div class="ttc" id="asql__safe_8hpp_html"><div class="ttname"><a href="sql__safe_8hpp.html">sql_safe.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a184f5969009afde38cf0933b73f58576"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> header.hpp:47</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a3a9a79ce313a985930e2cd97d27ebd5f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">capabilities2_server::models::header_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> header.hpp:42</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a4dc71e2c184d9c1c87de51f21983df4a"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a4dc71e2c184d9c1c87de51f21983df4a">capabilities2_server::models::header_model_t::description</a></div><div class="ttdeci">std::string description</div><div class="ttdef"><b>Definition</b> header.hpp:45</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a5df92e5526b56a061f1b87057926f8f1"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">capabilities2_server::models::header_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> header.hpp:72</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_aaf1c85918945d7e2468748b32c840608"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">capabilities2_server::models::header_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> header.hpp:65</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac0e94588685ed968c2466ad9860c1284"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac0e94588685ed968c2466ad9860c1284">capabilities2_server::models::header_model_t::type</a></div><div class="ttdeci">std::string type</div><div class="ttdef"><b>Definition</b> header.hpp:44</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_ac6bf4416ee1f6a0e1781c366eab26acf"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#ac6bf4416ee1f6a0e1781c366eab26acf">capabilities2_server::models::header_model_t::version</a></div><div class="ttdeci">std::string version</div><div class="ttdef"><b>Definition</b> header.hpp:43</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1identifiable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html">capabilities2_server::models::identifiable_base_t</a></div><div class="ttdoc">unique key for a row</div><div class="ttdef"><b>Definition</b> header.hpp:15</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1identifiable__base__t_html_a9926e5d160570e2c46e1dfc56da5b5ba"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1identifiable__base__t.html#a9926e5d160570e2c46e1dfc56da5b5ba">capabilities2_server::models::identifiable_base_t::id</a></div><div class="ttdeci">int id</div><div class="ttdef"><b>Definition</b> header.hpp:17</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1modifiable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html">capabilities2_server::models::modifiable_base_t</a></div><div class="ttdoc">base model for all models that can be modified</div><div class="ttdef"><b>Definition</b> header.hpp:22</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1modifiable__base__t_html_a176b552939443a9c0d329b12ad604b0e"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#a176b552939443a9c0d329b12ad604b0e">capabilities2_server::models::modifiable_base_t::date_modified</a></div><div class="ttdeci">std::string date_modified</div><div class="ttdef"><b>Definition</b> header.hpp:25</div></div>
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-<div class="textblock"><p><a class="anchor" id="md_README"></a> <img src="https://img.shields.io/badge/Framework-ROS2-informational?&amp;logo=ROS" alt="ROS" class="inline"/> <a href="https://index.ros.org/doc/ros2/Releases/"><img src="https://img.shields.io/badge/ROS2-Jazzy-blue" alt="ROS2 Jazzy" class="inline"/></a> <img src="https://img.shields.io/badge/Code-C++-informational?&amp;logo=c%2b%2b" alt="C++" class="inline"/> <a href="https://open.vscode.dev/collaborativeroboticslab/capabilities2"><img src="https://img.shields.io/badge/vscode-dev-blue" alt="Open in Visual Studio Code" class="inline"/></a> <a href="https://opensource.org/licenses/MIT"><img src="https://img.shields.io/badge/License-MIT-yellow.svg" alt="License: MIT" style="pointer-events: none;" class="inline"/></a></p>
-<p>A reimplementation of the <a href="https://github.com/osrf/capabilities">capabilities</a> package. This package is implemented using <code>C++</code> and extends the capabilities package features.</p>
-<ul>
-<li><a class="el" href="md_capabilities2__server_2readme.html">capabilities2_server</a> package contains the core of the system.</li>
-<li><a class="el" href="md_capabilities2__runner_2readme.html">capabilities2_runner</a> package contains base and template classes for capability implementations.</li>
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-<h1><a class="anchor" id="autotoc_md113"></a>
-System structure</h1>
-<div class="image">
-<img src="system-structure.png" alt=""/>
-<div class="caption">
-System Structure</div></div>
-    <h1><a class="anchor" id="autotoc_md114"></a>
-Entities</h1>
-<p>The main usage of <code>capabilities2</code> will typically involve creating or customizing capabilities through providers, interfaces and semantic interfaces. These are stored as YAML, and for more information about definitions and examples, click the links:</p>
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-<th class="markdownTableHeadNone">Entity   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><a class="el" href="md_docs_2interfaces.html">Interfaces</a>   </td><td class="markdownTableBodyNone">The main capability specification file    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><a class="el" href="md_docs_2providers.html">Providers</a>   </td><td class="markdownTableBodyNone">The capability provider specification file provides a mechanism to operate the capability    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><a class="el" href="md_docs_2semantic__interfaces.html">Semantic Interfaces</a>   </td><td class="markdownTableBodyNone">The semantic interface specification file provides a mechanism to redefine a capability with semantic information   </td></tr>
-</table>
-<p>Runners can be created using the runner API parent classes <a class="el" href="md_capabilities2__runner_2readme.html">here</a>. The capabilities service can be started using the <a class="el" href="md_capabilities2__server_2readme.html">capabilities2_server</a> package.</p>
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-Setup Information</h1>
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-<li><a class="el" href="md_docs_2setup.html">Installation</a></li>
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-Quick Startup information</h1>
-<h2><a class="anchor" id="autotoc_md117"></a>
-Starting the Capabilities2 server</h2>
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-<div class="line">ros2 launch capabilities2_server capabilities2_server.launch.py</div>
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-Additional Information</h1>
-<ul>
-<li><a class="el" href="md_docs_2motivation__and__examples.html">Motivation and Example Use Cases</a></li>
-<li><a class="el" href="md_docs_2design.html">Design Information</a></li>
-<li><a class="el" href="md_docs_2readme.html">Generated API and docs site</a></li>
-<li><a class="el" href="md_capabilities2__server_2docs_2register.html">Registering a capability</a></li>
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-<h1><a class="anchor" id="autotoc_md119"></a>
-Acknowledgements</h1>
-<p>This work is based on the capabilities package developed by the Open Source Robotics Foundation. <a href="https://github.com/osrf/capabilities">github.com/osrf/capabilities</a>.</p>
-<h1><a class="anchor" id="autotoc_md120"></a>
-Citation</h1>
-<p>If you use this work in an academic context, please cite the following publication(s):</p>
-<p><a href="https://dl.acm.org/doi/10.5555/3721488.3721623">Capabilities2 for ROS2: Advanced Skill-Based Control for Human-Robot Interaction</a></p>
-<div class="fragment"><div class="line">@inproceedings{10.5555/3721488.3721623,</div>
-<div class="line">    author = {Pritchard, Michael and Ratnayake, Kalana and Gamage, Buddhi and Jayasuriya, Maleen and Herath, Damith},</div>
-<div class="line">    title = {Capabilities2 for ROS2: Advanced Skill-Based Control for Human-Robot Interaction},</div>
-<div class="line">    year = {2025},</div>
-<div class="line">    publisher = {IEEE Press},</div>
-<div class="line">    booktitle = {Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction},</div>
-<div class="line">    pages = {1067–1071},</div>
-<div class="line">    location = {Melbourne, Australia},</div>
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diff --git a/docs/html/inherit_graph_14.map b/docs/html/inherit_graph_14.map
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-  <div class="headertitle"><div class="title">input_multiplex_runner.hpp</div></div>
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-<a href="input__multiplex__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;<a class="code" href="threadtrigger__runner_8hpp.html">capabilities2_runner/threadtrigger_runner.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
-<div class="foldopen" id="foldopen00007" data-start="{" data-end="};">
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">InputMultiplexRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00013" data-start="{" data-end="}">
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a921185df695a0c589c3f76534622c973">   13</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a921185df695a0c589c3f76534622c973">InputMultiplexRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a>()</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>  {</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>  }</div>
-</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="foldopen" id="foldopen00023" data-start="{" data-end="}">
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#afae7ca7e39e5b66f8fbbbb82b118923e">   23</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#afae7ca7e39e5b66f8fbbbb82b118923e">start</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config, <span class="keyword">const</span> std::string&amp; bond_id)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(node, run_config);</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <span class="comment">// emit started event</span></div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(bond_id, <span class="stringliteral">&quot;&quot;</span>, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>());</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  }</div>
-</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
-<div class="foldopen" id="foldopen00035" data-start="{" data-end="}">
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">   35</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <span class="comment">// if the node pointer is empty then throw an error</span></div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="comment">// this means that the runner was not started and is being used out of order</span></div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>)</div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner that was not started&quot;</span>);</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// emit stopped event</span></div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>());</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span> </div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;stopping runner&quot;</span>);</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  }</div>
-</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="keyword">protected</span>:</div>
-<div class="foldopen" id="foldopen00056" data-start="{" data-end="}">
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">   56</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    <span class="comment">// split thread_id to get bond_id and instance_id (format: &quot;bond_id/instance_id&quot;)</span></div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">ThreadTriggerRunner::bond_from_thread_id</a>(thread_id);</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    std::string instance_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">ThreadTriggerRunner::instance_from_thread_id</a>(thread_id);</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordtype">int</span> input_count = std::any_cast&lt;int&gt;(parameters.<a class="code hl_function" href="structcapabilities2__events_1_1EventParameters.html#a06e1a6f60cb6c8830d6769532b1f3cdb">get_value</a>(<span class="stringliteral">&quot;input_count&quot;</span>, 1));</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span> </div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    <span class="comment">// track the input count for the runner_id</span></div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>.find(instance_id) == <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>.end())</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    {</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>[instance_id] = 1;</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a>[instance_id] = input_count;</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    }</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    {</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>[instance_id] += 1;</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    }</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    <span class="comment">// check if the input count has reached the expected input count for the instance_id and if so execute the process</span></div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>[instance_id] == <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a>[instance_id])</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    {</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(),</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>                  <span class="stringliteral">&quot;instance_id: %s has received all expected inputs. Executing process for instance_id: %s&quot;</span>,</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>                  instance_id.c_str(), instance_id.c_str());</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>      <span class="comment">// If on_success is defined, emit success event will trigger it. If not defined, it will be a no-op.</span></div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>());</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span> </div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;execution successful for instance_id: %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    }</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    {</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>      RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(),</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>                  <span class="stringliteral">&quot;instance_id: %s pending expected inputs. Current count: %d/%d for instance_id: %s&quot;</span>, instance_id.c_str(),</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>                  <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>[instance_id], <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a>[instance_id], instance_id.c_str());</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    }</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span> </div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;multiplexing complete. Thread closing for instance_id: %s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>  }</div>
-</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span> </div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>  <span class="comment">// input count tracker</span></div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">   99</a></span>  std::map&lt;std::string, int&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">input_count_tracker</a>;</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span> </div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>  <span class="comment">// expected input count</span></div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">  102</a></span>  std::map&lt;std::string, int&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">expected_input_count</a>;</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span> </div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>  <span class="comment">// completed executions</span></div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">  105</a></span>  std::map&lt;std::string, bool&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">completed_executions</a>;</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>};</div>
-</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:8</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_a42a4f1fd6f054925c72a322aed0dd94a"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a42a4f1fd6f054925c72a322aed0dd94a">capabilities2_runner::InputMultiplexRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:35</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_a4d1bb331cd675e9eb307404073016878"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a4d1bb331cd675e9eb307404073016878">capabilities2_runner::InputMultiplexRunner::expected_input_count</a></div><div class="ttdeci">std::map&lt; std::string, int &gt; expected_input_count</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:102</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_a921185df695a0c589c3f76534622c973"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#a921185df695a0c589c3f76534622c973">capabilities2_runner::InputMultiplexRunner::InputMultiplexRunner</a></div><div class="ttdeci">InputMultiplexRunner()</div><div class="ttdoc">Constructor which needs to be empty due to plugin semantics.</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:13</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_abdc2ea43099056447273e1f7ee1cc113"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#abdc2ea43099056447273e1f7ee1cc113">capabilities2_runner::InputMultiplexRunner::completed_executions</a></div><div class="ttdeci">std::map&lt; std::string, bool &gt; completed_executions</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:105</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_aca8d47a83c9380245828f4a72dbc5f3b"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#aca8d47a83c9380245828f4a72dbc5f3b">capabilities2_runner::InputMultiplexRunner::input_count_tracker</a></div><div class="ttdeci">std::map&lt; std::string, int &gt; input_count_tracker</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:99</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_ae1e6893b446f7b858b097edd4508be90"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#ae1e6893b446f7b858b097edd4508be90">capabilities2_runner::InputMultiplexRunner::execution</a></div><div class="ttdeci">virtual void execution(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id) override</div><div class="ttdoc">Trigger process to be executed.</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:56</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1InputMultiplexRunner_html_afae7ca7e39e5b66f8fbbbb82b118923e"><div class="ttname"><a href="classcapabilities2__runner_1_1InputMultiplexRunner.html#afae7ca7e39e5b66f8fbbbb82b118923e">capabilities2_runner::InputMultiplexRunner::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id) override</div><div class="ttdoc">Starter function for starting the action runner.</div><div class="ttdef"><b>Definition</b> input_multiplex_runner.hpp:23</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a561039712ffa38c2617baf266fc22896"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">capabilities2_runner::RunnerBase::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success()</div><div class="ttdoc">Update on_success event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:271</div></div>
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-<a href="interface_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
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-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>{</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">namespace </span>models</div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
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-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">   20</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">specification_model_t</a></div>
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-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">   24</a></span>  std::map&lt;std::string, resource_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">services</a>;</div>
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-<div class="foldopen" id="foldopen00027" data-start="{" data-end="}">
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-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>      }</div>
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-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    {</div>
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-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">topics</a>[r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a>] = r;</div>
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-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a> r;</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a> = service.first.as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a> = service.second[<span class="stringliteral">&quot;type&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a> = service.second[<span class="stringliteral">&quot;description&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">services</a>[r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a>] = r;</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>      }</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    }</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;actions&quot;</span>])</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    {</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; action : node[<span class="stringliteral">&quot;actions&quot;</span>])</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      {</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1resource__model__t.html">resource_model_t</a> r;</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a> = action.first.as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a610bb2907636c8ed8c841b76e3778208">type</a> = action.second[<span class="stringliteral">&quot;type&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9baef31aac5d2ebfa99cf4af10e3421f">description</a> = action.second[<span class="stringliteral">&quot;description&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">actions</a>[r.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1resource__model__t.html#a9bbd5d0805bca1df20010321ac578674">name</a>] = r;</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>      }</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    }</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>  }</div>
-</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
-<div class="foldopen" id="foldopen00075" data-start="{" data-end="}">
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#ad892ff5233a2990c8de643a8a18d4211">   75</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#ad892ff5233a2990c8de643a8a18d4211">to_yaml</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    YAML::Node node;</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="comment">// parameters</span></div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    YAML::Node p;</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; parameter : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a7fbc888249194c37bbbcd6145cdcc272">parameters</a>)</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    {</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      p[parameter.first] = parameter.second.to_yaml();</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    }</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>    node[<span class="stringliteral">&quot;parameters&quot;</span>] = p;</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="comment">// topics</span></div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    YAML::Node t;</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; topic : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">topics</a>)</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    {</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>      t[topic.first] = topic.second.to_yaml();</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    }</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    node[<span class="stringliteral">&quot;topics&quot;</span>] = t;</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    <span class="comment">// services</span></div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    YAML::Node s;</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; service : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">services</a>)</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    {</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>      s[service.first] = service.second.to_yaml();</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    }</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    node[<span class="stringliteral">&quot;services&quot;</span>] = s;</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="comment">// actions</span></div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    YAML::Node a;</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; action : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">actions</a>)</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    {</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>      a[action.first] = action.second.to_yaml();</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    }</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    node[<span class="stringliteral">&quot;actions&quot;</span>] = a;</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>    <span class="comment">// return node</span></div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="keywordflow">return</span> node;</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>  }</div>
-</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>};</div>
-</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
-<div class="foldopen" id="foldopen00123" data-start="{" data-end="};">
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">  123</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">interface_model_t</a> : <span class="keyword">public</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">predicateable_base_t</a></div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>{</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">  125</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>;</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">  126</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1specification__model__t.html">specification_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>;</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
-<div class="foldopen" id="foldopen00128" data-start="{" data-end="}">
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">  128</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">from_yaml</a>(<span class="keyword">const</span> YAML::Node&amp; node)</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>  {</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">from_yaml</a>(node);</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a62197b4cea21b4597d900f8a13f5f908">from_yaml</a>(node[<span class="stringliteral">&quot;interface&quot;</span>]);</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <span class="comment">// if relations exist</span></div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;relations&quot;</span>])</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    {</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; relation : node[<span class="stringliteral">&quot;relations&quot;</span>])</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>      {</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>        <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">predicate_model_t</a> p;</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>        p.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a913e6b62b99887f12ba12debea26d5ac">from_yaml</a>(relation);</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a>.push_back(p);</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>      }</div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>    }</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>  }</div>
-</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span> </div>
-<div class="foldopen" id="foldopen00144" data-start="{" data-end="}">
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">  144</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">to_yaml</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    YAML::Node node = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>();</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    node[<span class="stringliteral">&quot;interface&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#ad892ff5233a2990c8de643a8a18d4211">to_yaml</a>();</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>    <span class="comment">// if relations exist</span></div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a>.size() &gt; 0)</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    {</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>      YAML::Node r;</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; relation : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">relations</a>)</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>      {</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>        r.push_back(relation.to_yaml());</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span>      }</div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>      node[<span class="stringliteral">&quot;relations&quot;</span>] = r;</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    }</div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    <span class="keywordflow">return</span> node;</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>  }</div>
-</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span> </div>
-<div class="foldopen" id="foldopen00161" data-start="{" data-end="}">
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">  161</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">to_sql_table</a>()</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>  {</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">header_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;, interface TEXT&quot;</span>;</div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>  }</div>
-</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span> </div>
-<div class="foldopen" id="foldopen00166" data-start="{" data-end="}">
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">  166</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">to_sql_values</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span><span class="keyword">  </span>{</div>
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-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span> </div>
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-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>}  <span class="comment">// namespace capabilities2_server</span></div>
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-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html_aee2e1db0d5ab5e2c6252db5378dc9d53"><div class="ttname"><a href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server::to_sql_safe</a></div><div class="ttdeci">std::string to_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a generic std::string to a sql safe std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:15</div></div>
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-<div class="ttc" id="asql__safe_8hpp_html"><div class="ttname"><a href="sql__safe_8hpp.html">sql_safe.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a184f5969009afde38cf0933b73f58576"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> header.hpp:47</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a5df92e5526b56a061f1b87057926f8f1"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">capabilities2_server::models::header_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> header.hpp:72</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_aaf1c85918945d7e2468748b32c840608"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">capabilities2_server::models::header_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> header.hpp:65</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html">capabilities2_server::models::interface_model_t</a></div><div class="ttdoc">interface model</div><div class="ttdef"><b>Definition</b> interface.hpp:124</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a379d6d70a00d7ed95c279bd2d38cd286"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a379d6d70a00d7ed95c279bd2d38cd286">capabilities2_server::models::interface_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> interface.hpp:128</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a3e1b6a0fbb148703a6a2bfab6a4f2003"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a3e1b6a0fbb148703a6a2bfab6a4f2003">capabilities2_server::models::interface_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> interface.hpp:161</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_a7909ec1d2a43ec77d95e22465ae586e5"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a7909ec1d2a43ec77d95e22465ae586e5">capabilities2_server::models::interface_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> interface.hpp:166</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ab4974dddde348826f754eeba41fab1d0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">capabilities2_server::models::interface_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> interface.hpp:144</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">capabilities2_server::models::predicate_model_t</a></div><div class="ttdoc">predicate model type</div><div class="ttdef"><b>Definition</b> predicate.hpp:19</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicateable__base__t_html_a997eab789e250da877a23377975dafe7"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html#a997eab789e250da877a23377975dafe7">capabilities2_server::models::predicateable_base_t::relations</a></div><div class="ttdeci">std::vector&lt; predicate_model_t &gt; relations</div><div class="ttdef"><b>Definition</b> predicateable_base.hpp:20</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html">capabilities2_server::models::specification_model_t</a></div><div class="ttdoc">interface specification type the specification model is the computation graph blueprint of a capabili...</div><div class="ttdef"><b>Definition</b> interface.hpp:21</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html_a4a842359980def295d1e9995e808d2ed"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">capabilities2_server::models::specification_model_t::actions</a></div><div class="ttdeci">std::map&lt; std::string, resource_model_t &gt; actions</div><div class="ttdef"><b>Definition</b> interface.hpp:25</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html_a62197b4cea21b4597d900f8a13f5f908"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a62197b4cea21b4597d900f8a13f5f908">capabilities2_server::models::specification_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> interface.hpp:27</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html_a77bb428b9a7290aae1c9d1180c3c93ac"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">capabilities2_server::models::specification_model_t::topics</a></div><div class="ttdeci">std::map&lt; std::string, resource_model_t &gt; topics</div><div class="ttdef"><b>Definition</b> interface.hpp:23</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html_a7fbc888249194c37bbbcd6145cdcc272"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a7fbc888249194c37bbbcd6145cdcc272">capabilities2_server::models::specification_model_t::parameters</a></div><div class="ttdeci">std::map&lt; std::string, resource_model_t &gt; parameters</div><div class="ttdef"><b>Definition</b> interface.hpp:22</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html_ad892ff5233a2990c8de643a8a18d4211"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#ad892ff5233a2990c8de643a8a18d4211">capabilities2_server::models::specification_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> interface.hpp:75</div></div>
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i.grid?[i.grid,i.grid]:i.grid,r=a[0]||1,l=a[1]||1,u=Math.round((s.width-n.width)/r)*r,p=Math.round((s.height-n.height)/l)*l,d=n.width+u,c=n.height+p,f=i.maxWidth&&i.maxWidth<d,g=i.maxHeight&&i.maxHeight<c,m=i.minWidth&&i.minWidth>d,s=i.minHeight&&i.minHeight>c;i.grid=a,m&&(d+=r),s&&(c+=l),f&&(d-=r),g&&(c-=l),/^(se|s|e)$/.test(h)?(e.size.width=d,e.size.height=c):/^(ne)$/.test(h)?(e.size.width=d,e.size.height=c,e.position.top=o.top-p):/^(sw)$/.test(h)?(e.size.width=d,e.size.height=c,e.position.left=o.left-u):((c-l<=0||d-r<=0)&&(t=e._getPaddingPlusBorderDimensions(this)),0<c-l?(e.size.height=c,e.position.top=o.top-p):(c=l-t.height,e.size.height=c,e.position.top=o.top+n.height-c),0<d-r?(e.size.width=d,e.position.left=o.left-u):(d=r-t.width,e.size.width=d,e.position.left=o.left+n.width-d))}});y.ui.resizable});/**
- * Copyright (c) 2007 Ariel Flesler - aflesler ○ gmail • com | https://github.com/flesler
- * Licensed under MIT
- * @author Ariel Flesler
- * @version 2.1.2
- */
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- PowerTip v1.3.1 (2018-04-15)
- https://stevenbenner.github.io/jquery-powertip/
- Copyright (c) 2018 Steven Benner (http://stevenbenner.com/).
- Released under MIT license.
- https://raw.github.com/stevenbenner/jquery-powertip/master/LICENSE.txt
-*/
-(function(root,factory){if(typeof define==="function"&&define.amd){define(["jquery"],factory)}else if(typeof module==="object"&&module.exports){module.exports=factory(require("jquery"))}else{factory(root.jQuery)}})(this,function($){var $document=$(document),$window=$(window),$body=$("body");var DATA_DISPLAYCONTROLLER="displayController",DATA_HASACTIVEHOVER="hasActiveHover",DATA_FORCEDOPEN="forcedOpen",DATA_HASMOUSEMOVE="hasMouseMove",DATA_MOUSEONTOTIP="mouseOnToPopup",DATA_ORIGINALTITLE="originalTitle",DATA_POWERTIP="powertip",DATA_POWERTIPJQ="powertipjq",DATA_POWERTIPTARGET="powertiptarget",EVENT_NAMESPACE=".powertip",RAD2DEG=180/Math.PI,MOUSE_EVENTS=["click","dblclick","mousedown","mouseup","mousemove","mouseover","mouseout","mouseenter","mouseleave","contextmenu"];var 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- * http://www.smartmenus.org/
- * Copyright Vasil Dinkov, Vadikom Web Ltd. http://vadikom.com; Licensed MIT */(function(t){"function"==typeof define&&define.amd?define(["jquery"],t):"object"==typeof module&&"object"==typeof module.exports?module.exports=t(require("jquery")):t(jQuery)})(function($){function initMouseDetection(t){var e=".smartmenus_mouse";if(mouseDetectionEnabled||t)mouseDetectionEnabled&&t&&($(document).off(e),mouseDetectionEnabled=!1);else{var i=!0,s=null,o={mousemove:function(t){var e={x:t.pageX,y:t.pageY,timeStamp:(new Date).getTime()};if(s){var o=Math.abs(s.x-e.x),a=Math.abs(s.y-e.y);if((o>0||a>0)&&2>=o&&2>=a&&300>=e.timeStamp-s.timeStamp&&(mouse=!0,i)){var n=$(t.target).closest("a");n.is("a")&&$.each(menuTrees,function(){return $.contains(this.$root[0],n[0])?(this.itemEnter({currentTarget:n[0]}),!1):void 0}),i=!1}}s=e}};o[touchEvents?"touchstart":"pointerover pointermove pointerout MSPointerOver MSPointerMove 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i=".smartmenus";this.$root.data("smartmenus",this).attr("data-smartmenus-id",this.rootId).dataSM("level",1).on(getEventsNS({"mouseover focusin":$.proxy(this.rootOver,this),"mouseout focusout":$.proxy(this.rootOut,this),keydown:$.proxy(this.rootKeyDown,this)},i)).on(getEventsNS({mouseenter:$.proxy(this.itemEnter,this),mouseleave:$.proxy(this.itemLeave,this),mousedown:$.proxy(this.itemDown,this),focus:$.proxy(this.itemFocus,this),blur:$.proxy(this.itemBlur,this),click:$.proxy(this.itemClick,this)},i),"a"),i+=this.rootId,this.opts.hideOnClick&&$(document).on(getEventsNS({touchstart:$.proxy(this.docTouchStart,this),touchmove:$.proxy(this.docTouchMove,this),touchend:$.proxy(this.docTouchEnd,this),click:$.proxy(this.docClick,this)},i)),$(window).on(getEventsNS({"resize 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e=".smartmenus";this.$root.removeData("smartmenus").removeAttr("data-smartmenus-id").removeDataSM("level").off(e),e+=this.rootId,$(document).off(e),$(window).off(e),this.opts.subIndicators&&(this.$subArrow=null)}this.menuHideAll();var i=this;this.$root.find("ul").each(function(){var 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t=$(this);0==t.attr("id").indexOf(i.accessIdPrefix)&&t.removeAttr("id")}).removeClass("has-submenu").removeDataSM("sub").removeAttr("aria-haspopup").removeAttr("aria-controls").removeAttr("aria-expanded").closest("li").removeDataSM("sub"),this.opts.subIndicators&&this.$root.find("span.sub-arrow").remove(),this.opts.markCurrentItem&&this.$root.find("a.current").removeClass("current"),t||(this.$root=null,this.$firstLink=null,this.$firstSub=null,this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),menuTrees.splice($.inArray(this,menuTrees),1))},disable:function(t){if(!this.disabled){if(this.menuHideAll(),!t&&!this.opts.isPopup&&this.$root.is(":visible")){var e=this.$root.offset();this.$disableOverlay=$('<div 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e=t.originalEvent.touches[0];this.lastTouch.x2=e.pageX,this.lastTouch.y2=e.pageY}},docTouchStart:function(t){var e=t.originalEvent.touches[0];this.lastTouch={x1:e.pageX,y1:e.pageY,target:e.target}},enable:function(){this.disabled&&(this.$disableOverlay&&(this.$disableOverlay.remove(),this.$disableOverlay=null),this.disabled=!1)},getClosestMenu:function(t){for(var e=$(t).closest("ul");e.dataSM("in-mega");)e=e.parent().closest("ul");return e[0]||null},getHeight:function(t){return this.getOffset(t,!0)},getOffset:function(t,e){var i;"none"==t.css("display")&&(i={position:t[0].style.position,visibility:t[0].style.visibility},t.css({position:"absolute",visibility:"hidden"}).show());var s=t[0].getBoundingClientRect&&t[0].getBoundingClientRect(),o=s&&(e?s.height||s.bottom-s.top:s.width||s.right-s.left);return o||0===o||(o=e?t[0].offsetHeight:t[0].offsetWidth),i&&t.hide().css(i),o},getStartZIndex:function(t){var 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0}),t},isLinkInMegaMenu:function(t){return $(this.getClosestMenu(t[0])).hasClass("mega-menu")},isTouchMode:function(){return!mouse||this.opts.noMouseOver||this.isCollapsible()},itemActivate:function(t,e){var i=t.closest("ul"),s=i.dataSM("level");if(s>1&&(!this.activatedItems[s-2]||this.activatedItems[s-2][0]!=i.dataSM("parent-a")[0])){var o=this;$(i.parentsUntil("[data-smartmenus-id]","ul").get().reverse()).add(i).each(function(){o.itemActivate($(this).dataSM("parent-a"))})}if((!this.isCollapsible()||e)&&this.menuHideSubMenus(this.activatedItems[s-1]&&this.activatedItems[s-1][0]==t[0]?s:s-1),this.activatedItems[s-1]=t,this.$root.triggerHandler("activate.smapi",t[0])!==!1){var a=t.dataSM("sub");a&&(this.isTouchMode()||!this.opts.showOnClick||this.clickActivated)&&this.menuShow(a)}},itemBlur:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&this.$root.triggerHandler("blur.smapi",e[0])},itemClick:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ 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e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('<span 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r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y<o.upEnd)&&a.eq(o.up?1:0).show(),o.y==n)mouse&&a.eq(o.up?0:1).hide(),this.menuScrollStop(t);else if(!e){this.opts.scrollAccelerate&&o.step<this.opts.scrollStep&&(o.step+=.2);var h=this;this.scrollTimeout=requestAnimationFrame(function(){h.menuScroll(t)})}},menuScrollMousewheel:function(t,e){if(this.getClosestMenu(e.target)==t[0]){e=e.originalEvent;var i=(e.wheelDelta||-e.detail)>0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 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-<a href="launch__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
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-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
-<div class="foldopen" id="foldopen00014" data-start="{" data-end="};">
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1LaunchRunner.html">   14</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1LaunchRunner.html">LaunchRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1NoTriggerRunner.html">NoTriggerRunner</a></div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>{</div>
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-<div class="foldopen" id="foldopen00020" data-start="{" data-end="}">
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-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>  {</div>
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-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
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-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
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-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
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-<div class="ttc" id="aclasscapabilities2__runner_1_1LaunchRunner_html_ace430452667a2365c3555755643c4c4c"><div class="ttname"><a href="classcapabilities2__runner_1_1LaunchRunner.html#ace430452667a2365c3555755643c4c4c">capabilities2_runner::LaunchRunner::LaunchRunner</a></div><div class="ttdeci">LaunchRunner()</div><div class="ttdoc">Constructor which needs to be empty due to plugin semantics.</div><div class="ttdef"><b>Definition</b> launch_runner.hpp:20</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1LaunchRunner_html_ad0774a843f92a69d7d660a216a6d265d"><div class="ttname"><a href="classcapabilities2__runner_1_1LaunchRunner.html#ad0774a843f92a69d7d660a216a6d265d">capabilities2_runner::LaunchRunner::package_name</a></div><div class="ttdeci">std::string package_name</div><div class="ttdef"><b>Definition</b> launch_runner.hpp:66</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1LaunchRunner_html_adb150055c0e372f46c961aae6a4e9dd4"><div class="ttname"><a href="classcapabilities2__runner_1_1LaunchRunner.html#adb150055c0e372f46c961aae6a4e9dd4">capabilities2_runner::LaunchRunner::launch_name</a></div><div class="ttdeci">std::string launch_name</div><div class="ttdef"><b>Definition</b> launch_runner.hpp:65</div></div>
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-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a68a4f300a106474d09ccda51efc57a5a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">capabilities2_runner::RunnerBase::param_on_started</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_started()</div><div class="ttdoc">Update on_started event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:226</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a94f0b66e78d66b770ba91d9f55b202ce"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">capabilities2_runner::RunnerBase::run_config_</a></div><div class="ttdeci">runner_opts run_config_</div><div class="ttdoc">run_config_ runner configuration</div><div class="ttdef"><b>Definition</b> runner_base.hpp:474</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ac92696dfbfe4b50331ca156c4449954c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase::emit_started</a></div><div class="ttdeci">void emit_started(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STARTED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:418</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
-<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
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-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ac592b9b0cde8eef4f39dfa9ed619252e"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">capabilities2_runner::runner_opts::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> runner_base.hpp:61</div></div>
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-<div class="textblock"><p><a class="anchor" id="autotoc_md121"></a> </p>
-<h1><a class="anchor" id="autotoc_md122"></a>
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-<li>[x] better docs</li>
-<li>[x] BUG: handle "'" in db queries</li>
-<li>[x] BUG: escape db function variables</li>
-<li>[x] document deferred launch-runner support and planned replacement for current ROS2 launch incompatibilities</li>
-<li>[ ] restore launch-runner support once the replacement approach is ready</li>
-<li>[x] add descriptions to packages with TODO in package.xml</li>
-<li>[x] standardise trigger prototype</li>
-<li>[x] bump cmake min version to 3.16</li>
-<li>[ ] check thread safety for runner execution threads</li>
-<li>[ ] add note on threaded execution in base trigger function</li>
-</ul>
-<h1><a class="anchor" id="autotoc_md123"></a>
-Features</h1>
-<ul>
-<li>[x] try using ros package to find exports automatically</li>
-<li>[x] improve the event system</li>
-<li>[ ] implement provider definition handling in runner</li>
-<li>[ ] move to established db handler lib</li>
-<li>[ ] better bt runner impl</li>
-<li>[ ] db traits: identifiable, modifiable, soft_deleteable, header, remappable, predicateable</li>
-</ul>
-<h1><a class="anchor" id="autotoc_md124"></a>
-Refactoring</h1>
-<ul>
-<li>[x] remove fan out project work</li>
-<li>[x] merge various system runners into base runner package</li>
-<li>[x] custom logger needs to be removed</li>
-<li>[x] events should be incorporated as core function</li>
-<li>[x] server, runner base, api have event</li>
-<li>[ ] increment package versions</li>
-<li>[ ] interfaces and providers for cap caps </li>
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-<div class="textblock"><p><a class="anchor" id="autotoc_md0"></a> This package provides an event handling subsystem for the Capabilities2 framework. Events form the basis of inter-capability communication, allowing capabilities to respond to state changes in other capabilities. This facilitates the creation of complex behaviours through the composition of simpler capabilities.</p>
-<h1><a class="anchor" id="autotoc_md1"></a>
-features</h1>
-<ul>
-<li>Uses capability event messages</li>
-<li>helpers for integration with the <a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a>, and <a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a> packages</li>
-<li>system for connecting capabilities together based on events. e.g. capability state transitions occur based on events from other capabilities</li>
-</ul>
-<h1><a class="anchor" id="autotoc_md2"></a>
-Model</h1>
-<p>The event system is based around the concepts of nodes, connections, events.</p>
-<h2><a class="anchor" id="autotoc_md3"></a>
-Node</h2>
-<p>Represents a capability that can emit events and has connections to other capabilities.</p>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">model data   </th><th class="markdownTableHeadNone">description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone">id   </td><td class="markdownTableBodyNone">unique identifier for the node    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone">connections   </td><td class="markdownTableBodyNone">a map of connections. The source i always <em>this</em> node   </td></tr>
-</table>
-<h2><a class="anchor" id="autotoc_md4"></a>
-Connection</h2>
-<p>Represents the link between two nodes.</p>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">model data   </th><th class="markdownTableHeadNone">description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone">type   </td><td class="markdownTableBodyNone">the type of connection (e.g., STARTED, STOPPED, SUCCEEDED, FAILED)    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone">source   </td><td class="markdownTableBodyNone">the source capability that emits the event    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone">target   </td><td class="markdownTableBodyNone">the target capability to invoke when the event is emitted   </td></tr>
-</table>
-<h2><a class="anchor" id="autotoc_md5"></a>
-Event</h2>
-<p>Represents a specific event that can be emitted by a node (e.g., STARTED, STOPPED, SUCCEEDED, FAILED)</p>
-<h2><a class="anchor" id="autotoc_md6"></a>
-event types</h2>
-<p>State transitions are as defined in the event code message:</p>
-<div class="fragment"><div class="line">IDLE, // initial state</div>
-<div class="line">STARTED, // when capability is started</div>
-<div class="line">STOPPED, // when capability is stopped</div>
-<div class="line">// TRIGGERED, // when capability is TRIGGERED</div>
-<div class="line">FAILED, // when capability has FAILED</div>
-<div class="line">SUCCEEDED // when capability has SUCCEEDED</div>
-<div class="line">etc..</div>
-</div><!-- fragment --><h1><a class="anchor" id="autotoc_md7"></a>
-Flow</h1>
-<ol type="1">
-<li>A user establishes a bond with the <a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a></li>
-<li>The user connects capabilities together by specifying event connections (source capability, event type, target capability)</li>
-<li>The server namespaces the connection using the bond id, the source capability instance id, and the target capability instance id</li>
-<li>When a capability emits an event (e.g., STARTED), the event system checks for any connections matching that event type from the source capability, bond, and source instance id</li>
-<li>For each matching connection, the target capability is invoked accordingly (e.g., started, stopped, etc.)</li>
-</ol>
-<h1><a class="anchor" id="autotoc_md8"></a>
-Example usage</h1>
-<p>After a bond is established and both capabilities are running, a client can connect them through <code>ConnectCapability.srv</code>.</p>
-<div class="fragment"><div class="line">ros2 service call /capabilities/connect_capability capabilities2_msgs/srv/ConnectCapability &quot;{</div>
-<div class="line">  bond_id: &#39;&lt;bond-id&gt;&#39;,</div>
-<div class="line">  connection: {</div>
-<div class="line">    type: {code: 1},</div>
-<div class="line">    source: {</div>
-<div class="line">      capability: &#39;demo_pkg/source_capability&#39;,</div>
-<div class="line">      provider: &#39;demo_pkg/source_provider&#39;,</div>
-<div class="line">      instance_id: &#39;source_instance&#39;</div>
-<div class="line">    },</div>
-<div class="line">    target: {</div>
-<div class="line">      capability: &#39;demo_pkg/target_capability&#39;,</div>
-<div class="line">      provider: &#39;demo_pkg/target_provider&#39;,</div>
-<div class="line">      instance_id: &#39;target_instance&#39;,</div>
-<div class="line">      parameters: [</div>
-<div class="line">        {</div>
-<div class="line">          key: &#39;mode&#39;,</div>
-<div class="line">          value: [&#39;auto&#39;],</div>
-<div class="line">          type: 3</div>
-<div class="line">        }</div>
-<div class="line">      ]</div>
-<div class="line">    }</div>
-<div class="line">  }</div>
-<div class="line">}&quot;</div>
-</div><!-- fragment --><p>in this example, <code>type.code: 1</code> corresponds to <code>STARTED</code>. when the source capability emits a <code>STARTED</code> event for <code>source_instance</code>, the target capability is triggered for <code>target_instance</code>. any parameters specified on the target capability are carried through the connection and merged with event parameters at emission time.</p>
-<h2><a class="anchor" id="autotoc_md9"></a>
-Event namespacing</h2>
-<p>event connections are scoped in three ways:</p>
-<ol type="1">
-<li>by bond id, so one client cannot trigger another client's event wiring</li>
-<li>by source capability instance id, so only the matching running source instance emits to that connection</li>
-<li>by target capability instance id, so the event carries the intended destination instance when the callback is invoked</li>
-</ol>
-<p>the connection identifier built by the server currently has this format:</p>
-<div class="fragment"><div class="line">bond_id/source_instance_id/target_instance_id</div>
-</div><!-- fragment --><p>the source capability runner stores this connection id and, during event emission, matches on:</p>
-<ul>
-<li>event type</li>
-<li>bond id</li>
-<li>source instance id</li>
-</ul>
-<p>when a match is found, the target capability and target instance id are forwarded through the callback. the published event message also uses the source instance id as the <code>trigger_id</code> field.</p>
-<h2><a class="anchor" id="autotoc_md10"></a>
-Event Emission Triggering</h2>
-<p>There are two ways events can be tracked for emission:</p>
-<ol type="1">
-<li>the connection is for STARTED or STOPPED events - these are persistently tracked and become dependencies between capabilities</li>
-<li>the connection is for SUCCEEDED or FAILED events - these are one-shot events that are emitted when a running capability is triggered to succeed or fail</li>
-</ol>
-<p>This works out to mean that a STARTED capability will implicitly start its dependent capabilities, and immediately run their trigger action.</p>
-<h2><a class="anchor" id="autotoc_md11"></a>
-Event trigger ID</h2>
-<p>the published event message exposes a <code>trigger_id</code> field. in the current implementation this is populated from the source capability instance id, not from a separate user-defined trigger namespace.</p>
-<div class="fragment"><div class="line">connection_id = bond_id + &#39;/&#39; + source_instance_id + &#39;/&#39; + target_instance_id</div>
-<div class="line">published trigger_id = source_instance_id</div>
-</div><!-- fragment --><h2><a class="anchor" id="autotoc_md12"></a>
-Notes</h2>
-<ul>
-<li>a single publisher is used for all event messages, this is at the top level (<a class="el" href="namespacecapabilities2__server.html">capabilities2_server</a>)</li>
-<li>events are fired from runners</li>
-</ul>
-<h3><a class="anchor" id="autotoc_md13"></a>
-To Do</h3>
-<ul>
-<li>[x] add ability to specify parameters for target capability on event connection</li>
-<li>[ ] add ability to specify event connections in capability definition files </li>
-</ul>
-</div></div><!-- contents -->
-</div><!-- PageDoc -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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-  <div class="headertitle"><div class="title">Capabilities2 msgs</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md14"></a> <img src="https://img.shields.io/badge/Framework-ROS-informational?&amp;logo=ROS" alt="ROS" class="inline"/></p>
-<p>This package contains <a href="https://index.ros.org/doc/ros2/">ROS2</a> <code>messages</code>, <code>services</code>, and <code>actions</code> for the capabilities2 framework.</p>
-<h1><a class="anchor" id="autotoc_md15"></a>
-Message Types</h1>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Message Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>Capability.msg</code>   </td><td class="markdownTableBodyNone">A message type for a capability of a robot.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>CapabilityCommand.msg</code>   </td><td class="markdownTableBodyNone">A message type for a command to a robot.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>CapabilityConnection.msg</code>   </td><td class="markdownTableBodyNone">A message type for connecting one capability to another through the event system.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>CapabilityEvent.msg</code>   </td><td class="markdownTableBodyNone">A message type for an event related to a capability.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>CapabilityEventCode.msg</code>   </td><td class="markdownTableBodyNone">event types    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>CapabilityEventStamped.msg</code>   </td><td class="markdownTableBodyNone">A stamped version of event    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>CapabilityResponse.msg</code>   </td><td class="markdownTableBodyNone">A message type for a response from a robot related to a capability.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>CapabilitySpec.msg</code>   </td><td class="markdownTableBodyNone">A message type for the specification of a capability.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>NaturalCapability.msg</code>   </td><td class="markdownTableBodyNone">A message type for a natural capability of a robot.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>Remapping.msg</code>   </td><td class="markdownTableBodyNone">A message type for a key/value remapping of a capability resource.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>RunningCapability.msg</code>   </td><td class="markdownTableBodyNone">A message type for a running capability.   </td></tr>
-</table>
-<h1><a class="anchor" id="autotoc_md16"></a>
-Service Types</h1>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Service Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>EstablishBond.srv</code>   </td><td class="markdownTableBodyNone">A service type for establishing a bond between a robot and a client.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>FreeCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for freeing a capability of a robot.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>GetCapabilitySpec.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the specification of a capability of a robot.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>GetCapabilitySpecs.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the specifications of all capabilities of a robot.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>GetInterfaces.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the interfaces of a robot.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>GetProviders.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the providers of a capability of a robot.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>GetRemappings.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the remappings of a capability of a robot.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>GetRunningCapabilities.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the running capabilities of a robot.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>GetSemanticInterfaces.srv</code>   </td><td class="markdownTableBodyNone">A service type for getting the semantic interfaces.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>RegisterCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for registering a capability with the server.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>StartCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for starting a capability.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>StopCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for stopping a capability.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>UseCapability.srv</code>   </td><td class="markdownTableBodyNone">A service type for using a capability.   </td></tr>
-</table>
-<p>New in 0.1.3:</p>
-<ul>
-<li><code>ConnectCapability.srv</code> - A service type for connecting two running capabilities together through the event system.</li>
-<li><code>Launch.srv</code> - A service type for launching a launch file.</li>
-<li><code>TriggerCapability.srv</code> - A service type for triggering a capability.</li>
-</ul>
-<h1><a class="anchor" id="autotoc_md17"></a>
-Action Types</h1>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Action Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>Capability.action</code>   </td><td class="markdownTableBodyNone">An action type for an encapsulated capability action.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>Launch.action</code>   </td><td class="markdownTableBodyNone">An action type for launching a launch file.   </td></tr>
-</table>
-</div></div><!-- contents -->
-</div><!-- PageDoc -->
-<!-- start footer part -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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diff --git a/docs/html/md_capabilities2__runner_2docs_2create__runners.html b/docs/html/md_capabilities2__runner_2docs_2create__runners.html
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-  <div class="headertitle"><div class="title">Creating Runner Plugins</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md18"></a> The runner API is designed to be extensible, so that specific runners can be created on a per provider basis. Another feature that can be implemented is cross-runner communication, which could allow capabilities to be combined at runtime to perform more complex tasks. This could overcome limitations in robot programming in which there is a common need for extensive pre-definition of tasks.</p>
-<h1><a class="anchor" id="autotoc_md19"></a>
-Inheritance</h1>
-<p>A runner is a plugin that inherits from the <code><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">capabilities2_runner::RunnerBase</a></code> class. The <code>RunnerBase</code> class is a pure virtual class that defines the interface for a runner. The <code>RunnerBase</code> class has the following methods:</p>
-<ol type="1">
-<li><code>start</code> - starts the runner</li>
-</ol>
-<ol type="1">
-<li><code>stop</code> - stops the runner</li>
-</ol>
-<ol type="1">
-<li><code>trigger</code> - triggers the runner</li>
-</ol>
-<p>Multiple classes are provided to inherit from, depending on the type of runner you want to create. A notable example is the <code><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html" title="action runner base class">capabilities2_runner::ActionRunner</a></code> class, which is used to create runners that run actions.</p>
-<h1><a class="anchor" id="autotoc_md20"></a>
-Export with Pluginlib</h1>
-<p>The runner should be exported as a plugin using the <code>PLUGINLIB_EXPORT_CLASS</code> macro.</p>
-<div class="fragment"><div class="line"><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
-<div class="line"><span class="preprocessor">#include &lt;pluginlib/class_list_macros.hpp&gt;</span></div>
-<div class="line"> </div>
-<div class="line">...</div>
-<div class="line"> </div>
-<div class="line">PLUGINLIB_EXPORT_CLASS(capabilities2_runner::MyRunner, <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a>)</div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
-<div class="ttc" id="arunner__base_8hpp_html"><div class="ttname"><a href="runner__base_8hpp.html">runner_base.hpp</a></div></div>
-</div><!-- fragment --><h1><a class="anchor" id="autotoc_md21"></a>
-Expose with plugins.xml</h1>
-<p>The runner should be exposed as a plugin in the <code>plugins.xml</code> file.</p>
-<div class="fragment"><div class="line">&lt;<span class="keywordtype">library</span> <span class="keyword">path</span>=<span class="stringliteral">&quot;capabilities2_runner&quot;</span>&gt;</div>
-<div class="line">    &lt;<span class="keywordtype">class</span> <span class="keyword">type</span>=<span class="stringliteral">&quot;capabilities2_runner::MyRunner&quot;</span> <span class="keyword">base_class_type</span>=<span class="stringliteral">&quot;capabilities2_runner::RunnerBase&quot;</span>&gt;</div>
-<div class="line">        &lt;<span class="keywordtype">description</span>&gt;</div>
-<div class="line">            <span class="keyword">A</span> <span class="keyword">plugin</span> <span class="keyword">that</span> <span class="keyword">provides</span> <span class="keyword">a</span>  <span class="keyword">my-runner</span> <span class="keyword">to</span> <span class="keyword">test</span> <span class="keyword">capabilities2</span></div>
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-<div class="line">    &lt;/<span class="keywordtype">class</span>&gt;</div>
-<div class="line">&lt;/<span class="keywordtype">library</span>&gt;</div>
-</div><!-- fragment --><p><code>plugin.xml</code> needs to be included in the <code>CMakeLists.txt</code>.</p>
-<div class="fragment"><div class="line">pluginlib_export_plugin_description_file(${PROJECT_NAME} plugins.xml)</div>
-</div><!-- fragment --> </div></div><!-- contents -->
-</div><!-- PageDoc -->
-<!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md22"></a> </p>
-<h1><a class="anchor" id="autotoc_md23"></a>
-TODO</h1>
-<p>Runners can use parameters. These parameters are passed to the runner in the <code>trigger</code> function. The parameter format for capabilities2 uses XML. A runner expects to receive a minimal XML structure which includes an ID attribute, for example:</p>
-<div class="fragment"><div class="line">&lt;<span class="keywordtype">parameters</span> <span class="keyword">id</span>=<span class="stringliteral">&quot;1234&quot;</span>&gt;</div>
-</div><!-- fragment --><p>The <code>id</code> is used to identify the runner instance and manage its execution. </p>
-</div></div><!-- contents -->
-</div><!-- PageDoc -->
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-  <div class="headertitle"><div class="title">capabilities2_runner plugin API</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md24"></a> This package provides the <code>runner</code> API for abstract provision of capabilities. Runner plugins extend the execution functionality of the <code>capabilities</code> system. The ROS1 implementation used launch files to start capabilities. The ROS2 implementation uses runners. This allows for more flexibility in how capabilities are started and stopped, or how they are managed, and operate.</p>
-<h1><a class="anchor" id="autotoc_md25"></a>
-Runner archetypes</h1>
-<p>The <code><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></code> package provides runner patterns that can be used to specialise runners for capabilities and hence create capabilities. These runners are tested:</p>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Runner Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">capabilities2_runner::RunnerBase</a></code>   </td><td class="markdownTableBodyNone">The Base class for runners implementing the <code>Runner</code> interface which consists of <code>start</code>, <code>stop</code> and <code>trigger</code> functionality.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html" title="action runner base class">capabilities2_runner::ActionRunner</a></code>   </td><td class="markdownTableBodyNone">The Base runner class for capabilities that are implemented as ROS Actions. Overrides <code>stop</code> and <code>trigger</code> from RunnerBase.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1ServiceRunner.html" title="service runner base class">capabilities2_runner::ServiceRunner</a></code>   </td><td class="markdownTableBodyNone">The Base runner class for capabilities that are implemented as ROS Services.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1TopicRunner.html" title="Topic runner base class.">capabilities2_runner::TopicRunner</a></code>   </td><td class="markdownTableBodyNone">The Base runner class for capabilities that are implemented as ROS Topics.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html" title="no-trigger runner">capabilities2_runner::NoTriggerRunner</a></code>   </td><td class="markdownTableBodyNone">A base runner class that disables trigger functionality. Useful for runners that begin work immediately from <code>start</code>.   </td></tr>
-</table>
-<h1><a class="anchor" id="autotoc_md26"></a>
-Standard Runners</h1>
-<p>The <code><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></code> package provides some standard runners.</p>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Runner Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1LaunchRunner.html" title="launch runner base class">capabilities2_runner::LaunchRunner</a></code>   </td><td class="markdownTableBodyNone">Deferred launch-file runner kept for compatibility planning. The current implementation is intentionally disabled.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1DummyRunner.html" title="Dummy runner.">capabilities2_runner::DummyRunner</a></code>   </td><td class="markdownTableBodyNone">A sample runner that can be used to test the functionality of capabilities server.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1GetCapabilitySpecsRunner.html" title="Executor runner class.">capabilities2_runner::GetCapabilitySpecsRunner</a></code>   </td><td class="markdownTableBodyNone">A runner that requests capability specifications from the capabilities server.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1InputMultiplexRunner.html">capabilities2_runner::InputMultiplexRunner</a></code>   </td><td class="markdownTableBodyNone">A runner that multiplexes multiple input capabilities through the events system.   </td></tr>
-</table>
-<h1><a class="anchor" id="autotoc_md27"></a>
-Experimental Runners</h1>
-<p>The <code><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></code> package provides experimental runners that can be used to start capabilities. These runners are not fully tested and may not work as expected. The experimental runners are:</p>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Runner Type   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code><a class="el" href="classcapabilities2__runner_1_1EnCapRunner.html" title="encapsulated capability runner">capabilities2_runner::EnCapRunner</a></code>   </td><td class="markdownTableBodyNone">Base runner class that provides a capability action interface that encapsulates another action.   </td></tr>
-</table>
-<h1><a class="anchor" id="autotoc_md28"></a>
-Runner Inheritance Diagram</h1>
-<p>Following inheritance diagram depicts the inheritance between the above presented <em>Runners</em> and <em>Experimental Runners</em>.</p>
-<p><img src="../capabilities2_runner/docs/images/inheritance-diagram.png" alt="inheritance diagram" class="inline"/></p>
-<h1><a class="anchor" id="autotoc_md29"></a>
-About Runners</h1>
-<h2><a class="anchor" id="autotoc_md30"></a>
-Base Runner</h2>
-<p>The <code>RunnerBase</code> class is the base class for all runners. It provides the <code>start</code>, <code>stop</code>, and <code>trigger</code> methods. The <code>start</code> method is used to start the runner, the <code>stop</code> method is used to stop the runner, and the <code>trigger</code> method is used to trigger the runner. See the <code><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">capabilities2_runner::RunnerBase</a></code> class definition function templates below:</p>
-<div class="fragment"><div class="line"><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
-<div class="line">{</div>
-<div class="line"> </div>
-<div class="line">  <span class="keyword">class </span>RunnerBase</div>
-<div class="line">  {</div>
-<div class="line">  <span class="keyword">public</span>:</div>
-<div class="line">    <span class="comment">// start the runner</span></div>
-<div class="line">    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> runner_opts&amp; run_config,</div>
-<div class="line">                       <span class="keyword">const</span> std::string&amp; bond_id) = 0;</div>
-<div class="line"> </div>
-<div class="line">    <span class="comment">// stop the runner</span></div>
-<div class="line">    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>) = 0;</div>
-<div class="line"> </div>
-<div class="line">    <span class="comment">// trigger the runner</span></div>
-<div class="line">    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">trigger</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters,</div>
-<div class="line">                         <span class="keyword">const</span> std::string&amp; bond_id,</div>
-<div class="line">                         <span class="keyword">const</span> std::string&amp; instance_id) = 0;</div>
-<div class="line">  };</div>
-<div class="line"> </div>
-<div class="line">} <span class="comment">// namespace capabilities2_runner</span></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a590b4f109de1d343ad88db826d72d6f2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</div><div class="ttdoc">stop the runner</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ad85529d5a99b6e1373d89beadcb71a47"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase::trigger</a></div><div class="ttdeci">virtual void trigger(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id)=0</div><div class="ttdoc">Trigger the runner.</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af253678258e86285dc2a12ecb5c1db84"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</div><div class="ttdoc">start the runner</div></div>
-<div class="ttc" id="anamespacecapabilities2__runner_html"><div class="ttname"><a href="namespacecapabilities2__runner.html">capabilities2_runner</a></div><div class="ttdef"><b>Definition</b> action_runner.hpp:19</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
-</div><!-- fragment --><h2><a class="anchor" id="autotoc_md31"></a>
-LaunchRunner</h2>
-<p>The <code>LaunchRunner</code> inherits from <code><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html" title="no-trigger runner">capabilities2_runner::NoTriggerRunner</a></code>, but it is intentionally deferred in the current codebase. The class and plugin entry are kept so that launch support can be restored once the replacement approach for the current ROS2 launch system is ready. For now, do not configure providers to depend on launch-file execution through this runner.</p>
-<h2><a class="anchor" id="autotoc_md32"></a>
-Creating a Custom runner</h2>
-<p>The main idea is to allow users to create custom runners for their specific capabilities. Runners can be created to perform capabilities. The runner can be specified in a capability provider as the <code>runner</code> tag:</p>
-<div class="fragment"><div class="line"># provider ...</div>
-<div class="line">name: my_provider</div>
-<div class="line">spec_version: 1</div>
-<div class="line">spec_type: provider</div>
-<div class="line">implements: my_capability</div>
-<div class="line"># the runner to use is an exported plugin name based on RunnerBase</div>
-<div class="line">runner: capabilities2_runner::MyRunner</div>
-</div><!-- fragment --><p>The runner <code>capabilities2_runner::MyRunner</code> should inherit from the <code><a class="el" href="classcapabilities2__runner_1_1RunnerBase.html" title="base class for all runners">capabilities2_runner::RunnerBase</a></code> or another like the <code><a class="el" href="classcapabilities2__runner_1_1ActionRunner.html" title="action runner base class">capabilities2_runner::ActionRunner</a></code> class. The runner must implement the <code>start</code>, <code>stop</code>, and <code>trigger</code> methods, and then be registered as a plugin, using the <code>PLUGINLIB_EXPORT_CLASS</code> macro. See <a class="el" href="md_capabilities2__runner_2docs_2create__runners.html">Creating Runners</a> for more information.</p>
-<h1><a class="anchor" id="autotoc_md33"></a>
-Runner Execution Patterns</h1>
-<h2><a class="anchor" id="autotoc_md34"></a>
-Start -&gt; Stop</h2>
-<p>The simplest runner execution pattern is to start the runner and then stop it. An example of this is the <code>LaunchRunner</code>. This pattern represents a <em><b>self-contained</b></em> capability. An example might be the action of a robot following another entity. This skill could be self-contained and runs continuously until stopped. This case assumes that the skill is continuously running and does not require any external triggers. ROS <b>Topic</b> subscriptions and <b>Launch</b> files are like this type.</p>
-<h2><a class="anchor" id="autotoc_md35"></a>
-Start -&gt; Trigger -&gt; Stop</h2>
-<p>A more complex runner execution pattern is to start the runner, trigger it, and then stop it. This pattern represents a <em><b>one-shot</b></em> capability. An example might be the action of a robot moving to a waypoint. This skill is triggered once and then stops.</p>
-<h2><a class="anchor" id="autotoc_md36"></a>
-Start -&gt; Trigger -&gt; Trigger -&gt; ... -&gt; Stop</h2>
-<p>An even more complex runner execution pattern is to start the runner, trigger it multiple times, and then stop it. This pattern represents a <em><b>repeating</b></em> capability. An example might be the action of a robot completing a state-machine or tree. This skill is triggered multiple times and then stops. This pattern (and the previous one) often implies that data is passed to and from the runner.</p>
-<h2><a class="anchor" id="autotoc_md37"></a>
-Start -&gt; End (no Stop)</h2>
-<p>The final runner execution pattern is to start the runner and then end it without stopping. This pattern represents a challenge for the runner API, as it is not clear when the runner should be stopped. ROS communications patterns including <b>Services</b> and <b>Actions</b> are like this type.</p>
-<h1><a class="anchor" id="autotoc_md38"></a>
-Trigger Parameter Format</h1>
-<p>Runners can use parameters. These parameters are passed to the runner in the <code>trigger</code> function. For more information, see <a class="el" href="md_capabilities2__runner_2docs_2parameter__format.html">Parameter Format</a>. </p>
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-  <div class="headertitle"><div class="title">Registering a capability</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md39"></a> Capabilities can be registered by exporting them in a package. The capabilities2 server will read the capabilities from the package and make them available to the user. Basic capability use case needs two components to be registered; <code>capability_interface</code> and <code>capability_provider</code>. Optionally, a third component can be added as <code>semantic_capability_interface</code>.</p>
-<div class="fragment"><div class="line"><span class="comment">&lt;!-- see std_capabilities package for examples --&gt;</span></div>
-<div class="line">&lt;<span class="keywordtype">export</span>&gt;</div>
-<div class="line">    &lt;<span class="keywordtype">capability_interface</span>&gt;</div>
-<div class="line">        <span class="keyword">interfaces</span>/<span class="keyword">cool_cap.yaml</span></div>
-<div class="line">    &lt;/<span class="keywordtype">capability_interface</span>&gt;</div>
-<div class="line">    </div>
-<div class="line">    &lt;<span class="keywordtype">capability_provider</span>&gt;</div>
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-<div class="line"> </div>
-<div class="line">    &lt;<span class="keywordtype">semantic_capability_interface</span>&gt;</div>
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-<div class="line">&lt;/<span class="keywordtype">export</span>&gt;</div>
-</div><!-- fragment --><p>Capabilities can also be registered through a service call. This is useful for registering capabilities that are not exported in a package. The service call has been implemented as a node in the capabilities2 package. Use the node to register capabilities during runtime. This method can also be used to update capabilities. </p>
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-  <div class="headertitle"><div class="title">Terminal based capability usage</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md40"></a> Using a capability requires the user to establish a bond with the capabilities2 server. The bond is used to maintain a persistent connection with the server.</p>
-<p>first, inspect the available capabilities provided under this server on this robot.</p>
-<div class="fragment"><div class="line">ros2 service call /capabilities/get_capability_specs capabilities2_msgs/srv/GetCapabilitySpecs</div>
-</div><!-- fragment --><p>then, request a bond id to become a persistent user</p>
-<div class="fragment"><div class="line">ros2 service call /capabilities/establish_bond capabilities2_msgs/srv/EstablishBond</div>
-<div class="line"> </div>
-<div class="line"># this bond needs to be updated every second by publishing a heartbeat the bond topic. Replace the ... with value received from above call</div>
-<div class="line">ros2 topic pub /capabilities/bonds ...</div>
-</div><!-- fragment --><p>then request to use a capability</p>
-<div class="fragment"><div class="line">ros2 service call /capabilities/use_capability capabilities2_msgs/srv/UseCapability</div>
-</div><!-- fragment --><p>running capabilities can also be connected together through the event system. this requires a valid bond and both the source and target capabilities to already be running.</p>
-<div class="fragment"><div class="line">ros2 service call /capabilities/connect_capability capabilities2_msgs/srv/ConnectCapability</div>
-</div><!-- fragment --><p>This capability can be freed by calling the <code>free_capability</code> service, or just let the bond expire. The capability will be freed automatically. </p>
-</div></div><!-- contents -->
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diff --git a/docs/html/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.html b/docs/html/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.html
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-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md41"></a> This directory contains the data models used by the Capabilities2 server.</p>
-<h1><a class="anchor" id="autotoc_md42"></a>
-Models</h1>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Model   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>provider</code>   </td><td class="markdownTableBodyNone">Represents a provider of an interface    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>interface</code>   </td><td class="markdownTableBodyNone">Represents a capability interface    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>semantic_interface</code>   </td><td class="markdownTableBodyNone">Represents a semantic capability interface   </td></tr>
-</table>
-<h2><a class="anchor" id="autotoc_md43"></a>
-V2 new models (TODO)</h2>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Model   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>predicates</code>   </td><td class="markdownTableBodyNone">Represents predicates between capabilities   </td></tr>
-</table>
-<h2><a class="anchor" id="autotoc_md44"></a>
-V3 new models (TODO)(Proposal)</h2>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Model   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>running</code>   </td><td class="markdownTableBodyNone">Represents active runners that are executing capabilities    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>connections</code>   </td><td class="markdownTableBodyNone">Represents connections between active runners   </td></tr>
-</table>
-<h1><a class="anchor" id="autotoc_md45"></a>
-Traits</h1>
-<p>The models can implement various traits to provide additional functionality. The available traits are:</p>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Trait   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>identifiable</code>   </td><td class="markdownTableBodyNone">Allows the model to have a unique identifier    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>modifiable</code>   </td><td class="markdownTableBodyNone">Adds created and modified timestamps    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>soft_deleteable</code>   </td><td class="markdownTableBodyNone">Allows the model to be soft deleted    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>header</code>   </td><td class="markdownTableBodyNone">Adds a header to the model including name, description, and version etc. The header uses id, created, and deleted timestamps    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>remappable</code>   </td><td class="markdownTableBodyNone">Allows the model to have remappings   </td></tr>
-</table>
-<h2><a class="anchor" id="autotoc_md46"></a>
-V2 new traits (TODO)</h2>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Trait   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>predicateable</code>   </td><td class="markdownTableBodyNone">Allows the model to use subject-predicate relationships    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>assurable</code>   </td><td class="markdownTableBodyNone">Adds tracking metrics for capability performance   </td></tr>
-</table>
-<h1><a class="anchor" id="autotoc_md47"></a>
-Relationships</h1>
-<p>The models can have relationships with each other. The available relationships are:</p>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Relationship   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>implements</code>   </td><td class="markdownTableBodyNone">A provider implements an interface    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><code>depends_on</code>   </td><td class="markdownTableBodyNone">A provider depends on another provider    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><code>redefines</code>   </td><td class="markdownTableBodyNone">A semantic interface redefines an interface   </td></tr>
-</table>
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-</div><!--header-->
-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md48"></a> Capabilities2 server allows interaction with the capabilities2 API. It is a reimplementation of the capabilities package using C++ (original capabilities package was written in Python 2.7). In addition to C++ reimplementation being more resource efficient, this package extends the capabilities package features in following ways,</p>
-<ol type="1">
-<li>Database support for storing capabilities.</li>
-<li>Capability registration through service calls.</li>
-<li>Abstracted providers through a <em>runners</em> API see <a class="el" href="md_capabilities2__runner_2readme.html">capabilities2_runner</a></li>
-</ol>
-<h1><a class="anchor" id="autotoc_md49"></a>
-Specialising the capabilities2 server</h1>
-<p>The capabilities2 server is implemented as a <a href="https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Composition.html">ROS2 Component</a>. The server can be specialised by composing it with another Component that adds domain logic.</p>
-<h1><a class="anchor" id="autotoc_md50"></a>
-Launch capabilities2 server</h1>
-<div class="fragment"><div class="line">source install/setup.bash</div>
-<div class="line">ros2 launch capabilities2_server capabilities2_server.launch.py</div>
-</div><!-- fragment --><p>Refer <code>capabilities2_server/config/capabilities.yaml</code> for the default node parameters loaded by the launch file.</p>
-<h1><a class="anchor" id="autotoc_md51"></a>
-System dependencies</h1>
-<p>The capabilities2 server depends on the following <code>bondcpp</code> ROS2 package. See the package.xml for the full list of dependencies. Notably, the capabilities2 server depends on the following system dependencies:</p>
-<ul>
-<li><code>sqlite3</code></li>
-<li><code>yaml-cpp</code></li>
-<li><code>tinyxml2</code></li>
-</ul>
-<h1><a class="anchor" id="autotoc_md52"></a>
-API</h1>
-<p>The capabilities2 server provides the following ROS2 API:</p>
-<h2><a class="anchor" id="autotoc_md53"></a>
-Services</h2>
-<p>The capabilities2 server exposes the following Service API (see <a class="el" href="md_capabilities2__msgs_2readme.html">capabilities2_msgs</a> for data types):</p>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadLeft">Topic   </th><th class="markdownTableHeadLeft">Service Message   </th><th class="markdownTableHeadLeft">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyLeft"><code>~/get_interfaces</code>   </td><td class="markdownTableBodyLeft"><code>GetInterfaces.srv</code>   </td><td class="markdownTableBodyLeft">Get the interfaces provided by the capabilities server    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyLeft"><code>~/get_semantic_interfaces</code>   </td><td class="markdownTableBodyLeft"><code>GetSemanticInterfaces.srv</code>   </td><td class="markdownTableBodyLeft">Get the semantic interfaces provided by the capabilities server    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyLeft"><code>~/get_providers</code>   </td><td class="markdownTableBodyLeft"><code>GetProviders.srv</code>   </td><td class="markdownTableBodyLeft">Get the providers available on the capabilities server    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyLeft"><code>~/get_remappings</code>   </td><td class="markdownTableBodyLeft"><code>GetRemappings.srv</code>   </td><td class="markdownTableBodyLeft">Get the remappings for a capability    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyLeft"><code>~/get_capability_spec</code>   </td><td class="markdownTableBodyLeft"><code>GetCapabilitySpec.srv</code>   </td><td class="markdownTableBodyLeft">Get a raw specifications for a capability    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyLeft"><code>~/get_capability_specs</code>   </td><td class="markdownTableBodyLeft"><code>GetCapabilitySpecs.srv</code>   </td><td class="markdownTableBodyLeft">Get all raw specifications in the capabilities server    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyLeft"><code>~/get_running_capabilities</code>   </td><td class="markdownTableBodyLeft"><code>GetRunningCapabilities.srv</code>   </td><td class="markdownTableBodyLeft">Get the currently running capabilities    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyLeft"><code>~/establish_bond</code>   </td><td class="markdownTableBodyLeft"><code>EstablishBond.srv</code>   </td><td class="markdownTableBodyLeft">Establish a bond with the capabilities server to use capabilities    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyLeft"><code>~/use_capability</code>   </td><td class="markdownTableBodyLeft"><code>UseCapability.srv</code>   </td><td class="markdownTableBodyLeft">Use a capability - must be bonded    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyLeft"><code>~/free_capability</code>   </td><td class="markdownTableBodyLeft"><code>FreeCapability.srv</code>   </td><td class="markdownTableBodyLeft">Free a capability (when done using it, when all users are done the capability is freed) - must be bonded    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyLeft"><code>~/start_capability</code>   </td><td class="markdownTableBodyLeft"><code>StartCapability.srv</code>   </td><td class="markdownTableBodyLeft">Start a capability (this is a forceful start, and ignores use and free logic)    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyLeft"><code>~/stop_capability</code>   </td><td class="markdownTableBodyLeft"><code>StopCapability.srv</code>   </td><td class="markdownTableBodyLeft">Stop a capability (this is a forceful stop, and ignores use and free logic)    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyLeft"><code>~/register_capability</code>   </td><td class="markdownTableBodyLeft"><code>RegisterCapability.srv</code>   </td><td class="markdownTableBodyLeft">Register a capability with the capabilities server    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyLeft"><code>~/trigger_capability</code>   </td><td class="markdownTableBodyLeft"><code>TriggerCapability.srv</code>   </td><td class="markdownTableBodyLeft">Trigger a capability - must be bonded    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyLeft"><code>~/connect_capability</code>   </td><td class="markdownTableBodyLeft"><code>ConnectCapability.srv</code>   </td><td class="markdownTableBodyLeft">Connect two running capabilities through the event system using a <code>CapabilityConnection</code> message - must be bonded   </td></tr>
-</table>
-<h2><a class="anchor" id="autotoc_md54"></a>
-Topics</h2>
-<p>The capabilities2 server exposes the following Topics API:</p>
-<table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadLeft">Topic   </th><th class="markdownTableHeadLeft">Message   </th><th class="markdownTableHeadLeft">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyLeft"><code>~/events</code>   </td><td class="markdownTableBodyLeft"><code>CapabilityEventStamped.msg</code>   </td><td class="markdownTableBodyLeft">Publish capability events    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyLeft"><code>~/bonds</code>   </td><td class="markdownTableBodyLeft"><code>bond/Status.msg</code>   </td><td class="markdownTableBodyLeft">Maintain bonds with capability users - <a href="https://wiki.ros.org/bond">Bond API</a>   </td></tr>
-</table>
-<h1><a class="anchor" id="autotoc_md55"></a>
-Additional Information</h1>
-<ul>
-<li><a class="el" href="md_capabilities2__server_2docs_2register.html">Registering a capability</a></li>
-<li><a class="el" href="md_capabilities2__server_2docs_2terminal__usage.html">Terminal based capability usage</a> </li>
-</ul>
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-<div class="textblock"><p><a class="anchor" id="autotoc_md56"></a> </p>
-<h1><a class="anchor" id="autotoc_md57"></a>
-0.2.0 (2025-09-16)</h1>
-<ul>
-<li>add new service types</li>
-<li>upgrade event subsystem</li>
-<li>implement basic db traits</li>
-<li>add system and capability runner plugins</li>
-<li>threaded runner execution</li>
-<li>runners can be chained through trigger</li>
-<li>triggering between runners handled by dynamic link list style structure</li>
-<li>event system upgraded and refactored to be more generic and easier to use</li>
-</ul>
-<h1><a class="anchor" id="autotoc_md58"></a>
-0.1.2 (2024-09-20)</h1>
-<ul>
-<li>working on bt runner plugins</li>
-<li>identifiable trait on models: can be used to define a unique identifier for a model which could allow versions of interfaces to be used</li>
-<li>move trigger cap to first class concept in cap API</li>
-<li>change trigger logic in runner cache</li>
-<li>guard and throw in trigger logic when cap not found</li>
-<li>fix cap entity versioning to be a string in the database</li>
-<li>doco on cap entities with examples</li>
-</ul>
-<h1><a class="anchor" id="autotoc_md59"></a>
-0.1.1 (2024-09-19)</h1>
-<ul>
-<li>increment version of cap entities to 1.1</li>
-<li>add soft delete trait</li>
-<li>add database traits modifyable, defineable, predicateable</li>
-<li>defineable trait: use a behaviour language to define a provider</li>
-<li>predicateable trait: use a ontological triple to define relations between cap entities </li>
-</ul>
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-  <div class="headertitle"><div class="title">Basic Tutorial</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md60"></a> This tutorial will guide you through the basic steps of using <code>capabilities2</code>. It will cover the following topics:</p>
-<ol type="1">
-<li>Creating a capability using yaml model files.</li>
-<li>Run the capabilities server to serve the capability.</li>
-<li>Run the capabilities runner to execute the capability.</li>
-</ol>
-<p>The tutorial will create a simple capability that prints "Hello, World!" to the console, using talker-listener nodes as a backend sub-system.</p>
-<p>The capabilities server will serve the capability, and then spawn a runner that will execute the capability.</p>
-<h1><a class="anchor" id="autotoc_md61"></a>
-Creating a capability</h1>
-<p>First, create a package to hold the capability. In this tutorial, we will create a package called <code>hello_capability_world</code>.</p>
-<div class="fragment"><div class="line">ros2 pkg create --build-type ament_cmake hello_capability_world</div>
-</div><!-- fragment --><p>Next, create capability specification files in the package. These files will define the capability and the provider. Create 2 yaml files, <code>talker_interface.yaml</code> and <code>talker_provider.yaml</code> in the <code>hello_capability_world</code> package.</p>
-<h2><a class="anchor" id="autotoc_md62"></a>
-Spec files (.yaml)</h2>
-<h3><a class="anchor" id="autotoc_md63"></a>
-talker_interface.yaml</h3>
-<div class="fragment"><div class="line"># talker_interface.yaml</div>
-<div class="line">name: talker</div>
-<div class="line">spec_type: interface</div>
-<div class="line">spec_version: 1.1</div>
-<div class="line">description: A simple talker capability that prints &quot;Hello, World!&quot; to the console.</div>
-<div class="line">interface:</div>
-<div class="line">  topics:</div>
-<div class="line">    &quot;chatter&quot;:</div>
-<div class="line">      type: std_msgs/msg/String</div>
-<div class="line">      description: A topic that prints &quot;Hello, World!&quot; to the console.</div>
-</div><!-- fragment --><h3><a class="anchor" id="autotoc_md64"></a>
-talker_provider.yaml</h3>
-<div class="fragment"><div class="line"># talker_provider.yaml</div>
-<div class="line">name: talker</div>
-<div class="line">spec_type: provider</div>
-<div class="line">spec_version: 1.1</div>
-<div class="line">description: A simple talker provider that prints &quot;Hello, World!&quot; to the console.</div>
-<div class="line">implements: hello_capability_world/talker</div>
-<div class="line">runner: hello_capability_world::Talker # this is the C++ class that implements the provider</div>
-</div><!-- fragment --><h2><a class="anchor" id="autotoc_md65"></a>
-Export the capability in the package.xml</h2>
-<p>Add the following to the <code>package.xml</code> file in the <code>hello_capability_world</code> package.</p>
-<div class="fragment"><div class="line"><span class="comment">&lt;!-- within the export tag --&gt;</span></div>
-<div class="line">&lt;<span class="keywordtype">export</span>&gt;</div>
-<div class="line">    <span class="comment">&lt;!-- add the capability files --&gt;</span></div>
-<div class="line">    &lt;<span class="keywordtype">capability_interface</span>&gt;<span class="keyword">talker_interface.yaml</span>&lt;/<span class="keywordtype">capability_interface</span>&gt;</div>
-<div class="line">    &lt;<span class="keywordtype">capability_provider</span>&gt;<span class="keyword">talker_provider.yaml</span>&lt;/<span class="keywordtype">capability_provider</span>&gt;</div>
-<div class="line">&lt;/<span class="keywordtype">export</span>&gt;</div>
-</div><!-- fragment --><h2><a class="anchor" id="autotoc_md66"></a>
-Create a runner plugin</h2>
-<p>Create a C++ class that implements the provider. This class will be used to run the capability. Create a new file <code>talker.cpp</code> in the <code>src</code> directory of the <code>hello_capability_world</code> package. In this example, the capability publishes immediately when started, so the class can inherit from <code><a class="el" href="classcapabilities2__runner_1_1NoTriggerRunner.html" title="no-trigger runner">capabilities2_runner::NoTriggerRunner</a></code> and be exported as a plugin.</p>
-<div class="fragment"><div class="line"><span class="comment">// talker.cpp</span></div>
-<div class="line"><span class="preprocessor">#include &quot;rclcpp/rclcpp.hpp&quot;</span></div>
-<div class="line"><span class="preprocessor">#include &quot;pluginlib/class_list_macros.hpp&quot;</span></div>
-<div class="line"><span class="preprocessor">#include &quot;<a class="code" href="notrigger__runner_8hpp.html">capabilities2_runner/notrigger_runner.hpp</a>&quot;</span></div>
-<div class="line"><span class="preprocessor">#include &quot;std_msgs/msg/string.hpp&quot;</span></div>
-<div class="line"> </div>
-<div class="line"><span class="keyword">namespace </span>hello_capability_world</div>
-<div class="line">{</div>
-<div class="line"><span class="keyword">class </span>Talker : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a></div>
-<div class="line">{</div>
-<div class="line"><span class="keyword">public</span>:</div>
-<div class="line">  Talker() = <span class="keywordflow">default</span>;</div>
-<div class="line"> </div>
-<div class="line">  <span class="keywordtype">void</span> start(</div>
-<div class="line">    rclcpp::Node::SharedPtr node,</div>
-<div class="line">    <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a>&amp; run_config,</div>
-<div class="line">    <span class="keyword">const</span> std::string&amp; bond_id)<span class="keyword"> override</span></div>
-<div class="line"><span class="keyword">    </span>{</div>
-<div class="line">    <span class="comment">// init base class gets node info and stores the runner configuration</span></div>
-<div class="line">    init_base(node, run_config);</div>
-<div class="line"> </div>
-<div class="line">        <span class="comment">// create a publisher to the chatter topic</span></div>
-<div class="line">        <span class="keyword">auto</span> chatter_pub = node_-&gt;create_publisher&lt;std_msgs::msg::String&gt;(<span class="stringliteral">&quot;chatter&quot;</span>, 10);</div>
-<div class="line"> </div>
-<div class="line">    emit_started(bond_id, <span class="stringliteral">&quot;&quot;</span>, param_on_started());</div>
-<div class="line"> </div>
-<div class="line">        <span class="comment">// send a message to the chatter topic</span></div>
-<div class="line">    std_msgs::msg::String msg;</div>
-<div class="line">    msg.data = <span class="stringliteral">&quot;Hello, World!&quot;</span>;</div>
-<div class="line">    chatter_pub-&gt;publish(msg);</div>
-<div class="line">    }</div>
-<div class="line"> </div>
-<div class="line">  <span class="keywordtype">void</span> stop(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
-<div class="line"><span class="keyword">  </span>{</div>
-<div class="line">    emit_stopped(bond_id, instance_id, param_on_stopped());</div>
-<div class="line">    }</div>
-<div class="line">};</div>
-<div class="line">} <span class="comment">// namespace hello_capability_world</span></div>
-<div class="line"> </div>
-<div class="line"><span class="comment">// export the plugin</span></div>
-<div class="line"><a class="code hl_function" href="system__runners_8cpp.html#a17206555b3cc77986a56c860d68f7dd0">PLUGINLIB_EXPORT_CLASS</a>(hello_capability_world::Talker, <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a>)</div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1NoTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1NoTriggerRunner.html">capabilities2_runner::NoTriggerRunner</a></div><div class="ttdoc">no-trigger runner</div><div class="ttdef"><b>Definition</b> notrigger_runner.hpp:16</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
-<div class="ttc" id="anotrigger__runner_8hpp_html"><div class="ttname"><a href="notrigger__runner_8hpp.html">notrigger_runner.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
-<div class="ttc" id="asystem__runners_8cpp_html_a17206555b3cc77986a56c860d68f7dd0"><div class="ttname"><a href="system__runners_8cpp.html#a17206555b3cc77986a56c860d68f7dd0">PLUGINLIB_EXPORT_CLASS</a></div><div class="ttdeci">PLUGINLIB_EXPORT_CLASS(capabilities2_runner::GetCapabilitySpecsRunner, capabilities2_runner::RunnerBase)</div></div>
-</div><!-- fragment --><h3><a class="anchor" id="autotoc_md67"></a>
-Export the plugin in the CMakeLists.txt</h3>
-<p>Follow the ROS2 pluginlib pattern to export the runner plugin.</p>
-<div class="fragment"><div class="line"><span class="comment">&lt;!-- plugins.xml --&gt;</span></div>
-<div class="line">&lt;<span class="keywordtype">library</span> <span class="keyword">path</span>=<span class="stringliteral">&quot;lib&quot;</span>&gt;</div>
-<div class="line">  &lt;<span class="keywordtype">class</span> <span class="keyword">name</span>=<span class="stringliteral">&quot;hello_capability_world::Talker&quot;</span> <span class="keyword">type</span>=<span class="stringliteral">&quot;hello_capability_world::Talker&quot;</span> <span class="keyword">base_class_type</span>=<span class="stringliteral">&quot;capabilities2_runner::RunnerBase&quot;</span>&gt;</div>
-<div class="line">    &lt;<span class="keywordtype">description</span>&gt;<span class="keyword">A</span> <span class="keyword">simple</span> <span class="keyword">talker</span> <span class="keyword">provider</span> <span class="keyword">that</span> <span class="keyword">prints</span> <span class="stringliteral">&quot;Hello, World!&quot;</span> <span class="keyword">to</span> <span class="keyword">the</span> <span class="keyword">console.</span>&lt;/<span class="keywordtype">description</span>&gt;</div>
-<div class="line">    &lt;/<span class="keywordtype">class</span>&gt;</div>
-<div class="line">&lt;/<span class="keywordtype">library</span>&gt;</div>
-</div><!-- fragment --><div class="fragment"><div class="line"># CMakeLists.txt</div>
-<div class="line">add_library(${PROJECT_NAME} SHARED src/talker.cpp)</div>
-<div class="line"> </div>
-<div class="line">ament_target_dependencies(${PROJECT_NAME}</div>
-<div class="line">  rclcpp</div>
-<div class="line">  pluginlib</div>
-<div class="line">  capabilities2_runner</div>
-<div class="line">  std_msgs</div>
-<div class="line">)</div>
-<div class="line"> </div>
-<div class="line">pluginlib_export_plugin_description_file(${PROJECT_NAME} plugins.xml)</div>
-</div><!-- fragment --><h1><a class="anchor" id="autotoc_md68"></a>
-Run the capabilities server</h1>
-<p>The capabilities server is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.</p>
-<h2><a class="anchor" id="autotoc_md69"></a>
-Create a new config file</h2>
-<p>Create a new config file in the <code>hello_capability_world</code> package. This file will define the capabilities that the server will serve.</p>
-<div class="fragment"><div class="line"># config/hello_capability_world.yaml</div>
-<div class="line">/**:</div>
-<div class="line">  ros__parameters:</div>
-<div class="line">    loop_rate: 5.0 # Hz</div>
-<div class="line">    db_file: ~/.ros/capabilities/capabilities.sqlite3</div>
-<div class="line">    rebuild: false # Set to true to rebuild the database</div>
-<div class="line">    package_paths: # paths to search for capabilities</div>
-<div class="line">      - /opt/ros/jazzy/share # default ROS2 package paths for Jazzy</div>
-<div class="line">      - /home/ubuntu/colcon_ws/src</div>
-<div class="line">      - /home/ubuntu/colcon_ws/src/capabilities2 # absolute paths for now, these paths assume the capabilities2 package is in the colcon workspace of the ubuntu user (devcontainer user)</div>
-</div><!-- fragment --><p>Run the capabilities server node and provide the config file with ROS parameters.</p>
-<div class="fragment"><div class="line"># run the capabilities server node with the config file</div>
-<div class="line">ros2 run capabilities2_server capabilities2_server_node --ros-args --params-file /path/to/hello_capability_world/config/hello_capability_world.yaml</div>
-</div><!-- fragment --><p>We also need to run the talker-listener nodes as well. The talker-listener nodes are provided by the <code>demo_nodes_cpp</code> package. We can run the talker-listener nodes using the following command:</p>
-<div class="fragment"><div class="line"># in a new terminal</div>
-<div class="line"># run the listener node</div>
-<div class="line">ros2 run demo_nodes_cpp listener</div>
-</div><!-- fragment --><h1><a class="anchor" id="autotoc_md70"></a>
-Run the capabilities runner</h1>
-<p>Now that the capabilities server is running, we can run the capabilities runner to execute the capability.</p>
-<div class="fragment"><div class="line"># in a new terminal</div>
-<div class="line"># run the capabilities runner using a service call</div>
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-</div><!-- fragment --><p>The capabilities runner will start the capability and print "Hello, World!" to the console of the listener node. </p>
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-</div><!--header-->
-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md71"></a> The new capabilities package is designed to be more efficient and extensible. The functions are implemented as plugins, which can be loaded at runtime. The execution of providers is abstracted using an API called runners. The runners can manage more arbitrary provider operation which can include performing actions or services, or even running other capabilities. The capability models are stored in a database, This will allow various feature improvements such as hot reloading, state persistence, and model extension. Another possible feature is to create more complex ontological relationships between capabilities such as prerequisites, conflicts, or RDF triples (for example, <code>grasp</code> results in <code>holding</code>, or <code>pick</code> is a type of <code>manipulation</code>, or <code>grasp</code> is incompatible with <code>push</code>).</p>
-<h2><a class="anchor" id="autotoc_md72"></a>
-Bonds</h2>
-<p>The bonds feature as implemented in <code>capabilities</code> and reimplemented in <code>capabilities2</code> allows applications to overlap functions by requesting use of the same resources. When all references to a resource are released, the resource is stopped. This has the added benefit of creating an idle state for the robot in which the robot computing resources are not being used. As a result of this, the robot could be more energy-efficient, and the robot could be more responsive to new tasks.</p>
-<h2><a class="anchor" id="autotoc_md73"></a>
-Runners</h2>
-<p>The runners feature which is new in <code>capabilities2</code> allows capabilities to be executed in a more diverse manner. This could include running actions, services, or even other capabilities. This allows capabilities to be used like actions and not just started and stopped by the capabilities service. The Runner API is designed to be extensible, so that specific runners can be created on a per provider basis. Another feature that can be implemented is cross-runner communication, which could allow capabilities to be combined at runtime to perform more complex tasks. This could overcome limitations in robot programming in which there is a common need for extensive pre-definition of tasks.</p>
-<h3><a class="anchor" id="autotoc_md74"></a>
-launch runner</h3>
-<p>To preserve compatibility with the original <code>capabilities</code> package, <code>capabilities2</code> still keeps a <code>LaunchRunner</code> interface in the codebase. An initial implementation existed, but launch-file execution is now intentionally deferred because of incompatibilities with the current ROS2 launch system. A separate replacement approach is being developed, and launch-runner documentation will be restored once that work is ready. </p>
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-<h1><a class="anchor" id="autotoc_md77"></a>
-Interface</h1>
-<div class="fragment"><div class="line"># the empty capability is an example of a capability interface</div>
-<div class="line">%YAML 1.1</div>
-<div class="line">---</div>
-<div class="line">name: empty</div>
-<div class="line">spec_type: interface</div>
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-<div class="line">description: the empty capability interface helps to test the capability server</div>
-<div class="line">interface:</div>
-<div class="line">  parameters:</div>
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-<div class="line">      description: empty</div>
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-<div class="line">      description: empty</div>
-<div class="line"> </div>
-<div class="line"># the below keys are optional</div>
-<div class="line"> </div>
-<div class="line"># relations are a list of relations to other capability entities</div>
-<div class="line">relations:</div>
-<div class="line">    # an example of a relation</div>
-<div class="line">  - subject: some_package/some_capability</div>
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-<div class="line">    object: some_other_package/some_other_capability</div>
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-<div class="textblock"><p><a class="anchor" id="autotoc_md78"></a> The capabilities package was originally implemented using Python. This package is a reimplementation of the capabilities package using CPP. The CPP implementation is more efficient. Secondly, this package extends the capabilities package features.</p>
-<p>The main reasons for this are:</p>
-<ol type="1">
-<li>To allow the capabilities service to provide details of the robot to other robots, a UI or App, or a supervisory AI with a conversational style.</li>
-</ol>
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-<li>To allow packages to register their capabilities at runtime with the capabilities service using a service API or a spawner. Or to modify the capabilities of a robot at runtime.</li>
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-<li>To allow capabilities to be used like actions and not just started and stopped by the capabilities service as in the original capabilities package launch files method.</li>
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-<li>To add state to the capabilities service using a database. This allows the capabilities service or the robot to be restarted without losing state, and hot reloading, and model extension including more complex ontological relationships between capabilities.</li>
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-<li>To allow the capabilities service to be used as a library (as in a ROS2 <code>component</code>).</li>
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-<h2><a class="anchor" id="autotoc_md79"></a>
-Example use cases</h2>
-<table class="markdownTable">
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-<th class="markdownTableHeadNone">Use case   </th><th class="markdownTableHeadNone">Description    </th></tr>
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-<td class="markdownTableBodyNone">Generative AI (predominantly language models) Integration   </td><td class="markdownTableBodyNone">A generic GenAI could derive a plan from the capabilities of a robot, to perform more general multi-step tasks. This could be achieved by using the capabilities as a knowledge base. This may solve problems with GenAI integration, where the GenAI has to be trained on a specific robot, or there is a significant delay in the GenAI communicating with the robot - since the GenAI does not actually execute the task, it is used to suggest a plan and supervise the robot.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone">Inter-Robot Communications   </td><td class="markdownTableBodyNone">A robot encounters another robot of unknown origin and asks it what it can do. The capabilities could be communicated using M2M communication or speech. This could allow robots from different manufacturers to work together.    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone">Enable emergent skills   </td><td class="markdownTableBodyNone">A robot is asked to do a task it has never done before. This could be achieved by combining capabilities in new ways. or a robot is asked to do a task it has done before but with a different context. This could be achieved by changing the parameters of capabilities.    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone">Interoperable Robots   </td><td class="markdownTableBodyNone">A universal remote control for robots could be created using the capabilities as a standardised interface. This might be useful for robot subsystem integrators. This could also be used to create a robot app store, or standardised sensor and actuator interfaces.   </td></tr>
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-<div class="textblock"><p><a class="anchor" id="autotoc_md80"></a> </p>
-<h1><a class="anchor" id="autotoc_md81"></a>
-Description</h1>
-<p>A provider is a special implementation of a capability that is specific to the current system. An interface could have multiple providers.</p>
-<h1><a class="anchor" id="autotoc_md82"></a>
-Provider</h1>
-<div class="fragment"><div class="line"># the empty capability is an example of a capability provider</div>
-<div class="line">%YAML 1.1</div>
-<div class="line">---</div>
-<div class="line">name: empty</div>
-<div class="line">spec_type: provider</div>
-<div class="line">spec_version: 1.1</div>
-<div class="line">description: the empty capability provider for the empty interface</div>
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-<div class="line">depends_on:</div>
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-<div class="line">remappings:</div>
-<div class="line">  topics:</div>
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-<div class="line"># the below keys are optional</div>
-<div class="line"> </div>
-<div class="line"># relations are also available for providers</div>
-<div class="line">relations:</div>
-<div class="line">  # these relations are built into the provider spec version 1</div>
-<div class="line">  - subject: std_capabilities/empty</div>
-<div class="line">    predicate: implements</div>
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-<div class="line">  - subject: std_capabilities/empty</div>
-<div class="line">    predicate: depends_on</div>
-<div class="line">    object: std_capabilities/not_empty</div>
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-<div class="line">    predicate: remaps</div>
-<div class="line">    object: std_capabilities/not_empty</div>
-<div class="line"> </div>
-<div class="line"># providers can also have a definition using a snippet of a relevant defining language such as behavior trees</div>
-<div class="line">definition: |</div>
-<div class="line">  &lt;root&gt;</div>
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-  <div class="headertitle"><div class="title">Docs</div></div>
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-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md83"></a> The documentation site is generated with Doxygen from the existing Markdown in this <code>docs/</code> tree together with comments from the source code. The Doxygen configuration lives at the repository root in <a href="../Doxygen"><code>Doxygen</code></a>.</p>
-<div class="fragment"><div class="line"># from the repository root</div>
-<div class="line">doxygen Doxygen</div>
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-<h1><a class="anchor" id="autotoc_md84"></a>
-Basic Tutorial</h1>
-<p>A basic tutorial can be found in <a class="el" href="md_docs_2basic__tutorial.html">here</a>. This tutorial will guide you through the process of creating a simple capability and running it.</p>
-<h1><a class="anchor" id="autotoc_md85"></a>
-Capabilities Server</h1>
-<p>The <a class="el" href="md_capabilities2__server_2readme.html">capabilities server</a> is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.</p>
-<h1><a class="anchor" id="autotoc_md86"></a>
-Capabilities Runner</h1>
-<p>A capabilities runner is a plugin that allows capabilities to be executed in a more arbitrary way. Base runner classes can be used to create custom runners for a given application. See the <a class="el" href="md_capabilities2__runner_2readme.html">capabilities2_runner</a> package for more information.</p>
-<h1><a class="anchor" id="autotoc_md87"></a>
-Capabilities Messages</h1>
-<p>This package contains messages for the capabilities2 package. See the <a class="el" href="md_capabilities2__msgs_2readme.html">capabilities2_msgs</a> package for more information.</p>
-<h1><a class="anchor" id="autotoc_md88"></a>
-Launch Runner Status</h1>
-<p>The <code>LaunchRunner</code> interface is still kept in the <code><a class="el" href="namespacecapabilities2__runner.html">capabilities2_runner</a></code> package, but launch-file execution support is intentionally deferred because of incompatibilities with the current ROS2 launch system. Documentation for launch-based capability execution will be restored once the replacement solution is ready. </p>
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-<div class="textblock"><p><a class="anchor" id="autotoc_md89"></a> Capabilities features can be tested using the provided test scripts. The test scripts primarily test the capabilities2 server using service clients. Launch the capabilities2 server before running the test scripts using</p>
-<div class="fragment"><div class="line">source install/setup.bash</div>
-<div class="line">ros2 launch capabilities2_server capabilities2_server.launch.py</div>
-</div><!-- fragment --><p>The test scripts are written to test against the <code>std_capabilities</code> package. Make sure that the <code>std_capabilities</code> package is copied along with the <code>capabilities2</code> package to the <code>capabilities2_ws/src</code> folder and is built and sourced before running the test scripts.</p>
-<blockquote class="doxtable">
-<p>&zwj;<b>Note</b>: The test scripts use the <code>bondpy</code> package. Make sure it is installed before running the test scripts. \ <code>sudo apt install ros-$ROS_DISTRO-bondpy</code> </p>
-</blockquote>
-<p>Run the tests with python3. The test scripts are located in the <code>capabilities2_server/test</code> directory. Make sure to source the workspace before running the test.</p>
-<div class="fragment"><div class="line"># example</div>
-<div class="line">source install/setup.bash</div>
-<div class="line">cd src/capabilities2/capabilities2_server/test</div>
-<div class="line">python3 call_establish_bond.py</div>
-</div><!-- fragment --><table class="markdownTable">
-<tr class="markdownTableHead">
-<th class="markdownTableHeadNone">Test Script   </th><th class="markdownTableHeadNone">Description    </th></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_establish_bond.py">call_establish_bond.py</a>   </td><td class="markdownTableBodyNone">Test establishing a bond. <code>ctrl-C</code> to kill the bond    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_get_interfaces.py">call_get_interfaces.py</a>   </td><td class="markdownTableBodyNone">Test getting all loaded interfaces    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_get_providers.py">call_get_providers.py</a>   </td><td class="markdownTableBodyNone">Test getting loaded providers for the <code>empty</code> interface    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_get_semantic_interfaces.py">call_get_semantic_interfaces.py</a>   </td><td class="markdownTableBodyNone">Get loaded semantic interfaces    </td></tr>
-<tr class="markdownTableRowOdd">
-<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_get_specs.py">call_get_specs.py</a>   </td><td class="markdownTableBodyNone">Get all the loaded spec files    </td></tr>
-<tr class="markdownTableRowEven">
-<td class="markdownTableBodyNone"><a href="../capabilities2_server/test/call_register_cap.py">call_register_cap.py</a>   </td><td class="markdownTableBodyNone">Register a new specification file   </td></tr>
-</table>
-<p>Launch-runner-specific tests are currently not provided. The <code>LaunchRunner</code> header and plugin entry remain in the codebase, but launch support is intentionally deferred until a replacement approach for the current ROS2 launch system is ready. </p>
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-<div class="textblock"><p><a class="anchor" id="autotoc_md90"></a> A side effect of adding skill entities to a ROS network is that logic can be added to control access to these skills. Here is a proposal for how this could be implemented.</p>
-<h1><a class="anchor" id="autotoc_md91"></a>
-Integrate with Rosbridge</h1>
-<p><a href="https://github.com/RobotWebTools/rosbridge_suite">Rosbridge</a> from <a href="https://robot">Robot Web Tools</a> provides an authentication mechanism that can be used to secure the ROS network. This can be used to authenticate a user.</p>
-<p>Rosbridge also provides an access control mechanism that can be used to control access to topics. Once a user is authenticated, they could initially access the capabilities services to learn what the robot can do. By doing this the user does not know the specific topics that the robot uses, but they can still interact with the robot.</p>
-<p>Further the capabilities could be restricted based on the user's role. This could be done by creating a role-based access control (RBAC) system. This could be implemented by creating a capabilities service that is aware of the user's role. The capabilities service could then provide a list of capabilities that the user is allowed to use. An implementation could follow a plugin architecture to ensure good separation of concerns.</p>
-<p>Once the user decides on a capability that they are authorised to use, the capabilities service could update the rosbridge access control to allow the user to access the topics that the capability uses for the duration of the capability. This adds a time-based access control mechanism to the system.</p>
-<h2><a class="anchor" id="autotoc_md92"></a>
-Integrate with ROS2 Security</h2>
-<p>To prevent internal topics from leaking into the rosbridge access control, ROS2 security could be used to secure the internal topics. This would ensure that only internal connections can access internal topics, and capabilities can only add externally safe topics to the rosbridge access control.</p>
-<h2><a class="anchor" id="autotoc_md93"></a>
-Basic diagram</h2>
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-Basic diagram</div></div>
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-Description</h1>
-<p>A semantic interface is a special type of capability interface that is used to define the semantics of an interface</p>
-<h1><a class="anchor" id="autotoc_md96"></a>
-Semantic Interface</h1>
-<div class="fragment"><div class="line"># the empty capability is an example of a capability interface</div>
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-<div class="line">---</div>
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-  <div class="headertitle"><div class="title">Using Capabilities package (Development and Deployment)</div></div>
-</div><!--header-->
-<div class="contents">
-<div class="textblock"><p><a class="anchor" id="autotoc_md97"></a> The current package has been tested on Ubuntu and ROS2 Humble, Rolling and Jazzy. Complete following sections in order.</p>
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-<div><div class="header">
-  <div class="headertitle"><div class="title">Using Capabilities package (Development and Deployment)</div></div>
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-Cloning the Package</h2>
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-</div><!-- fragment --><h2><a class="anchor" id="autotoc_md105"></a>
-Devcontainer</h2>
-<p>A <code>devcontainer</code> is provided for developing the capabilities2 meta-package. The container can be used with <a href="https://code.visualstudio.com/">Microsoft Visual Studio Code</a> and <a href="https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.vscode-remote-extensionpack">Remote Development Extention</a>.</p>
-<p>If there are multiple packages in the workspace as with the usual case, move the <code>.devcontainer</code> folder into the parent folder such that it is located as follows,</p>
-<div class="fragment"><div class="line">colcon_ws</div>
-<div class="line">--&gt; build</div>
-<div class="line">--&gt; install</div>
-<div class="line">--&gt; log</div>
-<div class="line">--&gt; src</div>
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-<div class="line">    --&gt; capabilities2</div>
-<div class="line">    --&gt; pakcage ..</div>
-</div><!-- fragment --><p>Close and reopen the vs code editor so that devcontainer is automatically detected. After that, Dependencies need to be installed in the container. Install the dependencies with rosdep:</p>
-<div class="fragment"><div class="line"># in the devcontainer</div>
-<div class="line">rosdep install --from-paths src --ignore-src -r -y</div>
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-<div class="fragment"><div class="line">colcon build</div>
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-</div><!-- PageDoc -->
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-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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-<a href="multiplex__base__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;thread&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;map&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
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-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">   10</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html">MultiplexBaseRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a></div>
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-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>      }</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>      <span class="comment">// trigger the events related to on_failure state</span></div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (events[<span class="keywordtype">id</span>].on_failure.interface != <span class="stringliteral">&quot;&quot;</span>)</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>      {</div>
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-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        triggerFunction_(events[<span class="keywordtype">id</span>].on_failure.interface, update_on_failure(events[<span class="keywordtype">id</span>].on_failure.parameters));</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>      }</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    }</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// track the execution as completed</span></div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1MultiplexBaseRunner.html#a59d15e39d4541a418aa230d6ce028859">completed_executions</a>[id] = <span class="keyword">true</span>;</div>
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-<div class="textblock"><pre class="fragment"> test call cap services </pre> </div><h2 class="groupheader">Function Documentation</h2>
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-<a href="notrigger__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-<a href="predicate_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span> </div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span>{</div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="keyword">namespace </span>models</div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span>{</div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
-<div class="foldopen" id="foldopen00018" data-start="{" data-end="};">
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">   18</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">predicate_model_t</a></div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>{</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a0e770a26565f064e86ff4251cde950b0">   20</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a0e770a26565f064e86ff4251cde950b0">subject</a>;</div>
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-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  {</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a0e770a26565f064e86ff4251cde950b0">subject</a> = node[<span class="stringliteral">&quot;subject&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1predicate__model__t.html#a0ccafaa770f2722fa3c32e9e4924eef9">predicate</a> = node[<span class="stringliteral">&quot;predicate&quot;</span>].as&lt;std::string&gt;();</div>
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-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>}  <span class="comment">// namespace capabilities2_server</span></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicate__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicate__model__t.html">capabilities2_server::models::predicate_model_t</a></div><div class="ttdoc">predicate model type</div><div class="ttdef"><b>Definition</b> predicate.hpp:19</div></div>
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-<a href="provider_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>{</div>
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-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>      <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a>[dependency.first.as&lt;std::string&gt;()] = dependency.second[<span class="stringliteral">&quot;provider&quot;</span>].as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    }</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="comment">// if remappings exist</span></div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="keywordflow">if</span> (node[<span class="stringliteral">&quot;remappings&quot;</span>])</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    {</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>      <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">from_yaml</a>(node[<span class="stringliteral">&quot;remappings&quot;</span>]);</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    }</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    </div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="comment">// definition</span></div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">defineable_base_t::from_yaml</a>(node);</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  }</div>
-</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
-<div class="foldopen" id="foldopen00052" data-start="{" data-end="}">
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">   52</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">to_yaml</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    YAML::Node node = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>();</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    node[<span class="stringliteral">&quot;implements&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a>;</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; dependency : <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a>)</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    {</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>      node[<span class="stringliteral">&quot;depends_on&quot;</span>][dependency.first][<span class="stringliteral">&quot;provider&quot;</span>] = dependency.second;</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    }</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    node[<span class="stringliteral">&quot;remappings&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">to_yaml</a>();</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    node[<span class="stringliteral">&quot;runner&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a>;</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// definition</span></div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">defined</a>())</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    {</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      node[<span class="stringliteral">&quot;definition&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a>;</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    }</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    <span class="keywordflow">return</span> node;</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>  }</div>
-</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span> </div>
-<div class="foldopen" id="foldopen00071" data-start="{" data-end="}">
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">   71</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">to_sql_table</a>()</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>  {</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">header_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;, implements TEXT NOT NULL, depends_on TEXT, remappings TEXT, runner &quot;</span></div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                                            <span class="stringliteral">&quot;TEXT, definition TEXT&quot;</span>;</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>  }</div>
-</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
-<div class="foldopen" id="foldopen00077" data-start="{" data-end="}">
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">   77</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">to_sql_values</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    YAML::Node deps;</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    deps[<span class="stringliteral">&quot;depends_on&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#ab621238ee4492bc03265cdf0bfb84001">depends_on</a>;</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">to_sql_values</a>() + <span class="stringliteral">&quot;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a635ca15a93793a2dfb210d8392a07e0d">implements</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(YAML::Dump(deps[<span class="stringliteral">&quot;depends_on&quot;</span>])) + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> +</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>           <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(YAML::Dump(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a73b1ea916d98d18ee300968381d6824b">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">to_yaml</a>())) + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">runner</a> + <span class="stringliteral">&quot;&#39;, &#39;&quot;</span> + <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a> + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>  }</div>
-</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>};</div>
-</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span> </div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>}  <span class="comment">// namespace models</span></div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="adefineable__base_8hpp_html"><div class="ttname"><a href="defineable__base_8hpp.html">defineable_base.hpp</a></div></div>
-<div class="ttc" id="aheader_8hpp_html"><div class="ttname"><a href="header_8hpp.html">header.hpp</a></div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html_aee2e1db0d5ab5e2c6252db5378dc9d53"><div class="ttname"><a href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server::to_sql_safe</a></div><div class="ttdeci">std::string to_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a generic std::string to a sql safe std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:15</div></div>
-<div class="ttc" id="apredicateable__base_8hpp_html"><div class="ttname"><a href="predicateable__base_8hpp.html">predicateable_base.hpp</a></div></div>
-<div class="ttc" id="aremappable__base_8hpp_html"><div class="ttname"><a href="remappable__base_8hpp.html">remappable_base.hpp</a></div></div>
-<div class="ttc" id="asql__safe_8hpp_html"><div class="ttname"><a href="sql__safe_8hpp.html">sql_safe.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">capabilities2_server::models::defineable_base_t</a></div><div class="ttdoc">defineable base</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:22</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a42cc3313c4a42b7024a455a6b1a4af8a"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">capabilities2_server::models::defineable_base_t::definition_str</a></div><div class="ttdeci">std::string definition_str</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:24</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a85af59696809d15f7c890864a80bee96"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">capabilities2_server::models::defineable_base_t::defined</a></div><div class="ttdeci">bool defined() const</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:46</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_ae1bfa5befe1ab21658aeb3e733471f63"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#ae1bfa5befe1ab21658aeb3e733471f63">capabilities2_server::models::defineable_base_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:28</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a184f5969009afde38cf0933b73f58576"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a184f5969009afde38cf0933b73f58576">capabilities2_server::models::header_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> header.hpp:47</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a5df92e5526b56a061f1b87057926f8f1"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">capabilities2_server::models::header_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> header.hpp:72</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_aaf1c85918945d7e2468748b32c840608"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">capabilities2_server::models::header_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> header.hpp:65</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicateable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">capabilities2_server::models::predicateable_base_t</a></div><div class="ttdoc">predicateable model base type</div><div class="ttdef"><b>Definition</b> predicateable_base.hpp:19</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html">capabilities2_server::models::provider_model_t</a></div><div class="ttdoc">provider model</div><div class="ttdef"><b>Definition</b> provider.hpp:26</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a04a6e71a9466c7db0c908b1279e7ef0f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a04a6e71a9466c7db0c908b1279e7ef0f">capabilities2_server::models::provider_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> provider.hpp:77</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a0ad3fa187ea591bbcf1f4ab6d312dac0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a0ad3fa187ea591bbcf1f4ab6d312dac0">capabilities2_server::models::provider_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> provider.hpp:27</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a1a91763b3ebf0fe9fc9d38a0b9315fb9"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1a91763b3ebf0fe9fc9d38a0b9315fb9">capabilities2_server::models::provider_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> provider.hpp:52</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a1c7dc74c7eaa402394f4d9e8e917d337"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a1c7dc74c7eaa402394f4d9e8e917d337">capabilities2_server::models::provider_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> provider.hpp:71</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1provider__model__t_html_a257a04fc106cbb8b5175768d4e68ce26"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1provider__model__t.html#a257a04fc106cbb8b5175768d4e68ce26">capabilities2_server::models::provider_model_t::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> provider.hpp:31</div></div>
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-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00014" data-start="{" data-end="}">
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a171a4a05b8abbd64093cb19cf2935f1d">   14</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a171a4a05b8abbd64093cb19cf2935f1d">PublishedEvent</a>(rclcpp::Publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;::SharedPtr event_pub)</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    : <a class="code hl_class" href="classcapabilities2__events_1_1EventBase.html">EventBase</a>(), <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>(event_pub)</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>  {</div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>  }</div>
-</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a6ab23da65edf53a46acb69d5c0e961cc">   19</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a6ab23da65edf53a46acb69d5c0e961cc">~PublishedEvent</a>() = <span class="keywordflow">default</span>;</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span> </div>
-<div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a53e7f3937b84b488db674020a2b90b5a">   24</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a53e7f3937b84b488db674020a2b90b5a">emit</a>(<span class="keyword">const</span> std::string&amp; connection_id, <span class="keyword">const</span> uint8_t&amp; event_code,</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>            <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; source, <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; target,</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>            <a class="code hl_typedef" href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">EventBase::event_callback_t</a> callback)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span>    <span class="comment">// split connection id to get trigger id. Assuming connection_id format is &quot;bond_id/instance_id/target_instance_id&quot;</span></div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>    <span class="keywordtype">size_t</span> first_pos = connection_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span>    <span class="keywordtype">size_t</span> second_pos = connection_id.find(<span class="charliteral">&#39;/&#39;</span>, first_pos + 1);</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>    std::string instance_id = (second_pos != std::string::npos) ? connection_id.substr(first_pos + 1, second_pos - first_pos - 1) : <span class="stringliteral">&quot;&quot;</span>;</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    event_msg.event.trigger_id = instance_id;</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    event_msg.event.code.code = event_code;</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    event_msg.event.connection.source = source;</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    event_msg.event.connection.target = target;</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span> </div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    <span class="comment">// publish event</span></div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="comment">// call super</span></div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">EventBase::emit</a>(connection_id, event_code, source, target, callback);</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  }</div>
-</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span> </div>
-<div class="foldopen" id="foldopen00053" data-start="{" data-end="}">
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#aa27e427c12928212ca6b0d9073808787">   53</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#aa27e427c12928212ca6b0d9073808787">on_server_ready</a>(<span class="keyword">const</span> std::string&amp; msg)</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  {</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::SERVER_READY;</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    event_msg.event.description = msg;</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  }</div>
-</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
-<div class="foldopen" id="foldopen00070" data-start="{" data-end="}">
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">   70</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a7877d7f7f5112f7505286366eb1d20c4">on_process_launched</a>(<span class="keyword">const</span> std::string&amp; pid)</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>  {</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::LAUNCHED;</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    event_msg.event.description = <span class="stringliteral">&quot;Process launched with PID: &quot;</span> + pid;</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span> </div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>  }</div>
-</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
-<div class="foldopen" id="foldopen00087" data-start="{" data-end="}">
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a91694a1cf354c72670fd65207986955a">   87</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a91694a1cf354c72670fd65207986955a">on_process_terminated</a>(<span class="keyword">const</span> std::string&amp; pid)</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>  {</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::TERMINATED;</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    event_msg.event.description = <span class="stringliteral">&quot;Process terminated with PID: &quot;</span> + pid;</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>  }</div>
-</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
-<div class="foldopen" id="foldopen00099" data-start="{" data-end="}">
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a5d840357942cab6bcd4a214d7b03b774">   99</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a5d840357942cab6bcd4a214d7b03b774">on_triggered</a>(<span class="keyword">const</span> std::string&amp; trigger_id)</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  {</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::TRIGGERED;</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    event_msg.event.description = <span class="stringliteral">&quot;Triggered event with ID: &quot;</span> + trigger_id;</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>  }</div>
-</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
-<div class="foldopen" id="foldopen00111" data-start="{" data-end="}">
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#ae8bacbe30ab75a4703dda81b102b3a13">  111</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#ae8bacbe30ab75a4703dda81b102b3a13">on_connected</a>(<span class="keyword">const</span> std::string&amp; source, <span class="keyword">const</span> std::string&amp; target)</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>  {</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::CONNECTED;</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>    event_msg.event.description = <span class="stringliteral">&quot;Connected event from &quot;</span> + source + <span class="stringliteral">&quot; to &quot;</span> + target;</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  }</div>
-</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
-<div class="foldopen" id="foldopen00123" data-start="{" data-end="}">
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a32cfbac8d0facda1f52cebba043d46de">  123</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__events_1_1PublishedEvent.html#a32cfbac8d0facda1f52cebba043d46de">on_disconnected</a>(<span class="keyword">const</span> std::string&amp; source, <span class="keyword">const</span> std::string&amp; target)</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>  {</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    capabilities2_msgs::msg::CapabilityEventStamped event_msg;</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    event_msg.header.stamp = rclcpp::Clock().now();</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    event_msg.event.connection.source.capability = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    event_msg.event.connection.source.provider = <span class="stringliteral">&quot;capabilities2_server&quot;</span>;</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    event_msg.event.code.code = capabilities2_msgs::msg::CapabilityEventCode::DISCONNECTED;</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    event_msg.event.description = <span class="stringliteral">&quot;Disconnected event from &quot;</span> + source + <span class="stringliteral">&quot; to &quot;</span> + target;</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>-&gt;publish(event_msg);</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>  }</div>
-</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span> </div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>  <span class="comment">// event publisher</span></div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">  137</a></span>  rclcpp::Publisher&lt;capabilities2_msgs::msg::CapabilityEventStamped&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__events_1_1PublishedEvent.html#a9512517a8907ce9986c103dd45b4f453">event_pub_</a>;</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>};</div>
-</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>}  <span class="comment">// namespace capabilities2_events</span></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html">capabilities2_events::EventBase</a></div><div class="ttdoc">event base class</div><div class="ttdef"><b>Definition</b> event_base.hpp:43</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a01f110c6b7c9517f8f8ae134b8b22c8e"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e">capabilities2_events::EventBase::event_callback_t</a></div><div class="ttdeci">std::function&lt; void(const access_id_t &amp;, const capability_str_t &amp;, const target_instance_id_t &amp;, parameter_t)&gt; event_callback_t</div><div class="ttdef"><b>Definition</b> event_base.hpp:49</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventBase_html_a0fadc2464ce9a54a913aa55e806b7d8c"><div class="ttname"><a href="classcapabilities2__events_1_1EventBase.html#a0fadc2464ce9a54a913aa55e806b7d8c">capabilities2_events::EventBase::emit</a></div><div class="ttdeci">virtual void emit(const std::string &amp;connection_id, const uint8_t &amp;event_code, const capabilities2_msgs::msg::Capability &amp;source, const capabilities2_msgs::msg::Capability &amp;target, event_callback_t callback)</div><div class="ttdoc">emit an event</div><div class="ttdef"><b>Definition</b> event_base.hpp:71</div></div>
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-<a href="remapping_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">namespace </span>models</div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
-<div class="foldopen" id="foldopen00012" data-start="{" data-end="};">
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">   12</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a></div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">   14</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">from</a>;</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">   15</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">to</a>;</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="foldopen" id="foldopen00017" data-start="{" data-end="}">
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">   17</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a169c348158aeb78da894c0c5dea81332">from_yaml_detail_iterator_value</a>(<span class="keyword">const</span> YAML::detail::iterator_value&amp; iter)</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  {</div>
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-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#ad797637f1fb60e5cceb5c614695353a3">from</a> = iter.first.as&lt;std::string&gt;();</div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c">to</a> = iter.second.as&lt;std::string&gt;();</div>
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-</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span> </div>
-<div class="foldopen" id="foldopen00024" data-start="{" data-end="}">
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-</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span> </div>
-<div class="foldopen" id="foldopen00031" data-start="{" data-end="}">
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-</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
-<div class="foldopen" id="foldopen00036" data-start="{" data-end="}">
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a50910626d9a86e867108f51640c8d3b9">   36</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html#a50910626d9a86e867108f51640c8d3b9">operator!=</a>(<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remapping__model__t.html">remapping_model_t</a>&amp; other)<span class="keyword"> const</span></div>
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-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    <span class="keywordflow">return</span> !(*<span class="keyword">this</span> == other);</div>
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-</div>
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-</div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
-<div class="foldopen" id="foldopen00042" data-start="{" data-end="};">
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">   42</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html">remappings_model_t</a></div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>{</div>
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-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">   46</a></span>  std::vector&lt;remapping_model_t&gt; <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054">services</a>;</div>
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-<div class="foldopen" id="foldopen00049" data-start="{" data-end="}">
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-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>        <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a1570369d1b89a3ba0a9cbff9419422cc">parameters</a>.push_back(r);</div>
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-<a href="resource_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-<li class="navelem"><a class="el" href="dir_c3ebc9632501f3b8db76e200f637a370.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_6f42b610c7c0eba485562e9f42cf4eee.html">include</a></li><li class="navelem"><a class="el" href="dir_e2dc497995eb2331d5f961bdf471e58c.html">capabilities2_server</a></li><li class="navelem"><a class="el" href="dir_1bf5b06d15e554f4d54614040e1e0b2d.html">models</a></li>  </ul>
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-  <div class="headertitle"><div class="title">run_config.hpp</div></div>
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-<a href="run__config_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="header_8hpp.html">capabilities2_server/models/header.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;<a class="code" href="interface_8hpp.html">capabilities2_server/models/interface.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="defineable__base_8hpp.html">capabilities2_server/models/defineable_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span>{</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="keyword">namespace </span>models</div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span>{</div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span> </div>
-<div class="foldopen" id="foldopen00023" data-start="{" data-end="};">
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">   23</a></span><span class="keyword">struct </span><a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">run_config_model_t</a> : <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">defineable_base_t</a></div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>{</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">   25</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1header__model__t.html">header_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a>;</div>
-<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">   26</a></span>  <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1interface__model__t.html">interface_model_t</a> <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>;</div>
-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">   27</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">global_namespace</a>;</div>
-<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">   28</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>;</div>
-<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">   29</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">started_by</a>;</div>
-<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">   30</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">pid</a>;</div>
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
-<div class="foldopen" id="foldopen00032" data-start="{" data-end="}">
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ad04c7331d5e39eecfff7cd104c0ad923">   32</a></span>  <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ad04c7331d5e39eecfff7cd104c0ad923">to_runner_opts</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>    <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a> opts;</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a> = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">provider</a> = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>;</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>    opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac09a8a96d66f433fdcd43aeae8217cef">global_namespace</a> = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">global_namespace</a>;</div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">runner</a> = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>;</div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">started_by</a> = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">started_by</a>;</div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>    opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">pid</a> = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">pid</a>;</div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    <span class="comment">// lambda for pushing resources by type</span></div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>    <span class="keyword">auto</span> push_by_type = [&amp;](<span class="keyword">const</span> std::map&lt;std::string, resource_model_t&gt;&amp; resources, <span class="keyword">const</span> std::string&amp; type) {</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>      <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; resource : resources)</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>      {</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>        opts.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">resources</a>.push_back({ resource.second.name, type, resource.second.type });</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>      }</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    };</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    <span class="comment">// get all resources</span></div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    push_by_type(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a7fbc888249194c37bbbcd6145cdcc272">parameters</a>, <span class="stringliteral">&quot;parameter&quot;</span>);</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    push_by_type(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">topics</a>, <span class="stringliteral">&quot;topic&quot;</span>);</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    push_by_type(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">services</a>, <span class="stringliteral">&quot;service&quot;</span>);</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    push_by_type(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#a9e396d80ed9427c8020057757a605c07">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed">actions</a>, <span class="stringliteral">&quot;action&quot;</span>);</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="keywordflow">return</span> opts;</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>  }</div>
-</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
-<div class="foldopen" id="foldopen00060" data-start="{" data-end="}">
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">   60</a></span>  <span class="keyword">const</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">is_valid</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordflow">return</span> !<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">header</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty() &amp;&amp; !<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a>.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">name</a>.empty();</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  }</div>
-</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
-<div class="foldopen" id="foldopen00065" data-start="{" data-end="}">
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ab602bc027d2c75ddc51fdf190cd42442">   65</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ab602bc027d2c75ddc51fdf190cd42442">to_yaml</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    YAML::Node node;</div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    node[<span class="stringliteral">&quot;provider&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">provider</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>();</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    node[<span class="stringliteral">&quot;interface&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">interface</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">to_yaml</a>();</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">defined</a>())</div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    {</div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>      node[<span class="stringliteral">&quot;definition&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">definition_str</a>;</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>    }</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    node[<span class="stringliteral">&quot;global_namespace&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">global_namespace</a>;</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    node[<span class="stringliteral">&quot;runner&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>;</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    node[<span class="stringliteral">&quot;started_by&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">started_by</a>;</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    node[<span class="stringliteral">&quot;pid&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">pid</a>;</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="keywordflow">return</span> node;</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>  }</div>
-</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>};</div>
-</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>}  <span class="comment">// namespace models</span></div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="adefineable__base_8hpp_html"><div class="ttname"><a href="defineable__base_8hpp.html">defineable_base.hpp</a></div></div>
-<div class="ttc" id="aheader_8hpp_html"><div class="ttname"><a href="header_8hpp.html">header.hpp</a></div></div>
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-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="arunner__base_8hpp_html"><div class="ttname"><a href="runner__base_8hpp.html">runner_base.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html">capabilities2_runner::runner_opts</a></div><div class="ttdoc">runner options</div><div class="ttdef"><b>Definition</b> runner_base.hpp:56</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a2af9b9108b7a7a08c35f674b6c684dbb"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">capabilities2_runner::runner_opts::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> runner_base.hpp:63</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a574ca498d3677393093c36193cf108db"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">capabilities2_runner::runner_opts::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> runner_base.hpp:62</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_a72794f94e6e05ab6de8f5ff0200658cc"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">capabilities2_runner::runner_opts::interface</a></div><div class="ttdeci">std::string interface</div><div class="ttdef"><b>Definition</b> runner_base.hpp:57</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ac09a8a96d66f433fdcd43aeae8217cef"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ac09a8a96d66f433fdcd43aeae8217cef">capabilities2_runner::runner_opts::global_namespace</a></div><div class="ttdeci">std::string global_namespace</div><div class="ttdef"><b>Definition</b> runner_base.hpp:60</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ac592b9b0cde8eef4f39dfa9ed619252e"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">capabilities2_runner::runner_opts::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> runner_base.hpp:61</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_ae271547e3464d837ba35365591393369"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">capabilities2_runner::runner_opts::provider</a></div><div class="ttdeci">std::string provider</div><div class="ttdef"><b>Definition</b> runner_base.hpp:58</div></div>
-<div class="ttc" id="astructcapabilities2__runner_1_1runner__opts_html_af54ee8576a824bb7b5a09879a2f33948"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">capabilities2_runner::runner_opts::resources</a></div><div class="ttdeci">std::vector&lt; resource &gt; resources</div><div class="ttdef"><b>Definition</b> runner_base.hpp:59</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html">capabilities2_server::models::defineable_base_t</a></div><div class="ttdoc">defineable base</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:22</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a42cc3313c4a42b7024a455a6b1a4af8a"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a42cc3313c4a42b7024a455a6b1a4af8a">capabilities2_server::models::defineable_base_t::definition_str</a></div><div class="ttdeci">std::string definition_str</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:24</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1defineable__base__t_html_a85af59696809d15f7c890864a80bee96"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1defineable__base__t.html#a85af59696809d15f7c890864a80bee96">capabilities2_server::models::defineable_base_t::defined</a></div><div class="ttdeci">bool defined() const</div><div class="ttdef"><b>Definition</b> defineable_base.hpp:46</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a3a9a79ce313a985930e2cd97d27ebd5f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a3a9a79ce313a985930e2cd97d27ebd5f">capabilities2_server::models::header_model_t::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> header.hpp:42</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html">capabilities2_server::models::interface_model_t</a></div><div class="ttdoc">interface model</div><div class="ttdef"><b>Definition</b> interface.hpp:124</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ab4974dddde348826f754eeba41fab1d0"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ab4974dddde348826f754eeba41fab1d0">capabilities2_server::models::interface_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> interface.hpp:144</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1interface__model__t_html_ad4dfd8817581f04f0def9017ca898c64"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1interface__model__t.html#ad4dfd8817581f04f0def9017ca898c64">capabilities2_server::models::interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> interface.hpp:125</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">capabilities2_server::models::run_config_model_t</a></div><div class="ttdoc">run configuration type</div><div class="ttdef"><b>Definition</b> run_config.hpp:24</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a2b11f1cbc79ce42856b706df73bb87e3"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3">capabilities2_server::models::run_config_model_t::started_by</a></div><div class="ttdeci">std::string started_by</div><div class="ttdef"><b>Definition</b> run_config.hpp:29</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a49ff00fef777b60efedd894d773d9153"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">capabilities2_server::models::run_config_model_t::runner</a></div><div class="ttdeci">std::string runner</div><div class="ttdef"><b>Definition</b> run_config.hpp:28</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a7ce34838226d280eba1e9498acf20475"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">capabilities2_server::models::run_config_model_t::is_valid</a></div><div class="ttdeci">const bool is_valid() const</div><div class="ttdef"><b>Definition</b> run_config.hpp:60</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a8edab59f62bc89e5a7dc4a7c1508f79c"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a8edab59f62bc89e5a7dc4a7c1508f79c">capabilities2_server::models::run_config_model_t::provider</a></div><div class="ttdeci">header_model_t provider</div><div class="ttdef"><b>Definition</b> run_config.hpp:25</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_a9b14481ebe1d875a691437a77a1ce992"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a9b14481ebe1d875a691437a77a1ce992">capabilities2_server::models::run_config_model_t::pid</a></div><div class="ttdeci">std::string pid</div><div class="ttdef"><b>Definition</b> run_config.hpp:30</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_ab602bc027d2c75ddc51fdf190cd42442"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ab602bc027d2c75ddc51fdf190cd42442">capabilities2_server::models::run_config_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> run_config.hpp:65</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_ad04c7331d5e39eecfff7cd104c0ad923"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ad04c7331d5e39eecfff7cd104c0ad923">capabilities2_server::models::run_config_model_t::to_runner_opts</a></div><div class="ttdeci">const capabilities2_runner::runner_opts to_runner_opts() const</div><div class="ttdef"><b>Definition</b> run_config.hpp:32</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_af71c28c7a74a86e2f667fedaade4cf0b"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#af71c28c7a74a86e2f667fedaade4cf0b">capabilities2_server::models::run_config_model_t::global_namespace</a></div><div class="ttdeci">std::string global_namespace</div><div class="ttdef"><b>Definition</b> run_config.hpp:27</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1run__config__model__t_html_affb0c8921530314028f04b4d1fa19306"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#affb0c8921530314028f04b4d1fa19306">capabilities2_server::models::run_config_model_t::interface</a></div><div class="ttdeci">interface_model_t interface</div><div class="ttdef"><b>Definition</b> run_config.hpp:26</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html_a4902547120299a085eacca24a896c11f"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f">capabilities2_server::models::specification_model_t::services</a></div><div class="ttdeci">std::map&lt; std::string, resource_model_t &gt; services</div><div class="ttdef"><b>Definition</b> interface.hpp:24</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html_a77bb428b9a7290aae1c9d1180c3c93ac"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a77bb428b9a7290aae1c9d1180c3c93ac">capabilities2_server::models::specification_model_t::topics</a></div><div class="ttdeci">std::map&lt; std::string, resource_model_t &gt; topics</div><div class="ttdef"><b>Definition</b> interface.hpp:23</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1specification__model__t_html_a7fbc888249194c37bbbcd6145cdcc272"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1specification__model__t.html#a7fbc888249194c37bbbcd6145cdcc272">capabilities2_server::models::specification_model_t::parameters</a></div><div class="ttdeci">std::map&lt; std::string, resource_model_t &gt; parameters</div><div class="ttdef"><b>Definition</b> interface.hpp:22</div></div>
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-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">   61</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ac592b9b0cde8eef4f39dfa9ed619252e">runner</a>;</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">   62</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">started_by</a>;</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">   63</a></span>  std::string <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">pid</a>;</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="structcapabilities2__runner_1_1runner__opts.html#a42f3c1ecdad43cea48e2ae4df1bfcdbd">   64</a></span>  <span class="keywordtype">int</span> <a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a42f3c1ecdad43cea48e2ae4df1bfcdbd">input_count</a>;</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>};</div>
-</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span> </div>
-<div class="foldopen" id="foldopen00073" data-start="{" data-end="};">
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html">   73</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>{</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00076" data-start="{" data-end="}">
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">   76</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">RunnerBase</a>() : <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>(nullptr), <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>()</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>  {</div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>  }</div>
-</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">   80</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">~RunnerBase</a>() = <span class="keywordflow">default</span>;</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span> </div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>  <span class="comment">// incorporates event callbacks</span></div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">   94</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">start</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config, <span class="keyword">const</span> std::string&amp; bond_id) = 0;</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">  101</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>) = 0;</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">  117</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">trigger</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters, <span class="keyword">const</span> std::string&amp; bond_id,</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>                       <span class="keyword">const</span> std::string&amp; instance_id) = 0;</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span> </div>
-<div class="foldopen" id="foldopen00126" data-start="{" data-end="}">
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">  126</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config)</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>  {</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    <span class="comment">// store node connection source</span></div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    capabilities2_msgs::msg::Capability source_capability;</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>    source_capability.capability = run_config.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>;</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>    source_capability.provider = run_config.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">provider</a>;</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">set_source</a>(source_capability);</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span> </div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="comment">// store node pointer and opts</span></div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a> = node;</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a> = run_config;</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>  }</div>
-</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span> </div>
-<div class="foldopen" id="foldopen00144" data-start="{" data-end="}">
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">  144</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">enable_events</a>(std::shared_ptr&lt;capabilities2_events::EventBase&gt; events)</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span>  {</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">is_event_emitter_set</a>())</div>
-<div class="line"><a id="l00147" name="l00147"></a><span class="lineno">  147</span>    {</div>
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno">  148</span>      <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">set_event_emitter</a>(events);</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>    }</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>  }</div>
-</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span> </div>
-<div class="foldopen" id="foldopen00164" data-start="{" data-end="}">
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">  164</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">add_connection</a>(<span class="keyword">const</span> std::string&amp; connection_id, <span class="keyword">const</span> capabilities2_msgs::msg::CapabilityEventCode&amp; type,</div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>                      <span class="keyword">const</span> capabilities2_msgs::msg::Capability&amp; target,</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span>                      std::function&lt;<span class="keywordtype">void</span>(<span class="keyword">const</span> std::string&amp;, <span class="keyword">const</span> std::string&amp;, <span class="keyword">const</span> std::string&amp;,</div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>                                         <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>)&gt;</div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>                          callback)</div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span>  {</div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    EventNode::add_connection(connection_id, type, target, callback);</div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>  }</div>
-</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span> </div>
-<div class="foldopen" id="foldopen00176" data-start="{" data-end="}">
-<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">  176</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">get_package_name</a>()</div>
-<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>  {</div>
-<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>.substr(0, <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>.find(<span class="stringliteral">&quot;/&quot;</span>));</div>
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>  }</div>
-</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span> </div>
-<div class="foldopen" id="foldopen00184" data-start="{" data-end="}">
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">  184</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">get_interface</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>;</div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>  }</div>
-</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
-<div class="foldopen" id="foldopen00192" data-start="{" data-end="}">
-<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">  192</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ae6b41bc7b4e1ed845c8ef865ea76feaf">get_provider</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00193" name="l00193"></a><span class="lineno">  193</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#ae271547e3464d837ba35365591393369">provider</a>;</div>
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>  }</div>
-</div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span> </div>
-<div class="foldopen" id="foldopen00200" data-start="{" data-end="}">
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">  200</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">get_started_by</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db">started_by</a>;</div>
-<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>  }</div>
-</div>
-<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span> </div>
-<div class="foldopen" id="foldopen00208" data-start="{" data-end="}">
-<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">  208</a></span>  <span class="keyword">const</span> std::string&amp; <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">get_pid</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a2af9b9108b7a7a08c35f674b6c684dbb">pid</a>;</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>  }</div>
-</div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span> </div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>  <span class="comment">// FIXME: implement new event subsystem</span></div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span> </div>
-<div class="foldopen" id="foldopen00226" data-start="{" data-end="}">
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">  226</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>()</div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>  {</div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>();</div>
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>  };</div>
-</div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span> </div>
-<div class="foldopen" id="foldopen00241" data-start="{" data-end="}">
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">  241</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>()</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span>  {</div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>();</div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>  };</div>
-</div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span> </div>
-<div class="foldopen" id="foldopen00256" data-start="{" data-end="}">
-<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">  256</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>()</div>
-<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span>  {</div>
-<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>();</div>
-<div class="line"><a id="l00259" name="l00259"></a><span class="lineno">  259</span>  };</div>
-</div>
-<div class="line"><a id="l00260" name="l00260"></a><span class="lineno">  260</span> </div>
-<div class="foldopen" id="foldopen00271" data-start="{" data-end="}">
-<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">  271</a></span>  <span class="keyword">virtual</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>()</div>
-<div class="line"><a id="l00272" name="l00272"></a><span class="lineno">  272</span>  {</div>
-<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>    <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>();</div>
-<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>  };</div>
-</div>
-<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span> </div>
-<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span>  <span class="comment">// run config getters</span></div>
-<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span> </div>
-<div class="foldopen" id="foldopen00289" data-start="{" data-end="}">
-<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">  289</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="keyword">const</span> std::string&amp; resource_type, <span class="keyword">const</span> std::string&amp; msg_type)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; <a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a> : <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">resources</a>)</div>
-<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span>    {</div>
-<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>      <span class="keywordflow">if</span> (<a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a94b6972f420c15250a370d44bd08ccc2">resource_type</a> == resource_type)</div>
-<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>      {</div>
-<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>        <span class="keywordflow">if</span> (<a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a1bebf375d0bb9439251e8ef393e837a5">msg_type</a> == msg_type)</div>
-<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span>        {</div>
-<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>          <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a31be624a9bd871d94918db90d774ae46">name</a>;</div>
-<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>        }</div>
-<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>      }</div>
-<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>    }</div>
-<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span> </div>
-<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>    <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;no resource found: &quot;</span> + msg_type);</div>
-<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>  }</div>
-</div>
-<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span> </div>
-<div class="foldopen" id="foldopen00311" data-start="{" data-end="}">
-<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">  311</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">get_parameter_name_by_type</a>(<span class="keyword">const</span> std::string&amp; param_type)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00312" name="l00312"></a><span class="lineno">  312</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00313" name="l00313"></a><span class="lineno">  313</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="stringliteral">&quot;parameter&quot;</span>, param_type);</div>
-<div class="line"><a id="l00314" name="l00314"></a><span class="lineno">  314</span>  }</div>
-</div>
-<div class="line"><a id="l00315" name="l00315"></a><span class="lineno">  315</span> </div>
-<div class="foldopen" id="foldopen00322" data-start="{" data-end="}">
-<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">  322</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">get_topic_name_by_type</a>(<span class="keyword">const</span> std::string&amp; topic_type)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="stringliteral">&quot;topic&quot;</span>, topic_type);</div>
-<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>  }</div>
-</div>
-<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span> </div>
-<div class="foldopen" id="foldopen00333" data-start="{" data-end="}">
-<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">  333</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af3397f1baa438b11e40a2a9c8e771f75">get_service_name_by_type</a>(<span class="keyword">const</span> std::string&amp; srv_type)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="stringliteral">&quot;service&quot;</span>, srv_type);</div>
-<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span>  }</div>
-</div>
-<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span> </div>
-<div class="foldopen" id="foldopen00344" data-start="{" data-end="}">
-<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">  344</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">get_action_name_by_type</a>(<span class="keyword">const</span> std::string&amp; action_type)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">get_resource_name_by_type</a>(<span class="stringliteral">&quot;action&quot;</span>, action_type);</div>
-<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span>  }</div>
-</div>
-<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span> </div>
-<div class="foldopen" id="foldopen00356" data-start="{" data-end="}">
-<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">  356</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="keyword">const</span> std::string&amp; resource_type)<span class="keyword"> const</span></div>
-<div class="line"><a id="l00357" name="l00357"></a><span class="lineno">  357</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00358" name="l00358"></a><span class="lineno">  358</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; <a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a> : <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#af54ee8576a824bb7b5a09879a2f33948">resources</a>)</div>
-<div class="line"><a id="l00359" name="l00359"></a><span class="lineno">  359</span>    {</div>
-<div class="line"><a id="l00360" name="l00360"></a><span class="lineno">  360</span>      <span class="keywordflow">if</span> (<a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a94b6972f420c15250a370d44bd08ccc2">resource_type</a> == resource_type)</div>
-<div class="line"><a id="l00361" name="l00361"></a><span class="lineno">  361</span>      {</div>
-<div class="line"><a id="l00362" name="l00362"></a><span class="lineno">  362</span>        <span class="keywordflow">return</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1resource.html">resource</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1resource.html#a31be624a9bd871d94918db90d774ae46">name</a>;</div>
-<div class="line"><a id="l00363" name="l00363"></a><span class="lineno">  363</span>      }</div>
-<div class="line"><a id="l00364" name="l00364"></a><span class="lineno">  364</span>    }</div>
-<div class="line"><a id="l00365" name="l00365"></a><span class="lineno">  365</span> </div>
-<div class="line"><a id="l00366" name="l00366"></a><span class="lineno">  366</span>    <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;no &quot;</span> + resource_type + <span class="stringliteral">&quot; resource found for interface: &quot;</span> + <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>.<a class="code hl_variable" href="structcapabilities2__runner_1_1runner__opts.html#a72794f94e6e05ab6de8f5ff0200658cc">interface</a>);</div>
-<div class="line"><a id="l00367" name="l00367"></a><span class="lineno">  367</span>  }</div>
-</div>
-<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span> </div>
-<div class="foldopen" id="foldopen00374" data-start="{" data-end="}">
-<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">  374</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">get_first_parameter_name</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="stringliteral">&quot;parameter&quot;</span>);</div>
-<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span>  }</div>
-</div>
-<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span> </div>
-<div class="foldopen" id="foldopen00384" data-start="{" data-end="}">
-<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">  384</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">get_first_topic_name</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="stringliteral">&quot;topic&quot;</span>);</div>
-<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>  }</div>
-</div>
-<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span> </div>
-<div class="foldopen" id="foldopen00394" data-start="{" data-end="}">
-<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">  394</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">get_first_service_name</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="stringliteral">&quot;service&quot;</span>);</div>
-<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span>  }</div>
-</div>
-<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span> </div>
-<div class="foldopen" id="foldopen00404" data-start="{" data-end="}">
-<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">  404</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">get_first_action_name</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">get_first_resource_name</a>(<span class="stringliteral">&quot;action&quot;</span>);</div>
-<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span>  }</div>
-</div>
-<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span> </div>
-<div class="line"><a id="l00409" name="l00409"></a><span class="lineno">  409</span>  <span class="comment">// FIXME: implement new event subsystem</span></div>
-<div class="line"><a id="l00410" name="l00410"></a><span class="lineno">  410</span>  <span class="comment">// STATE CHANGE HELPERS</span></div>
-<div class="line"><a id="l00411" name="l00411"></a><span class="lineno">  411</span> </div>
-<div class="foldopen" id="foldopen00418" data-start="{" data-end="}">
-<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">  418</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id,</div>
-<div class="line"><a id="l00419" name="l00419"></a><span class="lineno">  419</span>                    <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
-<div class="line"><a id="l00420" name="l00420"></a><span class="lineno">  420</span>  {</div>
-<div class="line"><a id="l00421" name="l00421"></a><span class="lineno">  421</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;emitting STARTED event with bond_id: %s&quot;</span>, bond_id.c_str());</div>
-<div class="line"><a id="l00422" name="l00422"></a><span class="lineno">  422</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::STARTED, parameters);</div>
-<div class="line"><a id="l00423" name="l00423"></a><span class="lineno">  423</span>  }</div>
-</div>
-<div class="line"><a id="l00424" name="l00424"></a><span class="lineno">  424</span> </div>
-<div class="foldopen" id="foldopen00431" data-start="{" data-end="}">
-<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">  431</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id,</div>
-<div class="line"><a id="l00432" name="l00432"></a><span class="lineno">  432</span>                    <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
-<div class="line"><a id="l00433" name="l00433"></a><span class="lineno">  433</span>  {</div>
-<div class="line"><a id="l00434" name="l00434"></a><span class="lineno">  434</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;emitting STOPPED event with bond_id: %s&quot;</span>, bond_id.c_str());</div>
-<div class="line"><a id="l00435" name="l00435"></a><span class="lineno">  435</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::STOPPED, parameters);</div>
-<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span>  }</div>
-</div>
-<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span> </div>
-<div class="foldopen" id="foldopen00444" data-start="{" data-end="}">
-<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">  444</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id,</div>
-<div class="line"><a id="l00445" name="l00445"></a><span class="lineno">  445</span>                      <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
-<div class="line"><a id="l00446" name="l00446"></a><span class="lineno">  446</span>  {</div>
-<div class="line"><a id="l00447" name="l00447"></a><span class="lineno">  447</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;emitting SUCCEEDED event with bond_id: %s&quot;</span>, bond_id.c_str());</div>
-<div class="line"><a id="l00448" name="l00448"></a><span class="lineno">  448</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::SUCCEEDED, parameters);</div>
-<div class="line"><a id="l00449" name="l00449"></a><span class="lineno">  449</span>  }</div>
-</div>
-<div class="line"><a id="l00450" name="l00450"></a><span class="lineno">  450</span> </div>
-<div class="foldopen" id="foldopen00457" data-start="{" data-end="}">
-<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">  457</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id,</div>
-<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>                   <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters = <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>())</div>
-<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>  {</div>
-<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;emitting FAILED event with bond_id: %s&quot;</span>, bond_id.c_str());</div>
-<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::FAILED, parameters);</div>
-<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>  }</div>
-</div>
-<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span> </div>
-<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">  469</a></span>  rclcpp::Node::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>;</div>
-<div class="line"><a id="l00470" name="l00470"></a><span class="lineno">  470</span> </div>
-<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">  474</a></span>  <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a> <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">run_config_</a>;</div>
-<div class="line"><a id="l00475" name="l00475"></a><span class="lineno">  475</span>};</div>
-</div>
-<div class="line"><a id="l00476" name="l00476"></a><span class="lineno">  476</span> </div>
-<div class="line"><a id="l00477" name="l00477"></a><span class="lineno">  477</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html">capabilities2_events::EventNode</a></div><div class="ttdoc">an event node is a source of an event</div><div class="ttdef"><b>Definition</b> event_node.hpp:26</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a10f7d884696c76f58fa43a03d69369f4"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a10f7d884696c76f58fa43a03d69369f4">capabilities2_events::EventNode::set_source</a></div><div class="ttdeci">void set_source(const capabilities2_msgs::msg::Capability &amp;src)</div><div class="ttdoc">Set the source object.</div><div class="ttdef"><b>Definition</b> event_node.hpp:123</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_a41dc0f4b8ad35d358181f25d646f396e"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#a41dc0f4b8ad35d358181f25d646f396e">capabilities2_events::EventNode::set_event_emitter</a></div><div class="ttdeci">void set_event_emitter(std::shared_ptr&lt; EventBase &gt; event_emitter)</div><div class="ttdoc">event emitter for this event node</div><div class="ttdef"><b>Definition</b> event_node.hpp:135</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_aa66f138bc8fa897c84d8ffd529396002"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#aa66f138bc8fa897c84d8ffd529396002">capabilities2_events::EventNode::is_event_emitter_set</a></div><div class="ttdeci">bool is_event_emitter_set() const</div><div class="ttdoc">event emitter is set on this node</div><div class="ttdef"><b>Definition</b> event_node.hpp:278</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_ad1b79fbe33fd75339bcaa77417240e57"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">capabilities2_events::EventNode::emit_event</a></div><div class="ttdeci">void emit_event(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit an event from this event node to all matching connections</div><div class="ttdef"><b>Definition</b> event_node.hpp:64</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a144e9cc074f34a69677fa9c2b461160e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a144e9cc074f34a69677fa9c2b461160e">capabilities2_runner::RunnerBase::get_first_service_name</a></div><div class="ttdeci">const std::string get_first_service_name() const</div><div class="ttdoc">Get the first service name.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:394</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a561039712ffa38c2617baf266fc22896"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">capabilities2_runner::RunnerBase::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success()</div><div class="ttdoc">Update on_success event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:271</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5865a398c1ad27e89d4d6947ef9404c2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">capabilities2_runner::RunnerBase::emit_succeeded</a></div><div class="ttdeci">void emit_succeeded(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit SUCCEEDED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:444</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a590b4f109de1d343ad88db826d72d6f2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a590b4f109de1d343ad88db826d72d6f2">capabilities2_runner::RunnerBase::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;)=0</div><div class="ttdoc">stop the runner</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5dcd2ac4205bb7f3cf069e0273ec46b7"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">capabilities2_runner::RunnerBase::emit_failed</a></div><div class="ttdeci">void emit_failed(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit FAILED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:457</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5ec5051ab90eb6d67890b9a56ac78c66"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5ec5051ab90eb6d67890b9a56ac78c66">capabilities2_runner::RunnerBase::get_pid</a></div><div class="ttdeci">const std::string &amp; get_pid() const</div><div class="ttdoc">get the pid of the runner.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:208</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a6667a04bdf0d6a83a7663b4f8b10c0cf"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a6667a04bdf0d6a83a7663b4f8b10c0cf">capabilities2_runner::RunnerBase::get_first_resource_name</a></div><div class="ttdeci">const std::string get_first_resource_name(const std::string &amp;resource_type) const</div><div class="ttdoc">get first name of a given resource</div><div class="ttdef"><b>Definition</b> runner_base.hpp:356</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a68a4f300a106474d09ccda51efc57a5a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">capabilities2_runner::RunnerBase::param_on_started</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_started()</div><div class="ttdoc">Update on_started event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:226</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a6c40b1ee8b85cd357ebc9102ee1b5d12"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a6c40b1ee8b85cd357ebc9102ee1b5d12">capabilities2_runner::RunnerBase::get_first_action_name</a></div><div class="ttdeci">const std::string get_first_action_name() const</div><div class="ttdoc">Get the first action name.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:404</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a7a66fa34cdf7a2868dfb9f1d8f8d65ca"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a7a66fa34cdf7a2868dfb9f1d8f8d65ca">capabilities2_runner::RunnerBase::add_connection</a></div><div class="ttdeci">void add_connection(const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityEventCode &amp;type, const capabilities2_msgs::msg::Capability &amp;target, std::function&lt; void(const std::string &amp;, const std::string &amp;, const std::string &amp;, capabilities2_events::EventParameters)&gt; callback)</div><div class="ttdoc">make EventNode::add_connection public method on runner api.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:164</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a7ca628af3cfb83cb2e17f2348c66f5a9"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a7ca628af3cfb83cb2e17f2348c66f5a9">capabilities2_runner::RunnerBase::get_parameter_name_by_type</a></div><div class="ttdeci">const std::string get_parameter_name_by_type(const std::string &amp;param_type) const</div><div class="ttdoc">Get a parameter name by type.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:311</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a819adec0f6c9d29e70fe1c39c578e96b"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a819adec0f6c9d29e70fe1c39c578e96b">capabilities2_runner::RunnerBase::get_resource_name_by_type</a></div><div class="ttdeci">const std::string get_resource_name_by_type(const std::string &amp;resource_type, const std::string &amp;msg_type) const</div><div class="ttdoc">Get a resource name by data type from the config.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:289</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a921754cdc1cbf69547f67860d5fd2f92"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a921754cdc1cbf69547f67860d5fd2f92">capabilities2_runner::RunnerBase::get_topic_name_by_type</a></div><div class="ttdeci">const std::string get_topic_name_by_type(const std::string &amp;topic_type) const</div><div class="ttdoc">Get a topic name by type.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:322</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9414f4fca9459b457f306bbf8b4c1cdf"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9414f4fca9459b457f306bbf8b4c1cdf">capabilities2_runner::RunnerBase::get_first_parameter_name</a></div><div class="ttdeci">const std::string get_first_parameter_name() const</div><div class="ttdoc">Get the first parameter name.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:374</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a94f0b66e78d66b770ba91d9f55b202ce"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a94f0b66e78d66b770ba91d9f55b202ce">capabilities2_runner::RunnerBase::run_config_</a></div><div class="ttdeci">runner_opts run_config_</div><div class="ttdoc">run_config_ runner configuration</div><div class="ttdef"><b>Definition</b> runner_base.hpp:474</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9a5419cab317ef239d2f197714136660"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">capabilities2_runner::RunnerBase::param_on_failure</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_failure()</div><div class="ttdoc">Update on_failure event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:256</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9f51d46e66d0e3e33677fc6b41a7ab2b"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9f51d46e66d0e3e33677fc6b41a7ab2b">capabilities2_runner::RunnerBase::get_interface</a></div><div class="ttdeci">const std::string &amp; get_interface() const</div><div class="ttdoc">get the interface of the runner.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:184</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_aa43dcda95ec5bbfae42229acb621527a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#aa43dcda95ec5bbfae42229acb621527a">capabilities2_runner::RunnerBase::get_package_name</a></div><div class="ttdeci">const std::string get_package_name()</div><div class="ttdoc">get the package name to which the runner belong to.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:176</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_aaa8cf2feec5aa8c1b10dcd49f0cc114a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#aaa8cf2feec5aa8c1b10dcd49f0cc114a">capabilities2_runner::RunnerBase::enable_events</a></div><div class="ttdeci">void enable_events(std::shared_ptr&lt; capabilities2_events::EventBase &gt; events)</div><div class="ttdoc">enable events system for this runner</div><div class="ttdef"><b>Definition</b> runner_base.hpp:144</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_abdb647861aa50def64cb7005e1234d5c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#abdb647861aa50def64cb7005e1234d5c">capabilities2_runner::RunnerBase::get_started_by</a></div><div class="ttdeci">const std::string &amp; get_started_by() const</div><div class="ttdoc">get the starter of the runner.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:200</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_abe103d834226cfae197630ef45387e95"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#abe103d834226cfae197630ef45387e95">capabilities2_runner::RunnerBase::get_first_topic_name</a></div><div class="ttdeci">const std::string get_first_topic_name() const</div><div class="ttdoc">Get the first topic name.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:384</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ac92696dfbfe4b50331ca156c4449954c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase::emit_started</a></div><div class="ttdeci">void emit_started(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STARTED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:418</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ad20c4a0a0d7ad6d42ef7ccf24f6a1c65">capabilities2_runner::RunnerBase::get_action_name_by_type</a></div><div class="ttdeci">const std::string get_action_name_by_type(const std::string &amp;action_type) const</div><div class="ttdoc">Get the action name by type object.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:344</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ad677f8a60b0e32510794315243a946d6"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ad677f8a60b0e32510794315243a946d6">capabilities2_runner::RunnerBase::RunnerBase</a></div><div class="ttdeci">RunnerBase()</div><div class="ttdef"><b>Definition</b> runner_base.hpp:76</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ad85529d5a99b6e1373d89beadcb71a47"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ad85529d5a99b6e1373d89beadcb71a47">capabilities2_runner::RunnerBase::trigger</a></div><div class="ttdeci">virtual void trigger(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id)=0</div><div class="ttdoc">Trigger the runner.</div></div>
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-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af253678258e86285dc2a12ecb5c1db84"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af253678258e86285dc2a12ecb5c1db84">capabilities2_runner::RunnerBase::start</a></div><div class="ttdeci">virtual void start(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config, const std::string &amp;bond_id)=0</div><div class="ttdoc">start the runner</div></div>
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-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_afaf475264dc30c93758087ffca3754e6"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#afaf475264dc30c93758087ffca3754e6">capabilities2_runner::RunnerBase::~RunnerBase</a></div><div class="ttdeci">~RunnerBase()=default</div></div>
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-<div class="ttc" id="astructcapabilities2__runner_1_1resource_html_a31be624a9bd871d94918db90d774ae46"><div class="ttname"><a href="structcapabilities2__runner_1_1resource.html#a31be624a9bd871d94918db90d774ae46">capabilities2_runner::resource::name</a></div><div class="ttdeci">std::string name</div><div class="ttdef"><b>Definition</b> runner_base.hpp:43</div></div>
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-<div class="ttc" id="astructcapabilities2__runner_1_1runner__exception_html_aa6373ae91bb89b6306491195465b2b07"><div class="ttname"><a href="structcapabilities2__runner_1_1runner__exception.html#aa6373ae91bb89b6306491195465b2b07">capabilities2_runner::runner_exception::runner_exception</a></div><div class="ttdeci">runner_exception(const std::string &amp;what)</div><div class="ttdef"><b>Definition</b> runner_base.hpp:27</div></div>
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-<a href="runner__cache_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;map&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="preprocessor">#include &lt;functional&gt;</span></div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;yaml-cpp/yaml.h&gt;</span></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">// #include &lt;tinyxml2.h&gt;</span></div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#include &lt;rclcpp/rclcpp.hpp&gt;</span></div>
-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="preprocessor">#include &lt;pluginlib/class_loader.hpp&gt;</span></div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span> </div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="preprocessor">#include &lt;<a class="code" href="run__config_8hpp.html">capabilities2_server/models/run_config.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="preprocessor">#include &lt;<a class="code" href="runner__base_8hpp.html">capabilities2_runner/runner_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="preprocessor">#include &lt;<a class="code" href="event__base_8hpp.html">capabilities2_events/event_base.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="preprocessor">#include &lt;capabilities2_msgs/msg/capability_connection.hpp&gt;</span></div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>{</div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
-<div class="foldopen" id="foldopen00031" data-start="{" data-end="};">
-<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html">   31</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__server_1_1RunnerCache.html">RunnerCache</a></div>
-<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span>{</div>
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00034" data-start="{" data-end="}">
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a54ca36d2ea36c95783ed042c1ab31b7f">   34</a></span>  <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a54ca36d2ea36c95783ed042c1ab31b7f">RunnerCache</a>() : <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a>(<span class="stringliteral">&quot;capabilities2_runner&quot;</span>, <span class="stringliteral">&quot;capabilities2_runner::RunnerBase&quot;</span>)</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  {</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>  }</div>
-</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
-<div class="foldopen" id="foldopen00045" data-start="{" data-end="}">
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">   45</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">add_runner</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> std::string&amp; capability,</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>                  <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html">models::run_config_model_t</a>&amp; run_config)</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  {</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    <span class="comment">// if the runner exists then throw an error preserving uniqueness</span></div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>    {</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability is running already: &quot;</span> + capability);</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>    }</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="comment">// check if run config is valid</span></div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordflow">if</span> (!run_config.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a7ce34838226d280eba1e9498acf20475">is_valid</a>())</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    {</div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;run config is not valid: &quot;</span> + YAML::Dump(run_config.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ab602bc027d2c75ddc51fdf190cd42442">to_yaml</a>()));</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>    }</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span> </div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="comment">// create the runner, add the runner to map, and if the spec runner contains a path to a launch file then use the</span></div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="comment">// launch file runner</span></div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="keywordflow">if</span> (run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>.find(<span class="stringliteral">&quot;.launch&quot;</span>) != std::string::npos || run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>.find(<span class="stringliteral">&quot;/&quot;</span>) != std::string::npos ||</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>.find(<span class="stringliteral">&quot;.py&quot;</span>) != std::string::npos)</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>    {</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability] = <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a>.createSharedInstance(<span class="stringliteral">&quot;capabilities2_runner::LaunchRunner&quot;</span>);</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    }</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span>    {</div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability] = <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a>.createSharedInstance(run_config.<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#a49ff00fef777b60efedd894d773d9153">runner</a>);</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>    }</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="comment">// start the runner</span></div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;start(node, run_config.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1run__config__model__t.html#ad04c7331d5e39eecfff7cd104c0ad923">to_runner_opts</a>(), <span class="stringliteral">&quot;&quot;</span>);</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>  }</div>
-</div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
-<div class="foldopen" id="foldopen00086" data-start="{" data-end="}">
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">   86</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">trigger_runner</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; instance_id,</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>                      <a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters)</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>  {</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// TODO: validate trigger id (DEPRECATED?)</span></div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="comment">// is the runner in the cache</span></div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="keywordflow">if</span> (<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    {</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;trigger(parameters, bond_id, instance_id);</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span>    }</div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    {</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    }</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>  }</div>
-</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span> </div>
-<div class="foldopen" id="foldopen00111" data-start="{" data-end="}">
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">  111</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">add_connection</a>(<span class="keyword">const</span> std::string&amp; capability, <span class="keyword">const</span> std::string&amp; connection_id,</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>                      <span class="keyword">const</span> capabilities2_msgs::msg::CapabilityConnection&amp; connection,</div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>                      std::shared_ptr&lt;capabilities2_events::EventBase&gt; event_emitter = <span class="keyword">nullptr</span>)</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>  {</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="comment">// find the runner in the cache and if not found then throw an error</span></div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    {</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    }</div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span> </div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>    <span class="comment">// pass the event api to the runner</span></div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <span class="comment">// for emitting events on state changes</span></div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;enable_events(event_emitter);</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span> </div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>    {</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>      <span class="comment">// add connection to the runner</span></div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>      <span class="comment">// callback signature: (capability, parameters, bond_id, instance_id)</span></div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;add_connection(connection_id, connection.type, connection.target,</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>                                                std::bind(&amp;<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">capabilities2_server::RunnerCache::trigger_runner</a>, <span class="keyword">this</span>,</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>                                                          std::placeholders::_1, std::placeholders::_2,</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>                                                          std::placeholders::_3, std::placeholders::_4));</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    }</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__events_1_1event__exception.html">capabilities2_events::event_exception</a>&amp; e)</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span>    {</div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(e.<a class="code hl_function" href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">what</a>());</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>    }</div>
-<div class="line"><a id="l00138" name="l00138"></a><span class="lineno">  138</span>  }</div>
-</div>
-<div class="line"><a id="l00139" name="l00139"></a><span class="lineno">  139</span> </div>
-<div class="foldopen" id="foldopen00148" data-start="{" data-end="}">
-<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">  148</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">remove_runner</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00149" name="l00149"></a><span class="lineno">  149</span>  {</div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno">  150</span>    <span class="comment">// find the runner in the cache and if not found then throw an error</span></div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span>    {</div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
-<div class="line"><a id="l00154" name="l00154"></a><span class="lineno">  154</span>    }</div>
-<div class="line"><a id="l00155" name="l00155"></a><span class="lineno">  155</span> </div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>    <span class="comment">// safely stop the runner</span></div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>    <span class="keywordflow">try</span></div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>    {</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno">  159</span>      <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;stop(<span class="stringliteral">&quot;&quot;</span>);</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>    }</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>    <span class="keywordflow">catch</span> (<span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>&amp; e)</div>
-<div class="line"><a id="l00162" name="l00162"></a><span class="lineno">  162</span>    {</div>
-<div class="line"><a id="l00163" name="l00163"></a><span class="lineno">  163</span>      <span class="comment">// pass</span></div>
-<div class="line"><a id="l00164" name="l00164"></a><span class="lineno">  164</span>      <span class="comment">// RCLCPP_ERROR(node_logging_interface_ptr_-&gt;get_logger(), &quot;%s&quot;, e.what());</span></div>
-<div class="line"><a id="l00165" name="l00165"></a><span class="lineno">  165</span>    }</div>
-<div class="line"><a id="l00166" name="l00166"></a><span class="lineno">  166</span> </div>
-<div class="line"><a id="l00167" name="l00167"></a><span class="lineno">  167</span>    <span class="comment">// reset the runner pointer</span></div>
-<div class="line"><a id="l00168" name="l00168"></a><span class="lineno">  168</span>    <span class="comment">// runner_cache_[capability].reset();</span></div>
-<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
-<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span>    <span class="comment">// remove the runner from map</span></div>
-<div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>    <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>.erase(capability);</div>
-<div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>  }</div>
-</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span> </div>
-<div class="foldopen" id="foldopen00179" data-start="{" data-end="}">
-<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">  179</a></span>  <span class="keyword">const</span> std::vector&lt;std::string&gt; <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">get_running_capabilities</a>()</div>
-<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>  {</div>
-<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span>    std::vector&lt;std::string&gt; runners;</div>
-<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; runner : <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>)</div>
-<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span>    {</div>
-<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>      runners.push_back(runner.first);</div>
-<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>    }</div>
-<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>    <span class="keywordflow">return</span> runners;</div>
-<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>  }</div>
-</div>
-<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span> </div>
-<div class="foldopen" id="foldopen00195" data-start="{" data-end="}">
-<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">  195</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">provider</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>  {</div>
-<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
-<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
-<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span> </div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;get_provider();</div>
-<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>  }</div>
-</div>
-<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span> </div>
-<div class="foldopen" id="foldopen00209" data-start="{" data-end="}">
-<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">  209</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">started_by</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>  {</div>
-<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
-<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
-<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span> </div>
-<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;get_started_by();</div>
-<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>  }</div>
-</div>
-<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span> </div>
-<div class="foldopen" id="foldopen00223" data-start="{" data-end="}">
-<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">  223</a></span>  <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">pid</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00224" name="l00224"></a><span class="lineno">  224</span>  {</div>
-<div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>    <span class="keywordflow">if</span> (!<a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(capability))</div>
-<div class="line"><a id="l00226" name="l00226"></a><span class="lineno">  226</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">capabilities2_runner::runner_exception</a>(<span class="stringliteral">&quot;capability runner not found: &quot;</span> + capability);</div>
-<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span> </div>
-<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>[capability]-&gt;get_pid();</div>
-<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>  }</div>
-</div>
-<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span> </div>
-<div class="foldopen" id="foldopen00238" data-start="{" data-end="}">
-<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">  238</a></span>  <span class="keywordtype">bool</span> <a class="code hl_function" href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">running</a>(<span class="keyword">const</span> std::string&amp; capability)</div>
-<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span>  {</div>
-<div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span>    <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>.find(capability) != <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>.end();</div>
-<div class="line"><a id="l00241" name="l00241"></a><span class="lineno">  241</span>  }</div>
-</div>
-<div class="line"><a id="l00242" name="l00242"></a><span class="lineno">  242</span> </div>
-<div class="line"><a id="l00243" name="l00243"></a><span class="lineno">  243</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00244" name="l00244"></a><span class="lineno">  244</span>  <span class="comment">// map capability to running model</span></div>
-<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>  <span class="comment">// capability / provider specs -&gt; runner</span></div>
-<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">  246</a></span>  std::map&lt;std::string, std::shared_ptr&lt;capabilities2_runner::RunnerBase&gt;&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">runner_cache_</a>;</div>
-<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span> </div>
-<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span>  <span class="comment">// runner plugin loader</span></div>
-<div class="line"><a id="l00249" name="l00249"></a><span class="lineno"><a class="line" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">  249</a></span>  pluginlib::ClassLoader&lt;capabilities2_runner::RunnerBase&gt; <a class="code hl_variable" href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">runner_loader_</a>;</div>
-<div class="line"><a id="l00250" name="l00250"></a><span class="lineno">  250</span>};</div>
-</div>
-<div class="line"><a id="l00251" name="l00251"></a><span class="lineno">  251</span> </div>
-<div class="line"><a id="l00252" name="l00252"></a><span class="lineno">  252</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html">capabilities2_server::RunnerCache</a></div><div class="ttdoc">runner cache class responsible for caching the currently active runners of capabilities this cache de...</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:32</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a20513c9b45a313ab7bdc6f2d15f490c8"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a20513c9b45a313ab7bdc6f2d15f490c8">capabilities2_server::RunnerCache::provider</a></div><div class="ttdeci">const std::string provider(const std::string &amp;capability)</div><div class="ttdoc">Get provider of capability.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:195</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a245acdb1f0c4b4b81f1ed46906b446cb"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a245acdb1f0c4b4b81f1ed46906b446cb">capabilities2_server::RunnerCache::get_running_capabilities</a></div><div class="ttdeci">const std::vector&lt; std::string &gt; get_running_capabilities()</div><div class="ttdoc">Get a list of active runners in the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:179</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a278cd90fadd01341151fb48b8c93745e"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a278cd90fadd01341151fb48b8c93745e">capabilities2_server::RunnerCache::running</a></div><div class="ttdeci">bool running(const std::string &amp;capability)</div><div class="ttdoc">Check if a capability has a runner.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:238</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a38cd41426d0a9dbe36d3842e5ef0310c"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a38cd41426d0a9dbe36d3842e5ef0310c">capabilities2_server::RunnerCache::remove_runner</a></div><div class="ttdeci">void remove_runner(const std::string &amp;capability)</div><div class="ttdoc">Remove a given runner.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:148</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a4a485c20947d8e4808556630b593d6b4"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a4a485c20947d8e4808556630b593d6b4">capabilities2_server::RunnerCache::runner_loader_</a></div><div class="ttdeci">pluginlib::ClassLoader&lt; capabilities2_runner::RunnerBase &gt; runner_loader_</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:249</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a54ca36d2ea36c95783ed042c1ab31b7f"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a54ca36d2ea36c95783ed042c1ab31b7f">capabilities2_server::RunnerCache::RunnerCache</a></div><div class="ttdeci">RunnerCache()</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:34</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_a64a32e4605c82f06baf0902bd0bab746"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#a64a32e4605c82f06baf0902bd0bab746">capabilities2_server::RunnerCache::pid</a></div><div class="ttdeci">const std::string pid(const std::string &amp;capability)</div><div class="ttdoc">get pid of capability</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:223</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aa3c38f7a92d055d73e3acb2422094f9a"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aa3c38f7a92d055d73e3acb2422094f9a">capabilities2_server::RunnerCache::trigger_runner</a></div><div class="ttdeci">void trigger_runner(const std::string &amp;bond_id, const std::string &amp;capability, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters)</div><div class="ttdoc">Trigger a runner in the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:86</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aba905c19f2ffec5e72028d8a246a3edf"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aba905c19f2ffec5e72028d8a246a3edf">capabilities2_server::RunnerCache::add_connection</a></div><div class="ttdeci">void add_connection(const std::string &amp;capability, const std::string &amp;connection_id, const capabilities2_msgs::msg::CapabilityConnection &amp;connection, std::shared_ptr&lt; capabilities2_events::EventBase &gt; event_emitter=nullptr)</div><div class="ttdoc">Add state change connection between runners via an event.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:111</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_ad07093aa785e7f24ef4e1648e46c7c0f"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#ad07093aa785e7f24ef4e1648e46c7c0f">capabilities2_server::RunnerCache::started_by</a></div><div class="ttdeci">const std::string started_by(const std::string &amp;capability)</div><div class="ttdoc">get started_by of capability</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:209</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_ae72647019b3b65e02ee663652b208b32"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#ae72647019b3b65e02ee663652b208b32">capabilities2_server::RunnerCache::runner_cache_</a></div><div class="ttdeci">std::map&lt; std::string, std::shared_ptr&lt; capabilities2_runner::RunnerBase &gt; &gt; runner_cache_</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:246</div></div>
-<div class="ttc" id="aclasscapabilities2__server_1_1RunnerCache_html_aefd112af41b8ef36ccdce3cfebb5dd25"><div class="ttname"><a href="classcapabilities2__server_1_1RunnerCache.html#aefd112af41b8ef36ccdce3cfebb5dd25">capabilities2_server::RunnerCache::add_runner</a></div><div class="ttdeci">void add_runner(rclcpp::Node::SharedPtr node, const std::string &amp;capability, const models::run_config_model_t &amp;run_config)</div><div class="ttdoc">Add a runner to the cache.</div><div class="ttdef"><b>Definition</b> runner_cache.hpp:45</div></div>
-<div class="ttc" id="aevent__base_8hpp_html"><div class="ttname"><a href="event__base_8hpp.html">event_base.hpp</a></div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="arun__config_8hpp_html"><div class="ttname"><a href="run__config_8hpp.html">run_config.hpp</a></div></div>
-<div class="ttc" id="arunner__base_8hpp_html"><div class="ttname"><a href="runner__base_8hpp.html">runner_base.hpp</a></div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html">capabilities2_events::event_exception</a></div><div class="ttdoc">event exception</div><div class="ttdef"><b>Definition</b> event_base.hpp:22</div></div>
-<div class="ttc" id="astructcapabilities2__events_1_1event__exception_html_a44b87bc6a5964f8f3eeadf062df8fbe3"><div class="ttname"><a href="structcapabilities2__events_1_1event__exception.html#a44b87bc6a5964f8f3eeadf062df8fbe3">capabilities2_events::event_exception::what</a></div><div class="ttdeci">virtual const char * what() const noexcept override</div><div class="ttdef"><b>Definition</b> event_base.hpp:29</div></div>
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-<a href="running_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-  ['plugin_20api_2',['capabilities2_runner plugin API',['../md_capabilities2__runner_2readme.html',1,'']]],
-  ['plugins_3',['Creating Runner Plugins',['../md_capabilities2__runner_2docs_2create__runners.html',1,'']]],
-  ['providers_4',['Providers',['../md_docs_2providers.html',1,'']]],
-  ['pull_20request_20template_5',['Pull Request Template',['../md_pull__request__template.html',1,'']]]
-];
diff --git a/docs/html/search/pages_a.js b/docs/html/search/pages_a.js
deleted file mode 100644
index 4b0a792..0000000
--- a/docs/html/search/pages_a.js
+++ /dev/null
@@ -1,7 +0,0 @@
-var searchData=
-[
-  ['registering_20a_20capability_0',['Registering a capability',['../md_capabilities2__server_2docs_2register.html',1,'']]],
-  ['request_20template_1',['Pull Request Template',['../md_pull__request__template.html',1,'']]],
-  ['run_20test_20scripts_2',['Run test scripts',['../md_docs_2run__test__scripts.html',1,'']]],
-  ['runner_20plugins_3',['Creating Runner Plugins',['../md_capabilities2__runner_2docs_2create__runners.html',1,'']]]
-];
diff --git a/docs/html/search/pages_b.js b/docs/html/search/pages_b.js
deleted file mode 100644
index f04ee7a..0000000
--- a/docs/html/search/pages_b.js
+++ /dev/null
@@ -1,7 +0,0 @@
-var searchData=
-[
-  ['scripts_0',['Run test scripts',['../md_docs_2run__test__scripts.html',1,'']]],
-  ['securing_20capabilities_1',['Securing Capabilities',['../md_docs_2securing__capabilities.html',1,'']]],
-  ['semantic_20interfaces_2',['Semantic Interfaces',['../md_docs_2semantic__interfaces.html',1,'']]],
-  ['server_3',['Capabilities2 Server',['../md_capabilities2__server_2readme.html',1,'']]]
-];
diff --git a/docs/html/search/pages_c.js b/docs/html/search/pages_c.js
deleted file mode 100644
index 5ef68e8..0000000
--- a/docs/html/search/pages_c.js
+++ /dev/null
@@ -1,8 +0,0 @@
-var searchData=
-[
-  ['template_0',['Pull Request Template',['../md_pull__request__template.html',1,'']]],
-  ['terminal_20based_20capability_20usage_1',['Terminal based capability usage',['../md_capabilities2__server_2docs_2terminal__usage.html',1,'']]],
-  ['test_20scripts_2',['Run test scripts',['../md_docs_2run__test__scripts.html',1,'']]],
-  ['todo_20list_3',['TODO list',['../md_TODO.html',1,'']]],
-  ['tutorial_4',['Basic Tutorial',['../md_docs_2basic__tutorial.html',1,'']]]
-];
diff --git a/docs/html/search/pages_d.js b/docs/html/search/pages_d.js
deleted file mode 100644
index 528fcca..0000000
--- a/docs/html/search/pages_d.js
+++ /dev/null
@@ -1,5 +0,0 @@
-var searchData=
-[
-  ['usage_0',['Terminal based capability usage',['../md_capabilities2__server_2docs_2terminal__usage.html',1,'']]],
-  ['using_20capabilities_20package_20development_20and_20deployment_1',['using capabilities package development and deployment',['../md_docs_2setup.html',1,'Using Capabilities package (Development and Deployment)'],['../md_docs_2setup__with__dev.html',1,'Using Capabilities package (Development and Deployment)']]]
-];
diff --git a/docs/html/search/search.css b/docs/html/search/search.css
deleted file mode 100644
index 19f76f9..0000000
--- a/docs/html/search/search.css
+++ /dev/null
@@ -1,291 +0,0 @@
-/*---------------- Search Box positioning */
-
-#main-menu > li:last-child {
-    /* This <li> object is the parent of the search bar */
-    display: flex;
-    justify-content: center;
-    align-items: center;
-    height: 36px;
-    margin-right: 1em;
-}
-
-/*---------------- Search box styling */
-
-.SRPage * {
-    font-weight: normal;
-    line-height: normal;
-}
-
-dark-mode-toggle {
-    margin-left: 5px;
-    display: flex;
-    float: right;
-}
-
-#MSearchBox {
-    display: inline-block;
-    white-space : nowrap;
-    background: var(--search-background-color);
-    border-radius: 0.65em;
-    box-shadow: var(--search-box-shadow);
-    z-index: 102;
-}
-
-#MSearchBox .left {
-    display: inline-block;
-    vertical-align: middle;
-    height: 1.4em;
-}
-
-#MSearchSelect {
-    display: inline-block;
-    vertical-align: middle;
-    width: 20px;
-    height: 19px;
-    background-image: var(--search-magnification-select-image);
-    margin: 0 0 0 0.3em;
-    padding: 0;
-}
-
-#MSearchSelectExt {
-    display: inline-block;
-    vertical-align: middle;
-    width: 10px;
-    height: 19px;
-    background-image: var(--search-magnification-image);
-    margin: 0 0 0 0.5em;
-    padding: 0;
-}
-
-
-#MSearchField {
-    display: inline-block;
-    vertical-align: middle;
-    width: 7.5em;
-    height: 19px;
-    margin: 0 0.15em;
-    padding: 0;
-    line-height: 1em;
-    border:none;
-    color: var(--search-foreground-color);
-    outline: none;
-    font-family: var(--font-family-search);
-    -webkit-border-radius: 0px;
-    border-radius: 0px;
-    background: none;
-}
-
-@media(hover: none) {
-    /* to avoid zooming on iOS */
-    #MSearchField {
-        font-size: 16px;
-    }
-}
-
-#MSearchBox .right {
-    display: inline-block;
-    vertical-align: middle;
-    width: 1.4em;
-    height: 1.4em;
-}
-
-#MSearchClose {
-    display: none;
-    font-size: inherit;
-    background : none;
-    border: none;
-    margin: 0;
-    padding: 0;
-    outline: none;
-
-}
-
-#MSearchCloseImg {
-    padding: 0.3em;
-    margin: 0;
-}
-
-.MSearchBoxActive #MSearchField {
-    color: var(--search-active-color);
-}
-
-
-
-/*---------------- Search filter selection */
-
-#MSearchSelectWindow {
-    display: none;
-    position: absolute;
-    left: 0; top: 0;
-    border: 1px solid var(--search-filter-border-color);
-    background-color: var(--search-filter-background-color);
-    z-index: 10001;
-    padding-top: 4px;
-    padding-bottom: 4px;
-    -moz-border-radius: 4px;
-    -webkit-border-top-left-radius: 4px;
-    -webkit-border-top-right-radius: 4px;
-    -webkit-border-bottom-left-radius: 4px;
-    -webkit-border-bottom-right-radius: 4px;
-    -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
-}
-
-.SelectItem {
-    font: 8pt var(--font-family-search);
-    padding-left:  2px;
-    padding-right: 12px;
-    border: 0px;
-}
-
-span.SelectionMark {
-    margin-right: 4px;
-    font-family: var(--font-family-monospace);
-    outline-style: none;
-    text-decoration: none;
-}
-
-a.SelectItem {
-    display: block;
-    outline-style: none;
-    color: var(--search-filter-foreground-color);
-    text-decoration: none;
-    padding-left:   6px;
-    padding-right: 12px;
-}
-
-a.SelectItem:focus,
-a.SelectItem:active {
-    color: var(--search-filter-foreground-color);
-    outline-style: none;
-    text-decoration: none;
-}
-
-a.SelectItem:hover {
-    color: var(--search-filter-highlight-text-color);
-    background-color: var(--search-filter-highlight-bg-color);
-    outline-style: none;
-    text-decoration: none;
-    cursor: pointer;
-    display: block;
-}
-
-/*---------------- Search results window */
-
-iframe#MSearchResults {
-    /*width: 60ex;*/
-    height: 15em;
-}
-
-#MSearchResultsWindow {
-    display: none;
-    position: absolute;
-    left: 0; top: 0;
-    border: 1px solid var(--search-results-border-color);
-    background-color: var(--search-results-background-color);
-    z-index:10000;
-    width: 300px;
-    height: 400px;
-    overflow: auto;
-}
-
-/* ----------------------------------- */
-
-
-#SRIndex {
-    clear:both; 
-}
-
-.SREntry {
-    font-size: 10pt;
-    padding-left: 1ex;
-}
-
-.SRPage .SREntry {
-    font-size: 8pt;
-    padding: 1px 5px;
-}
-
-div.SRPage {
-    margin: 5px 2px;
-    background-color: var(--search-results-background-color);
-}
-
-.SRChildren {
-    padding-left: 3ex; padding-bottom: .5em 
-}
-
-.SRPage .SRChildren {
-    display: none;
-}
-
-.SRSymbol {
-    font-weight: bold;
-    color: var(--search-results-foreground-color);
-    font-family: var(--font-family-search);
-    text-decoration: none;
-    outline: none;
-}
-
-a.SRScope {
-    display: block;
-    color: var(--search-results-foreground-color);
-    font-family: var(--font-family-search);
-    font-size: 8pt;
-    text-decoration: none;
-    outline: none;
-}
-
-a.SRSymbol:focus, a.SRSymbol:active,
-a.SRScope:focus, a.SRScope:active {
-    text-decoration: underline;
-}
-
-span.SRScope {
-    padding-left: 4px;
-    font-family: var(--font-family-search);
-}
-
-.SRPage .SRStatus {
-    padding: 2px 5px;
-    font-size: 8pt;
-    font-style: italic;
-    font-family: var(--font-family-search);
-}
-
-.SRResult {
-    display: none;
-}
-
-div.searchresults {
-    margin-left: 10px;
-    margin-right: 10px;
-}
-
-/*---------------- External search page results */
-
-.pages b {
-   color: white;
-   padding: 5px 5px 3px 5px;
-   background-image: var(--nav-gradient-active-image-parent);
-   background-repeat: repeat-x;
-   text-shadow: 0 1px 1px #000000;
-}
-
-.pages {
-    line-height: 17px;
-    margin-left: 4px;
-    text-decoration: none;
-}
-
-.hl {
-    font-weight: bold;
-}
-
-#searchresults {
-    margin-bottom: 20px;
-}
-
-.searchpages {
-    margin-top: 10px;
-}
-
diff --git a/docs/html/search/search.js b/docs/html/search/search.js
deleted file mode 100644
index 6fd40c6..0000000
--- a/docs/html/search/search.js
+++ /dev/null
@@ -1,840 +0,0 @@
-/*
- @licstart  The following is the entire license notice for the JavaScript code in this file.
-
- The MIT License (MIT)
-
- Copyright (C) 1997-2020 by Dimitri van Heesch
-
- Permission is hereby granted, free of charge, to any person obtaining a copy of this software
- and associated documentation files (the "Software"), to deal in the Software without restriction,
- including without limitation the rights to use, copy, modify, merge, publish, distribute,
- sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
- furnished to do so, subject to the following conditions:
-
- The above copyright notice and this permission notice shall be included in all copies or
- substantial portions of the Software.
-
- THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
- BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
- NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
- DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
- @licend  The above is the entire license notice for the JavaScript code in this file
- */
-function convertToId(search)
-{
-  var result = '';
-  for (i=0;i<search.length;i++)
-  {
-    var c = search.charAt(i);
-    var cn = c.charCodeAt(0);
-    if (c.match(/[a-z0-9\u0080-\uFFFF]/))
-    {
-      result+=c;
-    }
-    else if (cn<16)
-    {
-      result+="_0"+cn.toString(16);
-    }
-    else
-    {
-      result+="_"+cn.toString(16);
-    }
-  }
-  return result;
-}
-
-function getXPos(item)
-{
-  var x = 0;
-  if (item.offsetWidth)
-  {
-    while (item && item!=document.body)
-    {
-      x   += item.offsetLeft;
-      item = item.offsetParent;
-    }
-  }
-  return x;
-}
-
-function getYPos(item)
-{
-  var y = 0;
-  if (item.offsetWidth)
-  {
-     while (item && item!=document.body)
-     {
-       y   += item.offsetTop;
-       item = item.offsetParent;
-     }
-  }
-  return y;
-}
-
-var searchResults = new SearchResults("searchResults");
-
-/* A class handling everything associated with the search panel.
-
-   Parameters:
-   name - The name of the global variable that will be
-          storing this instance.  Is needed to be able to set timeouts.
-   resultPath - path to use for external files
-*/
-function SearchBox(name, resultsPath, extension)
-{
-  if (!name || !resultsPath) {  alert("Missing parameters to SearchBox."); }
-  if (!extension || extension == "") { extension = ".html"; }
-
-  // ---------- Instance variables
-  this.name                  = name;
-  this.resultsPath           = resultsPath;
-  this.keyTimeout            = 0;
-  this.keyTimeoutLength      = 500;
-  this.closeSelectionTimeout = 300;
-  this.lastSearchValue       = "";
-  this.lastResultsPage       = "";
-  this.hideTimeout           = 0;
-  this.searchIndex           = 0;
-  this.searchActive          = false;
-  this.extension             = extension;
-
-  // ----------- DOM Elements
-
-  this.DOMSearchField = function()
-  {  return document.getElementById("MSearchField");  }
-
-  this.DOMSearchSelect = function()
-  {  return document.getElementById("MSearchSelect");  }
-
-  this.DOMSearchSelectWindow = function()
-  {  return document.getElementById("MSearchSelectWindow");  }
-
-  this.DOMPopupSearchResults = function()
-  {  return document.getElementById("MSearchResults");  }
-
-  this.DOMPopupSearchResultsWindow = function()
-  {  return document.getElementById("MSearchResultsWindow");  }
-
-  this.DOMSearchClose = function()
-  {  return document.getElementById("MSearchClose"); }
-
-  this.DOMSearchBox = function()
-  {  return document.getElementById("MSearchBox");  }
-
-  // ------------ Event Handlers
-
-  // Called when focus is added or removed from the search field.
-  this.OnSearchFieldFocus = function(isActive)
-  {
-    this.Activate(isActive);
-  }
-
-  this.OnSearchSelectShow = function()
-  {
-    var searchSelectWindow = this.DOMSearchSelectWindow();
-    var searchField        = this.DOMSearchSelect();
-
-    var left = getXPos(searchField);
-    var top  = getYPos(searchField);
-    top += searchField.offsetHeight;
-
-    // show search selection popup
-    searchSelectWindow.style.display='block';
-    searchSelectWindow.style.left =  left + 'px';
-    searchSelectWindow.style.top  =  top  + 'px';
-
-    // stop selection hide timer
-    if (this.hideTimeout)
-    {
-      clearTimeout(this.hideTimeout);
-      this.hideTimeout=0;
-    }
-    return false; // to avoid "image drag" default event
-  }
-
-  this.OnSearchSelectHide = function()
-  {
-    this.hideTimeout = setTimeout(this.CloseSelectionWindow.bind(this),
-                                  this.closeSelectionTimeout);
-  }
-
-  // Called when the content of the search field is changed.
-  this.OnSearchFieldChange = function(evt)
-  {
-    if (this.keyTimeout) // kill running timer
-    {
-      clearTimeout(this.keyTimeout);
-      this.keyTimeout = 0;
-    }
-
-    var e  = (evt) ? evt : window.event; // for IE
-    if (e.keyCode==40 || e.keyCode==13)
-    {
-      if (e.shiftKey==1)
-      {
-        this.OnSearchSelectShow();
-        var win=this.DOMSearchSelectWindow();
-        for (i=0;i<win.childNodes.length;i++)
-        {
-          var child = win.childNodes[i]; // get span within a
-          if (child.className=='SelectItem')
-          {
-            child.focus();
-            return;
-          }
-        }
-        return;
-      }
-      else
-      {
-        var elem = searchResults.NavNext(0);
-        if (elem) elem.focus();
-      }
-    }
-    else if (e.keyCode==27) // Escape out of the search field
-    {
-      e.stopPropagation();
-      this.DOMSearchField().blur();
-      this.DOMPopupSearchResultsWindow().style.display = 'none';
-      this.DOMSearchClose().style.display = 'none';
-      this.lastSearchValue = '';
-      this.Activate(false);
-      return;
-    }
-
-    // strip whitespaces
-    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
-
-    if (searchValue != this.lastSearchValue) // search value has changed
-    {
-      if (searchValue != "") // non-empty search
-      {
-        // set timer for search update
-        this.keyTimeout = setTimeout(this.Search.bind(this),
-                                     this.keyTimeoutLength);
-      }
-      else // empty search field
-      {
-        this.DOMPopupSearchResultsWindow().style.display = 'none';
-        this.DOMSearchClose().style.display = 'none';
-        this.lastSearchValue = '';
-      }
-    }
-  }
-
-  this.SelectItemCount = function(id)
-  {
-    var count=0;
-    var win=this.DOMSearchSelectWindow();
-    for (i=0;i<win.childNodes.length;i++)
-    {
-      var child = win.childNodes[i]; // get span within a
-      if (child.className=='SelectItem')
-      {
-        count++;
-      }
-    }
-    return count;
-  }
-
-  this.SelectItemSet = function(id)
-  {
-    var i,j=0;
-    var win=this.DOMSearchSelectWindow();
-    for (i=0;i<win.childNodes.length;i++)
-    {
-      var child = win.childNodes[i]; // get span within a
-      if (child.className=='SelectItem')
-      {
-        var node = child.firstChild;
-        if (j==id)
-        {
-          node.innerHTML='&#8226;';
-        }
-        else
-        {
-          node.innerHTML='&#160;';
-        }
-        j++;
-      }
-    }
-  }
-
-  // Called when an search filter selection is made.
-  // set item with index id as the active item
-  this.OnSelectItem = function(id)
-  {
-    this.searchIndex = id;
-    this.SelectItemSet(id);
-    var searchValue = this.DOMSearchField().value.replace(/ +/g, "");
-    if (searchValue!="" && this.searchActive) // something was found -> do a search
-    {
-      this.Search();
-    }
-  }
-
-  this.OnSearchSelectKey = function(evt)
-  {
-    var e = (evt) ? evt : window.event; // for IE
-    if (e.keyCode==40 && this.searchIndex<this.SelectItemCount()) // Down
-    {
-      this.searchIndex++;
-      this.OnSelectItem(this.searchIndex);
-    }
-    else if (e.keyCode==38 && this.searchIndex>0) // Up
-    {
-      this.searchIndex--;
-      this.OnSelectItem(this.searchIndex);
-    }
-    else if (e.keyCode==13 || e.keyCode==27)
-    {
-      e.stopPropagation();
-      this.OnSelectItem(this.searchIndex);
-      this.CloseSelectionWindow();
-      this.DOMSearchField().focus();
-    }
-    return false;
-  }
-
-  // --------- Actions
-
-  // Closes the results window.
-  this.CloseResultsWindow = function()
-  {
-    this.DOMPopupSearchResultsWindow().style.display = 'none';
-    this.DOMSearchClose().style.display = 'none';
-    this.Activate(false);
-  }
-
-  this.CloseSelectionWindow = function()
-  {
-    this.DOMSearchSelectWindow().style.display = 'none';
-  }
-
-  // Performs a search.
-  this.Search = function()
-  {
-    this.keyTimeout = 0;
-
-    // strip leading whitespace
-    var searchValue = this.DOMSearchField().value.replace(/^ +/, "");
-
-    var code = searchValue.toLowerCase().charCodeAt(0);
-    var idxChar = searchValue.substr(0, 1).toLowerCase();
-    if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair
-    {
-      idxChar = searchValue.substr(0, 2);
-    }
-
-    var jsFile;
-
-    var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar);
-    if (idx!=-1)
-    {
-       var hexCode=idx.toString(16);
-       jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js';
-    }
-
-    var loadJS = function(url, impl, loc){
-      var scriptTag = document.createElement('script');
-      scriptTag.src = url;
-      scriptTag.onload = impl;
-      scriptTag.onreadystatechange = impl;
-      loc.appendChild(scriptTag);
-    }
-
-    var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow();
-    var domSearchBox = this.DOMSearchBox();
-    var domPopupSearchResults = this.DOMPopupSearchResults();
-    var domSearchClose = this.DOMSearchClose();
-    var resultsPath = this.resultsPath;
-
-    var handleResults = function() {
-      document.getElementById("Loading").style.display="none";
-      if (typeof searchData !== 'undefined') {
-        createResults(resultsPath);
-        document.getElementById("NoMatches").style.display="none";
-      }
- 
-      if (idx!=-1) {
-        searchResults.Search(searchValue);
-      } else { // no file with search results => force empty search results
-        searchResults.Search('====');
-      }
-
-      if (domPopupSearchResultsWindow.style.display!='block')
-      {
-        domSearchClose.style.display = 'inline-block';
-        var left = getXPos(domSearchBox) + 150;
-        var top  = getYPos(domSearchBox) + 20;
-        domPopupSearchResultsWindow.style.display = 'block';
-        left -= domPopupSearchResults.offsetWidth;
-        var maxWidth  = document.body.clientWidth;
-        var maxHeight = document.body.clientHeight;
-        var width = 300;
-        if (left<10) left=10;
-        if (width+left+8>maxWidth) width=maxWidth-left-8;
-        var height = 400;
-        if (height+top+8>maxHeight) height=maxHeight-top-8;
-        domPopupSearchResultsWindow.style.top     = top  + 'px';
-        domPopupSearchResultsWindow.style.left    = left + 'px';
-        domPopupSearchResultsWindow.style.width   = width + 'px';
-        domPopupSearchResultsWindow.style.height  = height + 'px';
-      }
-    }
-
-    if (jsFile) {
-      loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow());
-    } else {
-      handleResults();
-    }
-
-    this.lastSearchValue = searchValue;
-  }
-
-  // -------- Activation Functions
-
-  // Activates or deactivates the search panel, resetting things to
-  // their default values if necessary.
-  this.Activate = function(isActive)
-  {
-    if (isActive || // open it
-        this.DOMPopupSearchResultsWindow().style.display == 'block'
-       )
-    {
-      this.DOMSearchBox().className = 'MSearchBoxActive';
-      this.searchActive = true;
-    }
-    else if (!isActive) // directly remove the panel
-    {
-      this.DOMSearchBox().className = 'MSearchBoxInactive';
-      this.searchActive             = false;
-      this.lastSearchValue          = ''
-      this.lastResultsPage          = '';
-      this.DOMSearchField().value   = '';
-    }
-  }
-}
-
-// -----------------------------------------------------------------------
-
-// The class that handles everything on the search results page.
-function SearchResults(name)
-{
-    // The number of matches from the last run of <Search()>.
-    this.lastMatchCount = 0;
-    this.lastKey = 0;
-    this.repeatOn = false;
-
-    // Toggles the visibility of the passed element ID.
-    this.FindChildElement = function(id)
-    {
-      var parentElement = document.getElementById(id);
-      var element = parentElement.firstChild;
-
-      while (element && element!=parentElement)
-      {
-        if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren')
-        {
-          return element;
-        }
-
-        if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes())
-        {
-           element = element.firstChild;
-        }
-        else if (element.nextSibling)
-        {
-           element = element.nextSibling;
-        }
-        else
-        {
-          do
-          {
-            element = element.parentNode;
-          }
-          while (element && element!=parentElement && !element.nextSibling);
-
-          if (element && element!=parentElement)
-          {
-            element = element.nextSibling;
-          }
-        }
-      }
-    }
-
-    this.Toggle = function(id)
-    {
-      var element = this.FindChildElement(id);
-      if (element)
-      {
-        if (element.style.display == 'block')
-        {
-          element.style.display = 'none';
-        }
-        else
-        {
-          element.style.display = 'block';
-        }
-      }
-    }
-
-    // Searches for the passed string.  If there is no parameter,
-    // it takes it from the URL query.
-    //
-    // Always returns true, since other documents may try to call it
-    // and that may or may not be possible.
-    this.Search = function(search)
-    {
-      if (!search) // get search word from URL
-      {
-        search = window.location.search;
-        search = search.substring(1);  // Remove the leading '?'
-        search = unescape(search);
-      }
-
-      search = search.replace(/^ +/, ""); // strip leading spaces
-      search = search.replace(/ +$/, ""); // strip trailing spaces
-      search = search.toLowerCase();
-      search = convertToId(search);
-
-      var resultRows = document.getElementsByTagName("div");
-      var matches = 0;
-
-      var i = 0;
-      while (i < resultRows.length)
-      {
-        var row = resultRows.item(i);
-        if (row.className == "SRResult")
-        {
-          var rowMatchName = row.id.toLowerCase();
-          rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_'
-
-          if (search.length<=rowMatchName.length &&
-             rowMatchName.substr(0, search.length)==search)
-          {
-            row.style.display = 'block';
-            matches++;
-          }
-          else
-          {
-            row.style.display = 'none';
-          }
-        }
-        i++;
-      }
-      document.getElementById("Searching").style.display='none';
-      if (matches == 0) // no results
-      {
-        document.getElementById("NoMatches").style.display='block';
-      }
-      else // at least one result
-      {
-        document.getElementById("NoMatches").style.display='none';
-      }
-      this.lastMatchCount = matches;
-      return true;
-    }
-
-    // return the first item with index index or higher that is visible
-    this.NavNext = function(index)
-    {
-      var focusItem;
-      while (1)
-      {
-        var focusName = 'Item'+index;
-        focusItem = document.getElementById(focusName);
-        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
-        {
-          break;
-        }
-        else if (!focusItem) // last element
-        {
-          break;
-        }
-        focusItem=null;
-        index++;
-      }
-      return focusItem;
-    }
-
-    this.NavPrev = function(index)
-    {
-      var focusItem;
-      while (1)
-      {
-        var focusName = 'Item'+index;
-        focusItem = document.getElementById(focusName);
-        if (focusItem && focusItem.parentNode.parentNode.style.display=='block')
-        {
-          break;
-        }
-        else if (!focusItem) // last element
-        {
-          break;
-        }
-        focusItem=null;
-        index--;
-      }
-      return focusItem;
-    }
-
-    this.ProcessKeys = function(e)
-    {
-      if (e.type == "keydown")
-      {
-        this.repeatOn = false;
-        this.lastKey = e.keyCode;
-      }
-      else if (e.type == "keypress")
-      {
-        if (!this.repeatOn)
-        {
-          if (this.lastKey) this.repeatOn = true;
-          return false; // ignore first keypress after keydown
-        }
-      }
-      else if (e.type == "keyup")
-      {
-        this.lastKey = 0;
-        this.repeatOn = false;
-      }
-      return this.lastKey!=0;
-    }
-
-    this.Nav = function(evt,itemIndex)
-    {
-      var e  = (evt) ? evt : window.event; // for IE
-      if (e.keyCode==13) return true;
-      if (!this.ProcessKeys(e)) return false;
-
-      if (this.lastKey==38) // Up
-      {
-        var newIndex = itemIndex-1;
-        var focusItem = this.NavPrev(newIndex);
-        if (focusItem)
-        {
-          var child = this.FindChildElement(focusItem.parentNode.parentNode.id);
-          if (child && child.style.display == 'block') // children visible
-          {
-            var n=0;
-            var tmpElem;
-            while (1) // search for last child
-            {
-              tmpElem = document.getElementById('Item'+newIndex+'_c'+n);
-              if (tmpElem)
-              {
-                focusItem = tmpElem;
-              }
-              else // found it!
-              {
-                break;
-              }
-              n++;
-            }
-          }
-        }
-        if (focusItem)
-        {
-          focusItem.focus();
-        }
-        else // return focus to search field
-        {
-           document.getElementById("MSearchField").focus();
-        }
-      }
-      else if (this.lastKey==40) // Down
-      {
-        var newIndex = itemIndex+1;
-        var focusItem;
-        var item = document.getElementById('Item'+itemIndex);
-        var elem = this.FindChildElement(item.parentNode.parentNode.id);
-        if (elem && elem.style.display == 'block') // children visible
-        {
-          focusItem = document.getElementById('Item'+itemIndex+'_c0');
-        }
-        if (!focusItem) focusItem = this.NavNext(newIndex);
-        if (focusItem)  focusItem.focus();
-      }
-      else if (this.lastKey==39) // Right
-      {
-        var item = document.getElementById('Item'+itemIndex);
-        var elem = this.FindChildElement(item.parentNode.parentNode.id);
-        if (elem) elem.style.display = 'block';
-      }
-      else if (this.lastKey==37) // Left
-      {
-        var item = document.getElementById('Item'+itemIndex);
-        var elem = this.FindChildElement(item.parentNode.parentNode.id);
-        if (elem) elem.style.display = 'none';
-      }
-      else if (this.lastKey==27) // Escape
-      {
-        e.stopPropagation();
-        searchBox.CloseResultsWindow();
-        document.getElementById("MSearchField").focus();
-      }
-      else if (this.lastKey==13) // Enter
-      {
-        return true;
-      }
-      return false;
-    }
-
-    this.NavChild = function(evt,itemIndex,childIndex)
-    {
-      var e  = (evt) ? evt : window.event; // for IE
-      if (e.keyCode==13) return true;
-      if (!this.ProcessKeys(e)) return false;
-
-      if (this.lastKey==38) // Up
-      {
-        if (childIndex>0)
-        {
-          var newIndex = childIndex-1;
-          document.getElementById('Item'+itemIndex+'_c'+newIndex).focus();
-        }
-        else // already at first child, jump to parent
-        {
-          document.getElementById('Item'+itemIndex).focus();
-        }
-      }
-      else if (this.lastKey==40) // Down
-      {
-        var newIndex = childIndex+1;
-        var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex);
-        if (!elem) // last child, jump to parent next parent
-        {
-          elem = this.NavNext(itemIndex+1);
-        }
-        if (elem)
-        {
-          elem.focus();
-        }
-      }
-      else if (this.lastKey==27) // Escape
-      {
-        e.stopPropagation();
-        searchBox.CloseResultsWindow();
-        document.getElementById("MSearchField").focus();
-      }
-      else if (this.lastKey==13) // Enter
-      {
-        return true;
-      }
-      return false;
-    }
-}
-
-function setKeyActions(elem,action)
-{
-  elem.setAttribute('onkeydown',action);
-  elem.setAttribute('onkeypress',action);
-  elem.setAttribute('onkeyup',action);
-}
-
-function setClassAttr(elem,attr)
-{
-  elem.setAttribute('class',attr);
-  elem.setAttribute('className',attr);
-}
-
-function createResults(resultsPath)
-{
-  var results = document.getElementById("SRResults");
-  results.innerHTML = '';
-  for (var e=0; e<searchData.length; e++)
-  {
-    var id = searchData[e][0];
-    var srResult = document.createElement('div');
-    srResult.setAttribute('id','SR_'+id);
-    setClassAttr(srResult,'SRResult');
-    var srEntry = document.createElement('div');
-    setClassAttr(srEntry,'SREntry');
-    var srLink = document.createElement('a');
-    srLink.setAttribute('id','Item'+e);
-    setKeyActions(srLink,'return searchResults.Nav(event,'+e+')');
-    setClassAttr(srLink,'SRSymbol');
-    srLink.innerHTML = searchData[e][1][0];
-    srEntry.appendChild(srLink);
-    if (searchData[e][1].length==2) // single result
-    {
-      srLink.setAttribute('href',resultsPath+searchData[e][1][1][0]);
-      srLink.setAttribute('onclick','searchBox.CloseResultsWindow()');
-      if (searchData[e][1][1][1])
-      {
-       srLink.setAttribute('target','_parent');
-      }
-      else
-      {
-       srLink.setAttribute('target','_blank');
-      }
-      var srScope = document.createElement('span');
-      setClassAttr(srScope,'SRScope');
-      srScope.innerHTML = searchData[e][1][1][2];
-      srEntry.appendChild(srScope);
-    }
-    else // multiple results
-    {
-      srLink.setAttribute('href','javascript:searchResults.Toggle("SR_'+id+'")');
-      var srChildren = document.createElement('div');
-      setClassAttr(srChildren,'SRChildren');
-      for (var c=0; c<searchData[e][1].length-1; c++)
-      {
-        var srChild = document.createElement('a');
-        srChild.setAttribute('id','Item'+e+'_c'+c);
-        setKeyActions(srChild,'return searchResults.NavChild(event,'+e+','+c+')');
-        setClassAttr(srChild,'SRScope');
-        srChild.setAttribute('href',resultsPath+searchData[e][1][c+1][0]);
-        srChild.setAttribute('onclick','searchBox.CloseResultsWindow()');
-        if (searchData[e][1][c+1][1])
-        {
-         srChild.setAttribute('target','_parent');
-        }
-        else
-        {
-         srChild.setAttribute('target','_blank');
-        }
-        srChild.innerHTML = searchData[e][1][c+1][2];
-        srChildren.appendChild(srChild);
-      }
-      srEntry.appendChild(srChildren);
-    }
-    srResult.appendChild(srEntry);
-    results.appendChild(srResult);
-  }
-}
-
-function init_search()
-{
-  var results = document.getElementById("MSearchSelectWindow");
-  results.tabIndex=0;
-  for (var key in indexSectionLabels)
-  {
-    var link = document.createElement('a');
-    link.setAttribute('class','SelectItem');
-    link.setAttribute('onclick','searchBox.OnSelectItem('+key+')');
-    link.href='javascript:void(0)';
-    link.innerHTML='<span class="SelectionMark">&#160;</span>'+indexSectionLabels[key];
-    results.appendChild(link);
-  }
-  searchBox.OnSelectItem(0);
-
-  var input = document.getElementById("MSearchSelect");
-  var searchSelectWindow = document.getElementById("MSearchSelectWindow");
-  input.tabIndex=0;
-  input.addEventListener("keydown", function(event) {
-    if (event.keyCode==13 || event.keyCode==40) {
-      event.preventDefault();
-      if (searchSelectWindow.style.display == 'block') {
-        searchBox.CloseSelectionWindow();
-      } else {
-        searchBox.OnSearchSelectShow();
-        searchBox.DOMSearchSelectWindow().focus();
-      }
-    }
-  });
-}
-/* @license-end */
diff --git a/docs/html/search/searchdata.js b/docs/html/search/searchdata.js
deleted file mode 100644
index d4b28ab..0000000
--- a/docs/html/search/searchdata.js
+++ /dev/null
@@ -1,42 +0,0 @@
-var indexSectionsWithContent =
-{
-  0: "012_abcdefghiklmnopqrstuvwxy~",
-  1: "abcdeghilmnoprstu",
-  2: "c",
-  3: "abcdeghilmnprstu",
-  4: "_abcdefghilmoprstuw~",
-  5: "abcdefghiklmnoprstuvw",
-  6: "acept",
-  7: "o",
-  8: "bdisuv",
-  9: "abcdefilmprstu"
-};
-
-var indexSectionNames =
-{
-  0: "all",
-  1: "classes",
-  2: "namespaces",
-  3: "files",
-  4: "functions",
-  5: "variables",
-  6: "typedefs",
-  7: "enums",
-  8: "enumvalues",
-  9: "pages"
-};
-
-var indexSectionLabels =
-{
-  0: "All",
-  1: "Classes",
-  2: "Namespaces",
-  3: "Files",
-  4: "Functions",
-  5: "Variables",
-  6: "Typedefs",
-  7: "Enumerations",
-  8: "Enumerator",
-  9: "Pages"
-};
-
diff --git a/docs/html/search/typedefs_0.js b/docs/html/search/typedefs_0.js
deleted file mode 100644
index 2298a2f..0000000
--- a/docs/html/search/typedefs_0.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['access_5fid_5ft_0',['access_id_t',['../classcapabilities2__events_1_1EventBase.html#a0d2aa907ed227b7b6042b698ed0bf77b',1,'capabilities2_events::EventBase']]]
-];
diff --git a/docs/html/search/typedefs_1.js b/docs/html/search/typedefs_1.js
deleted file mode 100644
index 931405b..0000000
--- a/docs/html/search/typedefs_1.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['capability_5fstr_5ft_0',['capability_str_t',['../classcapabilities2__events_1_1EventBase.html#a62651f0f057c4b561ae19578ba5c5822',1,'capabilities2_events::EventBase']]]
-];
diff --git a/docs/html/search/typedefs_2.js b/docs/html/search/typedefs_2.js
deleted file mode 100644
index c63c982..0000000
--- a/docs/html/search/typedefs_2.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['event_5fcallback_5ft_0',['event_callback_t',['../classcapabilities2__events_1_1EventBase.html#a01f110c6b7c9517f8f8ae134b8b22c8e',1,'capabilities2_events::EventBase']]]
-];
diff --git a/docs/html/search/typedefs_3.js b/docs/html/search/typedefs_3.js
deleted file mode 100644
index 1a981c3..0000000
--- a/docs/html/search/typedefs_3.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['parameter_5ft_0',['parameter_t',['../classcapabilities2__events_1_1EventBase.html#a76b5029a3a39b00c5a322b60c0562c97',1,'capabilities2_events::EventBase']]]
-];
diff --git a/docs/html/search/typedefs_4.js b/docs/html/search/typedefs_4.js
deleted file mode 100644
index 9a80440..0000000
--- a/docs/html/search/typedefs_4.js
+++ /dev/null
@@ -1,4 +0,0 @@
-var searchData=
-[
-  ['target_5finstance_5fid_5ft_0',['target_instance_id_t',['../classcapabilities2__events_1_1EventBase.html#ada022c0828aaa8cd023f4cebda9b8209',1,'capabilities2_events::EventBase']]]
-];
diff --git a/docs/html/search/variables_0.js b/docs/html/search/variables_0.js
deleted file mode 100644
index ce66e94..0000000
--- a/docs/html/search/variables_0.js
+++ /dev/null
@@ -1,6 +0,0 @@
-var searchData=
-[
-  ['action_5fclient_5f_0',['action_client_',['../classcapabilities2__runner_1_1ActionRunner.html#a4fb5c7f11f675e1b4a68de4ee746de6f',1,'capabilities2_runner::ActionRunner']]],
-  ['actions_1',['actions',['../structcapabilities2__server_1_1models_1_1specification__model__t.html#a4a842359980def295d1e9995e808d2ed',1,'capabilities2_server::models::specification_model_t::actions'],['../structcapabilities2__server_1_1models_1_1remappings__model__t.html#a62e2be32cc2b051f7bdfba15ab17a95d',1,'capabilities2_server::models::remappings_model_t::actions']]],
-  ['args_2',['args',['../namespacecapability__registrar.html#a85b2e418ce57973bee2d82f33e5738b5',1,'capability_registrar']]]
-];
diff --git a/docs/html/search/variables_1.js b/docs/html/search/variables_1.js
deleted file mode 100644
index 412e0be..0000000
--- a/docs/html/search/variables_1.js
+++ /dev/null
@@ -1,6 +0,0 @@
-var searchData=
-[
-  ['block_5fmutex_5f_0',['block_mutex_',['../classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0',1,'capabilities2_runner::TopicRunner']]],
-  ['bond_5fcache_5f_1',['bond_cache_',['../classcapabilities2__server_1_1BondCache.html#a7b2a6a067fe9dd8266d44e549f68849e',1,'capabilities2_server::BondCache::bond_cache_'],['../classcapabilities2__server_1_1CapabilitiesAPI.html#a51bf4e23cd02446a33b25783342f8692',1,'capabilities2_server::CapabilitiesAPI::bond_cache_']]],
-  ['bonds_5ftopic_5f_2',['bonds_topic_',['../classcapabilities2__server_1_1BondCache.html#af926c1948de00a8c475580903f542461',1,'capabilities2_server::BondCache']]]
-];
diff --git a/docs/html/search/variables_10.js b/docs/html/search/variables_10.js
deleted file mode 100644
index f41741d..0000000
--- a/docs/html/search/variables_10.js
+++ /dev/null
@@ -1,14 +0,0 @@
-var searchData=
-[
-  ['send_5fgoal_5foptions_5f_0',['send_goal_options_',['../classcapabilities2__runner_1_1ActionRunner.html#ade3f3629bca55ca92727f28cdf4178f1',1,'capabilities2_runner::ActionRunner']]],
-  ['service_5fclient_5f_1',['service_client_',['../classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431',1,'capabilities2_runner::ServiceRunner']]],
-  ['services_2',['services',['../structcapabilities2__server_1_1models_1_1specification__model__t.html#a4902547120299a085eacca24a896c11f',1,'capabilities2_server::models::specification_model_t::services'],['../structcapabilities2__server_1_1models_1_1remappings__model__t.html#aba5002e746519b1ca48238e6d26c2054',1,'capabilities2_server::models::remappings_model_t::services']]],
-  ['source_5f_3',['source_',['../classcapabilities2__events_1_1EventNode.html#a749cc5b8b86f3ac4d82ecc2b124d46ce',1,'capabilities2_events::EventNode']]],
-  ['spec_4',['spec',['../namespacecapability__registrar.html#a9824c18d0c7c2bc9602902693e664d48',1,'capability_registrar']]],
-  ['start_5fcapability_5fsrv_5f_5',['start_capability_srv_',['../classcapabilities2__server_1_1CapabilitiesServer.html#a1a04b3d8e38c3e738d6dad3e9f90ed32',1,'capabilities2_server::CapabilitiesServer']]],
-  ['started_5fby_6',['started_by',['../structcapabilities2__runner_1_1runner__opts.html#a574ca498d3677393093c36193cf108db',1,'capabilities2_runner::runner_opts::started_by'],['../structcapabilities2__server_1_1models_1_1run__config__model__t.html#a2b11f1cbc79ce42856b706df73bb87e3',1,'capabilities2_server::models::run_config_model_t::started_by'],['../structcapabilities2__server_1_1models_1_1running__model__t.html#a0037a0006d89c68a56be1ed1337f7c37',1,'capabilities2_server::models::running_model_t::started_by']]],
-  ['stop_5fcapability_5fsrv_5f_7',['stop_capability_srv_',['../classcapabilities2__server_1_1CapabilitiesServer.html#aee406dd808d0277a3d1babfbaf5d0dee',1,'capabilities2_server::CapabilitiesServer']]],
-  ['str_8',['str',['../namespacecapability__registrar.html#adb5ed3f88c50cdfd43deee3b12020bea',1,'capability_registrar']]],
-  ['subject_9',['subject',['../structcapabilities2__server_1_1models_1_1predicate__model__t.html#a0e770a26565f064e86ff4251cde950b0',1,'capabilities2_server::models::predicate_model_t']]],
-  ['subscription_5f_10',['subscription_',['../classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71',1,'capabilities2_runner::TopicRunner']]]
-];
diff --git a/docs/html/search/variables_11.js b/docs/html/search/variables_11.js
deleted file mode 100644
index e0e68c4..0000000
--- a/docs/html/search/variables_11.js
+++ /dev/null
@@ -1,8 +0,0 @@
-var searchData=
-[
-  ['target_0',['target',['../structcapabilities2__events_1_1EventNode_1_1EventPipe.html#a94675fdb0b3dd0e0f490b2878da45b33',1,'capabilities2_events::EventNode::EventPipe']]],
-  ['to_1',['to',['../structcapabilities2__server_1_1models_1_1remapping__model__t.html#a121b210905dbc80d5ed8904e0009579c',1,'capabilities2_server::models::remapping_model_t']]],
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-<a href="semantic__interface_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &lt;<a class="code" href="header_8hpp.html">capabilities2_server/models/header.hpp</a>&gt;</span></div>
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-<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span>{</div>
-<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span>models</div>
-<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
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-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
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-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a27bcd752bad7f0e68baaa7754a6221c5">   43</a></span>  YAML::Node <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a27bcd752bad7f0e68baaa7754a6221c5">to_yaml</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    YAML::Node node = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">header</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">to_yaml</a>();</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    node[<span class="stringliteral">&quot;redefines&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">redefines</a>;</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    node[<span class="stringliteral">&quot;global_namespace&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">global_namespace</a>;</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    node[<span class="stringliteral">&quot;remappings&quot;</span>] = <a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">to_yaml</a>();</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="keywordflow">return</span> node;</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  };</div>
-</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
-<div class="foldopen" id="foldopen00052" data-start="{" data-end="}">
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a189e051f8785603c611c13a71f202fdd">   52</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a189e051f8785603c611c13a71f202fdd">to_sql_table</a>()</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>  {</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>    <span class="comment">// redefines is foreign key to interfaces</span></div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>    <span class="keywordflow">return</span> <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">header_model_t::to_sql_table</a>() + <span class="stringliteral">&quot;, redefines TEXT NOT NULL, global_namespace TEXT, remappings TEXT, &quot;</span></div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>                                            <span class="stringliteral">&quot;FOREIGN KEY(redefines) REFERENCES interfaces(name)&quot;</span>;</div>
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-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
-<div class="foldopen" id="foldopen00059" data-start="{" data-end="}">
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">   59</a></span>  std::string <a class="code hl_function" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">to_sql_values</a>()<span class="keyword"> const</span></div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span><span class="keyword">  </span>{</div>
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-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>           <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(YAML::Dump(<a class="code hl_variable" href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">remappings</a>.<a class="code hl_function" href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">to_yaml</a>())) + <span class="stringliteral">&quot;&#39;&quot;</span>;</div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>  }</div>
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-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>}  <span class="comment">// namespace capabilities2_server</span></div>
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-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html_aee2e1db0d5ab5e2c6252db5378dc9d53"><div class="ttname"><a href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">capabilities2_server::to_sql_safe</a></div><div class="ttdeci">std::string to_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a generic std::string to a sql safe std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:15</div></div>
-<div class="ttc" id="apredicateable__base_8hpp_html"><div class="ttname"><a href="predicateable__base_8hpp.html">predicateable_base.hpp</a></div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html">capabilities2_server::models::header_model_t</a></div><div class="ttdoc">the header model is a simple model for the header of a capability type it includes the name,...</div><div class="ttdef"><b>Definition</b> header.hpp:41</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_a5df92e5526b56a061f1b87057926f8f1"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#a5df92e5526b56a061f1b87057926f8f1">capabilities2_server::models::header_model_t::to_sql_values</a></div><div class="ttdeci">const std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> header.hpp:72</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_aaf1c85918945d7e2468748b32c840608"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#aaf1c85918945d7e2468748b32c840608">capabilities2_server::models::header_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> header.hpp:65</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1header__model__t_html_abb29092ded958613d7bd3e0a6b947378"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1header__model__t.html#abb29092ded958613d7bd3e0a6b947378">capabilities2_server::models::header_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> header.hpp:55</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1predicateable__base__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1predicateable__base__t.html">capabilities2_server::models::predicateable_base_t</a></div><div class="ttdoc">predicateable model base type</div><div class="ttdef"><b>Definition</b> predicateable_base.hpp:19</div></div>
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-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_a528143f92b13f7633859774443ee7adc"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#a528143f92b13f7633859774443ee7adc">capabilities2_server::models::remappings_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> remapping.hpp:92</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1remappings__model__t_html_afc4a97cb962d255f268dbe6970ac59a8"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1remappings__model__t.html#afc4a97cb962d255f268dbe6970ac59a8">capabilities2_server::models::remappings_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> remapping.hpp:49</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html">capabilities2_server::models::semantic_interface_model_t</a></div><div class="ttdoc">semantic interface model</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:25</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a189e051f8785603c611c13a71f202fdd"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a189e051f8785603c611c13a71f202fdd">capabilities2_server::models::semantic_interface_model_t::to_sql_table</a></div><div class="ttdeci">static const std::string to_sql_table()</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:52</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a1c82841795835d4359d6bc1fd40b9f26"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a1c82841795835d4359d6bc1fd40b9f26">capabilities2_server::models::semantic_interface_model_t::from_yaml</a></div><div class="ttdeci">void from_yaml(const YAML::Node &amp;node)</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:31</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a27bcd752bad7f0e68baaa7754a6221c5"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a27bcd752bad7f0e68baaa7754a6221c5">capabilities2_server::models::semantic_interface_model_t::to_yaml</a></div><div class="ttdeci">YAML::Node to_yaml() const</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:43</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a78bbcbe2e8e34c29600a02d20a064366"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a78bbcbe2e8e34c29600a02d20a064366">capabilities2_server::models::semantic_interface_model_t::remappings</a></div><div class="ttdeci">remappings_model_t remappings</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:29</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a8650d24298ea55e6f6f810e507618fec"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8650d24298ea55e6f6f810e507618fec">capabilities2_server::models::semantic_interface_model_t::header</a></div><div class="ttdeci">header_model_t header</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:26</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a8af68a40a89859515ca22b006099a8c7"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a8af68a40a89859515ca22b006099a8c7">capabilities2_server::models::semantic_interface_model_t::redefines</a></div><div class="ttdeci">std::string redefines</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:27</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_a9a47cbad7f378a30f467cb0520213e3b"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#a9a47cbad7f378a30f467cb0520213e3b">capabilities2_server::models::semantic_interface_model_t::global_namespace</a></div><div class="ttdeci">std::string global_namespace</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:28</div></div>
-<div class="ttc" id="astructcapabilities2__server_1_1models_1_1semantic__interface__model__t_html_ac26f0357597dbe2946d9278e5433c8ee"><div class="ttname"><a href="structcapabilities2__server_1_1models_1_1semantic__interface__model__t.html#ac26f0357597dbe2946d9278e5433c8ee">capabilities2_server::models::semantic_interface_model_t::to_sql_values</a></div><div class="ttdeci">std::string to_sql_values() const</div><div class="ttdef"><b>Definition</b> semantic_interface.hpp:59</div></div>
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-<a href="service__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;chrono&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="threadtrigger__runner_8hpp.html">capabilities2_runner/threadtrigger_runner.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span> </div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> ServiceT&gt;</div>
-<div class="foldopen" id="foldopen00016" data-start="{" data-end="};">
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html">   16</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1ServiceRunner.html">ServiceRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00022" data-start="{" data-end="}">
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">   22</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#ac32c7560e8ae8138cf88616644a65804">ServiceRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a>()</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  {</div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>  }</div>
-</div>
-<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
-<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">   33</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#ace6965aa2bfd8927f48977a0125f2e87">init_service</a>(rclcpp::Node::SharedPtr node, <span class="keyword">const</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__opts.html">runner_opts</a>&amp; run_config,</div>
-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>                            <span class="keyword">const</span> std::string&amp; service_name)</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  {</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="comment">// initialize the runner base by storing node pointer and run config</span></div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(node, run_config);</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="comment">// create a service client</span></div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a> = <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;create_client&lt;ServiceT&gt;(service_name);</div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span> </div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>    <span class="comment">// wait for service server</span></div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;waiting for service: %s&quot;</span>, service_name.c_str());</div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a>-&gt;wait_for_service(std::chrono::seconds(3)))</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    {</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;failed to connect to service: %s&quot;</span>, service_name.c_str());</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;failed to connect to server&quot;</span>);</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    }</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span> </div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;connected with service: %s&quot;</span>, service_name.c_str());</div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>  }</div>
-</div>
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
-<div class="foldopen" id="foldopen00058" data-start="{" data-end="}">
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">   58</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#a32ecc311b5288486dc0c3625a8cb2633">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <span class="comment">// if the node pointer is empty then throw an error</span></div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>    <span class="comment">// this means that the runner was not started and is being used out of order</span></div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>)</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner that was not started&quot;</span>);</div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span> </div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>    <span class="comment">// throw an error if the service client is null</span></div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>    <span class="comment">// this can happen if the runner is not able to find the action resource</span></div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
-<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a>)</div>
-<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner action that was not started&quot;</span>);</div>
-<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
-<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>    <span class="comment">// emit stopped event</span></div>
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>());</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span> </div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;runner cleaned. stopping..&quot;</span>);</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>  }</div>
-</div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span> </div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="keyword">protected</span>:</div>
-<div class="foldopen" id="foldopen00087" data-start="{" data-end="}">
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">   87</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#aaeb5709d7016d6d71df4d1528b61ca41">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <span class="comment">// split thread_id to get bond_id and instance_id (format: &quot;bond_id/instance_id&quot;)</span></div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">ThreadTriggerRunner::bond_from_thread_id</a>(thread_id);</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    std::string instance_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">ThreadTriggerRunner::instance_from_thread_id</a>(thread_id);</div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="comment">// generate a goal from parameters if provided</span></div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="keyword">auto</span> request_msg = std::make_shared&lt;typename ServiceT::Request&gt;(<a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">generate_request</a>(parameters));</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;request generated for event :%s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span> </div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>    std::mutex block_mutex;</div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    std::unique_lock&lt;std::mutex&gt; lock(block_mutex);</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    std::condition_variable cv;</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordtype">bool</span> completed = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span> </div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>    <span class="keyword">auto</span> result_future = <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a>-&gt;async_send_request(</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        request_msg, [<span class="keyword">this</span>,  &amp;instance_id, &amp;completed, &amp;bond_id, &amp;cv](<span class="keyword">typename</span> rclcpp::Client&lt;ServiceT&gt;::SharedFuture future) {</div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>          <span class="keywordflow">if</span> (!future.valid())</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>          {</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span>            RCLCPP_ERROR(node_-&gt;get_logger(), <span class="stringliteral">&quot;get result call failed&quot;</span>);</div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>            <span class="comment">// emit failed event</span></div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span>            emit_failed(bond_id, instance_id, param_on_failure());</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>          }</div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>          <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00113" name="l00113"></a><span class="lineno">  113</span>          {</div>
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>            RCLCPP_INFO(node_-&gt;get_logger(), <span class="stringliteral">&quot;get result call succeeded for event :%s&quot;</span>, instance_id.c_str());</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span> </div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>            response_ = future.get();</div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>            process_response(response_);</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>            <span class="comment">// emit success event</span></div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>            emit_succeeded(bond_id, instance_id, param_on_success());</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>          }</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span> </div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>          completed = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>          cv.notify_all();</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        });</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span> </div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>    <span class="comment">// Conditional wait</span></div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>    cv.wait(lock, [&amp;completed] { <span class="keywordflow">return</span> completed; });</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Service request complete. Thread closing.&quot;</span>);</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span>  }</div>
-</div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span> </div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">  144</a></span>  <span class="keyword">virtual</span> <span class="keyword">typename</span> ServiceT::Request <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#a922e5faa87fc64185221e220bb9450dc">generate_request</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters) = 0;</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
-<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#a20fd8d22e15f75d7acb79663fec67f6c">  156</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ServiceRunner.html#a20fd8d22e15f75d7acb79663fec67f6c">process_response</a>(<span class="keyword">typename</span> ServiceT::Response::SharedPtr <span class="comment">/*response*/</span>) {}</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span> </div>
-<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">  158</a></span>  <span class="keyword">typename</span> rclcpp::Client&lt;ServiceT&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#ac79326190434b37f66792de962c9a431">service_client_</a>;</div>
-<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">  159</a></span>  <span class="keyword">typename</span> ServiceT::Response::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">response_</a>;</div>
-<div class="line"><a id="l00160" name="l00160"></a><span class="lineno">  160</span>};</div>
-</div>
-<div class="line"><a id="l00161" name="l00161"></a><span class="lineno">  161</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html">capabilities2_runner::ServiceRunner</a></div><div class="ttdoc">service runner base class</div><div class="ttdef"><b>Definition</b> service_runner.hpp:17</div></div>
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-<div class="ttc" id="aclasscapabilities2__runner_1_1ServiceRunner_html_af9e954bc70da5f30aaf2906658805188"><div class="ttname"><a href="classcapabilities2__runner_1_1ServiceRunner.html#af9e954bc70da5f30aaf2906658805188">capabilities2_runner::ServiceRunner::response_</a></div><div class="ttdeci">ServiceT::Response::SharedPtr response_</div><div class="ttdef"><b>Definition</b> service_runner.hpp:159</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></div><div class="ttdoc">add threaded trigger execution to the runner</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:21</div></div>
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-<div class="ttc" id="astructcapabilities2__events_1_1EventParameters_html"><div class="ttname"><a href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a></div><div class="ttdoc">capability options for a capability runner given by interface and provider</div><div class="ttdef"><b>Definition</b> event_parameters.hpp:167</div></div>
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-<a href="sql__safe_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;regex&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__server.html">capabilities2_server</a></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span> </div>
-<div class="foldopen" id="foldopen00015" data-start="{" data-end="}">
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">   15</a></span>std::string <a class="code hl_function" href="namespacecapabilities2__server.html#aee2e1db0d5ab5e2c6252db5378dc9d53">to_sql_safe</a>(<span class="keyword">const</span> std::string&amp; input)</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>  std::string result = input;</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span> </div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>  <span class="comment">// Escape backslashes (if necessary for your SQL dialect)</span></div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>  result = std::regex_replace(result, std::regex(R<span class="stringliteral">&quot;(\\)&quot;), R</span><span class="stringliteral">&quot;(\\\\)&quot;);</span></div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="stringliteral"></span> </div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="stringliteral">  </span><span class="comment">// Escape single quotes by replacing them with two single quotes</span></div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>  result = std::regex_replace(result, std::regex(R<span class="stringliteral">&quot;(&#39;)&quot;), R</span><span class="stringliteral">&quot;(&#39;&#39;)&quot;);</span></div>
-<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="stringliteral"></span> </div>
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-<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
-<div class="foldopen" id="foldopen00035" data-start="{" data-end="}">
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">   35</a></span>std::string <a class="code hl_function" href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">from_sql_safe</a>(<span class="keyword">const</span> std::string&amp; input)</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>{</div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>  std::string result = input;</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>  <span class="comment">// Escape backslashes (if necessary for your SQL dialect)</span></div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  result = std::regex_replace(result, std::regex(R<span class="stringliteral">&quot;(\\\\)&quot;), R</span><span class="stringliteral">&quot;(\\)&quot;);</span></div>
-<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span><span class="stringliteral"></span> </div>
-<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span><span class="stringliteral">  </span><span class="comment">// Escape single quotes by replacing them with two single quotes</span></div>
-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>  result = std::regex_replace(result, std::regex(R<span class="stringliteral">&quot;(&#39;&#39;)&quot;), R</span><span class="stringliteral">&quot;(&#39;)&quot;);</span></div>
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span><span class="stringliteral"></span> </div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="stringliteral">  </span><span class="keywordflow">return</span> result;</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>}</div>
-</div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>}  <span class="comment">// namespace capabilities2_server</span></div>
-<div class="ttc" id="anamespacecapabilities2__server_html"><div class="ttname"><a href="namespacecapabilities2__server.html">capabilities2_server</a></div><div class="ttdef"><b>Definition</b> bond_cache.hpp:12</div></div>
-<div class="ttc" id="anamespacecapabilities2__server_html_a2fefe1de489dfc709310ae4fa1afaa13"><div class="ttname"><a href="namespacecapabilities2__server.html#a2fefe1de489dfc709310ae4fa1afaa13">capabilities2_server::from_sql_safe</a></div><div class="ttdeci">std::string from_sql_safe(const std::string &amp;input)</div><div class="ttdoc">convert a sql safe std::string to a generic std::string</div><div class="ttdef"><b>Definition</b> sql_safe.hpp:35</div></div>
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-<p>Key value pair for capability options.  
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-<a href="structcapabilities2__events_1_1event__exception-members.html">List of all members</a>  </div>
-  <div class="headertitle"><div class="title">capabilities2_events::event_exception Struct Reference</div></div>
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-<p>event exception  
- <a href="structcapabilities2__events_1_1event__exception.html#details">More...</a></p>
-
-<p><code>#include &quot;<a class="el" href="event__base_8hpp_source.html">event_base.hpp</a>&quot;</code></p>
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-Inheritance diagram for capabilities2_events::event_exception:</div>
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-Collaboration diagram for capabilities2_events::event_exception:</div>
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-<table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
-Public Member Functions</h2></td></tr>
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-<p>Base class for event exceptions </p>
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-          <td class="memname">virtual const char * capabilities2_events::event_exception::what </td>
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-<hr/>The documentation for this struct was generated from the following file:<ul>
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-<p>unique key for a row  
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-<p>interface model  
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-<p><code>#include &quot;<a class="el" href="header_8hpp_source.html">header.hpp</a>&quot;</code></p>
-<div class="dynheader">
-Inheritance diagram for capabilities2_server::models::modifiable_base_t:</div>
-<div class="dyncontent">
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-<table class="memberdecls">
-<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
-Public Attributes</h2></td></tr>
-<tr class="memitem:aebfa99a284e69c5e560962f61fe283e2" id="r_aebfa99a284e69c5e560962f61fe283e2"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#aebfa99a284e69c5e560962f61fe283e2">date_created</a></td></tr>
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-<tr class="memitem:a176b552939443a9c0d329b12ad604b0e" id="r_a176b552939443a9c0d329b12ad604b0e"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structcapabilities2__server_1_1models_1_1modifiable__base__t.html#a176b552939443a9c0d329b12ad604b0e">date_modified</a></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>base model for all models that can be modified </p>
-</div><h2 class="groupheader">Member Data Documentation</h2>
-<a id="aebfa99a284e69c5e560962f61fe283e2" name="aebfa99a284e69c5e560962f61fe283e2"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aebfa99a284e69c5e560962f61fe283e2">&#9670;&#160;</a></span>date_created</h2>
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-          <td class="memname">std::string capabilities2_server::models::modifiable_base_t::date_created</td>
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-
-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a176b552939443a9c0d329b12ad604b0e">&#9670;&#160;</a></span>date_modified</h2>
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-          <td class="memname">std::string capabilities2_server::models::modifiable_base_t::date_modified</td>
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-</div><div class="memdoc">
-
-</div>
-</div>
-<hr/>The documentation for this struct was generated from the following file:<ul>
-<li>capabilities2_server/include/capabilities2_server/models/<a class="el" href="header_8hpp_source.html">header.hpp</a></li>
-</ul>
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-<p>predicate model type  
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-<div class="textblock"><p>predicate model type </p>
-<p>the predicate model is used to specify a relation between two capability resources subject -&gt; predicate -&gt; object </p>
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-<p>predicateable model base type  
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-<p>remappable base model definition  
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-  <div class="headertitle"><div class="title">capabilities2_server::models::running_model_t Struct Reference</div></div>
-</div><!--header-->
-<div class="contents">
-
-<p>running capability model  
- <a href="structcapabilities2__server_1_1models_1_1running__model__t.html#details">More...</a></p>
-
-<p><code>#include &quot;<a class="el" href="running_8hpp_source.html">running.hpp</a>&quot;</code></p>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><p>running capability model </p>
-<p>the running model describes the run-time requirements of a capability. this is a recursive model that can have dependencies on other run specs. it is derived from interfaces, semantic interfaces, and providers. </p>
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-<p>semantic interface model  
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-<a href="threadtrigger__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
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-<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span>    <span class="keywordtype">size_t</span> slash_pos = thread_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
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-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
-<div class="foldopen" id="foldopen00044" data-start="{" data-end="}">
-<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">   44</a></span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">instance_from_thread_id</a>(<span class="keyword">const</span> std::string&amp; thread_id)</div>
-<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>  {</div>
-<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>    <span class="comment">// extract instance_id from thread_id (format: &quot;bond_id/instance_id&quot;)</span></div>
-<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <span class="keywordtype">size_t</span> slash_pos = thread_id.find(<span class="charliteral">&#39;/&#39;</span>);</div>
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>    std::string instance_id = (slash_pos != std::string::npos) ? thread_id.substr(slash_pos + 1) : <span class="stringliteral">&quot;&quot;</span>;</div>
-<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>    <span class="keywordflow">return</span> instance_id;</div>
-<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>  }</div>
-</div>
-<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00053" data-start="{" data-end="}">
-<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">   53</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">ThreadTriggerRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1RunnerBase.html">RunnerBase</a>(), <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>(), <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a>(), <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a>(false)</div>
-<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span>  {</div>
-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>  }</div>
-</div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span> </div>
-<div class="foldopen" id="foldopen00057" data-start="{" data-end="}">
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">   57</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">~ThreadTriggerRunner</a>()</div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>  {</div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="comment">// stop any running threads on destruction</span></div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds(500));</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span>  }</div>
-</div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span> </div>
-<div class="foldopen" id="foldopen00073" data-start="{" data-end="}">
-<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">   73</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">trigger</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a>&amp; parameters, <span class="keyword">const</span> std::string&amp; bond_id,</div>
-<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>                       <span class="keyword">const</span> std::string&amp; instance_id)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>    <span class="comment">// namespace the thread id with bond id for later</span></div>
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>    <span class="comment">// could list all threads related to a bond if needed</span></div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>    std::string thread_id = bond_id + <span class="stringliteral">&quot;/&quot;</span> + instance_id;</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span> </div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    <span class="comment">// start execution thread</span></div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    {</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>      std::scoped_lock lock(<a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a>);</div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>      <span class="comment">// TODO: consider emitting on start event here</span></div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>      <span class="comment">// emit_event(bond_id, capabilities2_msgs::msg::CapabilityEventCode::ON_STARTED, updated_on_started(parameters));</span></div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>[thread_id] = std::thread(&amp;<a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">ThreadTriggerRunner::execution</a>, <span class="keyword">this</span>, parameters, thread_id);</div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    }</div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span> </div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <span class="comment">// emit trigger event</span></div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>    <a class="code hl_function" href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">emit_event</a>(bond_id, instance_id, capabilities2_msgs::msg::CapabilityEventCode::TRIGGERED);</div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span> </div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="comment">// BUG: thread management?</span></div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span> </div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="comment">// TODO: consider emitting on stop event here</span></div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="comment">// emit_event(bond_id, capabilities2_msgs::msg::CapabilityEventCode::ON_STOPPED, updated_on_stopped(parameters));</span></div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    RCLCPP_DEBUG(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;started execution thread for thread id: %s&quot;</span>, thread_id.c_str());</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>  }</div>
-</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">  110</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id) = 0;</div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
-<div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span><span class="keyword">private</span>:</div>
-<div class="foldopen" id="foldopen00114" data-start="{" data-end="}">
-<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">  114</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">stop_execution</a>(std::chrono::milliseconds timeout = std::chrono::milliseconds(500))</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>  {</div>
-<div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>    <span class="comment">// signal listening threads to stop</span></div>
-<div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a> = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
-<div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span>    <span class="comment">// try join in a non-blocking way and log if threads are not cleaned up properly</span></div>
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno">  120</span>    {</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>      std::scoped_lock lock(<a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a>);</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>      <span class="keywordflow">for</span> (<span class="keyword">auto</span>&amp; [thread_id, exec_thread] : <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>)</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span>      {</div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>        <span class="keywordflow">if</span> (exec_thread.joinable())</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>        {</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>          <span class="comment">// TODO: FIX THIS FUTURE MICHAEL</span></div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span>          exec_thread.join();</div>
-<div class="line"><a id="l00128" name="l00128"></a><span class="lineno">  128</span>        }</div>
-<div class="line"><a id="l00129" name="l00129"></a><span class="lineno">  129</span>      }</div>
-<div class="line"><a id="l00130" name="l00130"></a><span class="lineno">  130</span> </div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno">  131</span>      <span class="comment">// clear the thread pool</span></div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span>      <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>.clear();</div>
-<div class="line"><a id="l00133" name="l00133"></a><span class="lineno">  133</span>    }</div>
-<div class="line"><a id="l00134" name="l00134"></a><span class="lineno">  134</span>  }</div>
-</div>
-<div class="line"><a id="l00135" name="l00135"></a><span class="lineno">  135</span> </div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno">  136</span><span class="keyword">protected</span>:</div>
-<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">  140</a></span>  std::map&lt;std::string, std::thread&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ac20f6188631fe57af28627273fe86e64">execution_thread_pool_</a>;</div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span> </div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">  145</a></span>  std::mutex <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#ae5b5363dde31c25ddc3c324ef6d3f08e">mutex_</a>;</div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span> </div>
-<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">  150</a></span>  std::atomic&lt;bool&gt; <a class="code hl_variable" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">execution_should_stop_</a>;</div>
-<div class="line"><a id="l00151" name="l00151"></a><span class="lineno">  151</span>};</div>
-</div>
-<div class="line"><a id="l00152" name="l00152"></a><span class="lineno">  152</span> </div>
-<div class="line"><a id="l00153" name="l00153"></a><span class="lineno">  153</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1EventNode_html_ad1b79fbe33fd75339bcaa77417240e57"><div class="ttname"><a href="classcapabilities2__events_1_1EventNode.html#ad1b79fbe33fd75339bcaa77417240e57">capabilities2_events::EventNode::emit_event</a></div><div class="ttdeci">void emit_event(const std::string &amp;bond_id, const std::string &amp;instance_id, const uint8_t &amp;event_type, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit an event from this event node to all matching connections</div><div class="ttdef"><b>Definition</b> event_node.hpp:64</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html">capabilities2_runner::RunnerBase</a></div><div class="ttdoc">base class for all runners</div><div class="ttdef"><b>Definition</b> runner_base.hpp:74</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></div><div class="ttdoc">add threaded trigger execution to the runner</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:21</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a10133774ae4ef6f39f9d94ebbed1b58c"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">capabilities2_runner::ThreadTriggerRunner::bond_from_thread_id</a></div><div class="ttdeci">static const std::string bond_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract bond_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:30</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a7f2f5b100251310d3b9ccb6cf093c6e7"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a7f2f5b100251310d3b9ccb6cf093c6e7">capabilities2_runner::ThreadTriggerRunner::stop_execution</a></div><div class="ttdeci">void stop_execution(std::chrono::milliseconds timeout=std::chrono::milliseconds(500))</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:114</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a88e489fd1a04dd9f308e2fd7f792035c"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a88e489fd1a04dd9f308e2fd7f792035c">capabilities2_runner::ThreadTriggerRunner::ThreadTriggerRunner</a></div><div class="ttdeci">ThreadTriggerRunner()</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:53</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a990e91bdda8c272274eb4120bd62293f"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a990e91bdda8c272274eb4120bd62293f">capabilities2_runner::ThreadTriggerRunner::~ThreadTriggerRunner</a></div><div class="ttdeci">~ThreadTriggerRunner()</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:57</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a9e8c878821f673722b4d2da51df274e9"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a9e8c878821f673722b4d2da51df274e9">capabilities2_runner::ThreadTriggerRunner::execution</a></div><div class="ttdeci">virtual void execution(capabilities2_events::EventParameters parameters, const std::string &amp;thread_id)=0</div><div class="ttdoc">Trigger process to be executed.</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_aae61a479d081029f9203e842dfa9884d"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#aae61a479d081029f9203e842dfa9884d">capabilities2_runner::ThreadTriggerRunner::trigger</a></div><div class="ttdeci">virtual void trigger(capabilities2_events::EventParameters &amp;parameters, const std::string &amp;bond_id, const std::string &amp;instance_id) override</div><div class="ttdoc">Trigger the runner.</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:73</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_abb0aca7529033b5c7f5e36a72253e552"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#abb0aca7529033b5c7f5e36a72253e552">capabilities2_runner::ThreadTriggerRunner::execution_should_stop_</a></div><div class="ttdeci">std::atomic&lt; bool &gt; execution_should_stop_</div><div class="ttdoc">flag to signal execution threads to stop.</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:150</div></div>
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-<a href="topic__runner_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;memory&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &lt;<a class="code" href="threadtrigger__runner_8hpp.html">capabilities2_runner/threadtrigger_runner.hpp</a>&gt;</span></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__runner.html">capabilities2_runner</a></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
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-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="keyword">template</span> &lt;<span class="keyword">typename</span> TopicT&gt;</div>
-<div class="foldopen" id="foldopen00016" data-start="{" data-end="};">
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html">   16</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__runner_1_1TopicRunner.html">TopicRunner</a> : <span class="keyword">public</span> <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a></div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span>{</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="keyword">public</span>:</div>
-<div class="foldopen" id="foldopen00022" data-start="{" data-end="}">
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#ac99cd688150e5cfe539e69866e01ae20">   22</a></span>  <a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#ac99cd688150e5cfe539e69866e01ae20">TopicRunner</a>() : <a class="code hl_class" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">ThreadTriggerRunner</a>()</div>
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-<div class="foldopen" id="foldopen00033" data-start="{" data-end="}">
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-<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span>                               <span class="keyword">const</span> std::string&amp; topic_name)</div>
-<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  {</div>
-<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span>    <span class="comment">// initialize the runner base by storing node pointer and run config</span></div>
-<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">init_base</a>(node, run_config);</div>
-<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span> </div>
-<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>    <span class="comment">// create an service client</span></div>
-<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">subscription_</a> = <a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;create_subscription&lt;TopicT&gt;(</div>
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-<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span> </div>
-<div class="foldopen" id="foldopen00048" data-start="{" data-end="}">
-<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">   48</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">stop</a>(<span class="keyword">const</span> std::string&amp; bond_id, <span class="keyword">const</span> std::string&amp; instance_id = <span class="stringliteral">&quot;&quot;</span>)<span class="keyword"> override</span></div>
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-<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span> </div>
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-<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span> </div>
-<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>    <span class="comment">// throw an error if the subscription is null</span></div>
-<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span>    <span class="comment">// this can happen if the runner is not able to find the topic resource</span></div>
-<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span> </div>
-<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>    <span class="keywordflow">if</span> (!<a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">subscription_</a>)</div>
-<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>      <span class="keywordflow">throw</span> <a class="code hl_struct" href="structcapabilities2__runner_1_1runner__exception.html">runner_exception</a>(<span class="stringliteral">&quot;cannot stop runner subscriber that was not started&quot;</span>);</div>
-<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
-<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>    <span class="comment">// emit stop event</span></div>
-<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">emit_stopped</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">param_on_stopped</a>());</div>
-<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
-<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;runner cleaned. stopping..&quot;</span>);</div>
-<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>  }</div>
-</div>
-<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span> </div>
-<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span><span class="keyword">protected</span>:</div>
-<div class="foldopen" id="foldopen00077" data-start="{" data-end="}">
-<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a5ee42f409bc9001b397d767a264bf4f6">   77</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#a5ee42f409bc9001b397d767a264bf4f6">execution</a>(<a class="code hl_struct" href="structcapabilities2__events_1_1EventParameters.html">capabilities2_events::EventParameters</a> parameters, <span class="keyword">const</span> std::string&amp; thread_id)<span class="keyword"> override</span></div>
-<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span><span class="keyword">  </span>{</div>
-<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>    <span class="comment">// split thread_id to get bond_id and instance_id (format: &quot;bond_id/instance_id&quot;)</span></div>
-<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span>    std::string bond_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">ThreadTriggerRunner::bond_from_thread_id</a>(thread_id);</div>
-<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>    std::string instance_id = <a class="code hl_function" href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">ThreadTriggerRunner::instance_from_thread_id</a>(thread_id);</div>
-<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span> </div>
-<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span>    <span class="comment">// emit started event</span></div>
-<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>    <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">emit_started</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">param_on_started</a>());</div>
-<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
-<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    <span class="comment">// block until a message is received in the callback and stored in latest_message_</span></div>
-<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    std::unique_lock&lt;std::mutex&gt; lock(<a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">block_mutex_</a>);</div>
-<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a> = <span class="keyword">false</span>;</div>
-<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span> </div>
-<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Waiting for Message.&quot;</span>);</div>
-<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span> </div>
-<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="comment">// Conditional wait</span></div>
-<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">cv_</a>.wait(lock, [<span class="keyword">this</span>] { <span class="keywordflow">return</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a>; });</div>
-<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Message Received.&quot;</span>);</div>
-<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span> </div>
-<div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keywordflow">if</span> (<a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">latest_message_</a>)</div>
-<div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span>    {</div>
-<div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span>      <span class="comment">// emit success event</span></div>
-<div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>      <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">emit_succeeded</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">param_on_success</a>());</div>
-<div class="line"><a id="l00100" name="l00100"></a><span class="lineno">  100</span>    }</div>
-<div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span>    <span class="keywordflow">else</span></div>
-<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>    {</div>
-<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>      RCLCPP_ERROR(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Message receiving failed.&quot;</span>);</div>
-<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>      <span class="comment">// emit failed event</span></div>
-<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>      <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">emit_failed</a>(bond_id, instance_id, <a class="code hl_function" href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">param_on_failure</a>());</div>
-<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span>    }</div>
-<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span> </div>
-<div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span>    RCLCPP_INFO(<a class="code hl_variable" href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">node_</a>-&gt;get_logger(), <span class="stringliteral">&quot;Thread closing.&quot;</span>);</div>
-<div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>  }</div>
-</div>
-<div class="line"><a id="l00110" name="l00110"></a><span class="lineno">  110</span> </div>
-<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span><span class="keyword">protected</span>:</div>
-<div class="foldopen" id="foldopen00120" data-start="{" data-end="}">
-<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a53228a48218f60e37c93cefe61a314e3">  120</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classcapabilities2__runner_1_1TopicRunner.html#a53228a48218f60e37c93cefe61a314e3">callback</a>(<span class="keyword">const</span> <span class="keyword">typename</span> TopicT::SharedPtr&amp; msg)</div>
-<div class="line"><a id="l00121" name="l00121"></a><span class="lineno">  121</span>  {</div>
-<div class="line"><a id="l00122" name="l00122"></a><span class="lineno">  122</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">latest_message_</a> = msg;</div>
-<div class="line"><a id="l00123" name="l00123"></a><span class="lineno">  123</span> </div>
-<div class="line"><a id="l00124" name="l00124"></a><span class="lineno">  124</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a> = <span class="keyword">true</span>;</div>
-<div class="line"><a id="l00125" name="l00125"></a><span class="lineno">  125</span>    <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">cv_</a>.notify_all();</div>
-<div class="line"><a id="l00126" name="l00126"></a><span class="lineno">  126</span>  }</div>
-</div>
-<div class="line"><a id="l00127" name="l00127"></a><span class="lineno">  127</span> </div>
-<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">  131</a></span>  <span class="keyword">typename</span> rclcpp::Subscription&lt;TopicT&gt;::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a28f3527e78cec46978b03415d429fc71">subscription_</a>;</div>
-<div class="line"><a id="l00132" name="l00132"></a><span class="lineno">  132</span> </div>
-<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">  136</a></span>  <span class="keyword">mutable</span> <span class="keyword">typename</span> TopicT::SharedPtr <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a0285a6ba6a5f467af952df7590aeef20">latest_message_</a>;</div>
-<div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span> </div>
-<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">  141</a></span>  std::condition_variable <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a970cca16e147cccc27c0a7d19ff64a22">cv_</a>;</div>
-<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">  142</a></span>  std::mutex <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#acf54f261d74e3fa6a41a2189c1a914a0">block_mutex_</a>;</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">  143</a></span>  <span class="keywordtype">bool</span> <a class="code hl_variable" href="classcapabilities2__runner_1_1TopicRunner.html#a1f44e38371bd8e9e1feaee371a370d55">completed_</a>;</div>
-<div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>};</div>
-</div>
-<div class="line"><a id="l00145" name="l00145"></a><span class="lineno">  145</span> </div>
-<div class="line"><a id="l00146" name="l00146"></a><span class="lineno">  146</span>}  <span class="comment">// namespace capabilities2_runner</span></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a561039712ffa38c2617baf266fc22896"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a561039712ffa38c2617baf266fc22896">capabilities2_runner::RunnerBase::param_on_success</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_success()</div><div class="ttdoc">Update on_success event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:271</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5865a398c1ad27e89d4d6947ef9404c2"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5865a398c1ad27e89d4d6947ef9404c2">capabilities2_runner::RunnerBase::emit_succeeded</a></div><div class="ttdeci">void emit_succeeded(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit SUCCEEDED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:444</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a5dcd2ac4205bb7f3cf069e0273ec46b7"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a5dcd2ac4205bb7f3cf069e0273ec46b7">capabilities2_runner::RunnerBase::emit_failed</a></div><div class="ttdeci">void emit_failed(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit FAILED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:457</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a68a4f300a106474d09ccda51efc57a5a"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a68a4f300a106474d09ccda51efc57a5a">capabilities2_runner::RunnerBase::param_on_started</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_started()</div><div class="ttdoc">Update on_started event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:226</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a737681af5f4227037a06390bf0bca3e0"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a737681af5f4227037a06390bf0bca3e0">capabilities2_runner::RunnerBase::init_base</a></div><div class="ttdeci">void init_base(rclcpp::Node::SharedPtr node, const runner_opts &amp;run_config)</div><div class="ttdoc">Initializer function for initializing the base runner in place of constructor due to plugin semantics...</div><div class="ttdef"><b>Definition</b> runner_base.hpp:126</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a93d5da8c0c64d0154911a9b3ff143fff"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a93d5da8c0c64d0154911a9b3ff143fff">capabilities2_runner::RunnerBase::param_on_stopped</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_stopped()</div><div class="ttdoc">Update on_stopped event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:241</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_a9a5419cab317ef239d2f197714136660"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#a9a5419cab317ef239d2f197714136660">capabilities2_runner::RunnerBase::param_on_failure</a></div><div class="ttdeci">virtual capabilities2_events::EventParameters param_on_failure()</div><div class="ttdoc">Update on_failure event parameters with new data if available.</div><div class="ttdef"><b>Definition</b> runner_base.hpp:256</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ab92e5d0bb295489656b6ac35b23eef8e"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ab92e5d0bb295489656b6ac35b23eef8e">capabilities2_runner::RunnerBase::node_</a></div><div class="ttdeci">rclcpp::Node::SharedPtr node_</div><div class="ttdoc">shared pointer to the capabilities node Allows to use ros node related functionalities</div><div class="ttdef"><b>Definition</b> runner_base.hpp:469</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_ac92696dfbfe4b50331ca156c4449954c"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#ac92696dfbfe4b50331ca156c4449954c">capabilities2_runner::RunnerBase::emit_started</a></div><div class="ttdeci">void emit_started(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STARTED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:418</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1RunnerBase_html_af6414218a6741b276f305e4b266878fb"><div class="ttname"><a href="classcapabilities2__runner_1_1RunnerBase.html#af6414218a6741b276f305e4b266878fb">capabilities2_runner::RunnerBase::emit_stopped</a></div><div class="ttdeci">void emit_stopped(const std::string &amp;bond_id, const std::string &amp;instance_id, capabilities2_events::EventParameters parameters=capabilities2_events::EventParameters())</div><div class="ttdoc">emit STOPPED event</div><div class="ttdef"><b>Definition</b> runner_base.hpp:431</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html">capabilities2_runner::ThreadTriggerRunner</a></div><div class="ttdoc">add threaded trigger execution to the runner</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:21</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_a10133774ae4ef6f39f9d94ebbed1b58c"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#a10133774ae4ef6f39f9d94ebbed1b58c">capabilities2_runner::ThreadTriggerRunner::bond_from_thread_id</a></div><div class="ttdeci">static const std::string bond_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract bond_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:30</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1ThreadTriggerRunner_html_af750ef563c71182944a9a0ec380f78de"><div class="ttname"><a href="classcapabilities2__runner_1_1ThreadTriggerRunner.html#af750ef563c71182944a9a0ec380f78de">capabilities2_runner::ThreadTriggerRunner::instance_from_thread_id</a></div><div class="ttdeci">static const std::string instance_from_thread_id(const std::string &amp;thread_id)</div><div class="ttdoc">helper function to extract instance_id from thread_id</div><div class="ttdef"><b>Definition</b> threadtrigger_runner.hpp:44</div></div>
-<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html">capabilities2_runner::TopicRunner</a></div><div class="ttdoc">Topic runner base class.</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:17</div></div>
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-<div class="ttc" id="aclasscapabilities2__runner_1_1TopicRunner_html_a1d9dc95f217c829002f3b84660590659"><div class="ttname"><a href="classcapabilities2__runner_1_1TopicRunner.html#a1d9dc95f217c829002f3b84660590659">capabilities2_runner::TopicRunner::stop</a></div><div class="ttdeci">virtual void stop(const std::string &amp;bond_id, const std::string &amp;instance_id=&quot;&quot;) override</div><div class="ttdoc">stop function to cease functionality and shutdown</div><div class="ttdef"><b>Definition</b> topic_runner.hpp:48</div></div>
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-<li class="navelem"><a class="el" href="dir_893eca9b61704b59497c2543c6de837c.html">capabilities2_events</a></li><li class="navelem"><a class="el" href="dir_5d95c21bcb0e08e60d3c845ed072574e.html">include</a></li><li class="navelem"><a class="el" href="dir_930544a6b4d7294c7d05c1cc4fea3dca.html">capabilities2_events</a></li>  </ul>
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-  <div class="headertitle"><div class="title">uuid_generator.hpp</div></div>
-</div><!--header-->
-<div class="contents">
-<a href="uuid__generator_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
-<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
-<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &lt;string&gt;</span></div>
-<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
-<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacecapabilities2__events.html">capabilities2_events</a></div>
-<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span>{</div>
-<div class="foldopen" id="foldopen00007" data-start="{" data-end="};">
-<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1UUIDGenerator.html">    7</a></span><span class="keyword">class </span><a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a></div>
-<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span>{</div>
-<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="keyword">public</span>:</div>
-<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>  <span class="keyword">static</span> <span class="keyword">const</span> std::string <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">gen_uuid_str</a>();</div>
-<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
-<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">private</span>:</div>
-<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  <span class="comment">// delete constructor and assignment operator to prevent instantiation</span></div>
-<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1UUIDGenerator.html#ac16e657db07c4d6368089cb8b846e434">   19</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#ac16e657db07c4d6368089cb8b846e434">UUIDGenerator</a>() = <span class="keyword">delete</span>;</div>
-<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1UUIDGenerator.html#a7b54cb7556182732e476d7b6734acbe7">   20</a></span>  <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#a7b54cb7556182732e476d7b6734acbe7">UUIDGenerator</a>(<span class="keyword">const</span> <a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a>&amp;) = <span class="keyword">delete</span>;</div>
-<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"><a class="line" href="classcapabilities2__events_1_1UUIDGenerator.html#a9a621130c12a95d1e1311a456a4c8a35">   21</a></span>  <a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a>&amp; <a class="code hl_function" href="classcapabilities2__events_1_1UUIDGenerator.html#a9a621130c12a95d1e1311a456a4c8a35">operator=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classcapabilities2__events_1_1UUIDGenerator.html">UUIDGenerator</a>&amp;) = <span class="keyword">delete</span>;</div>
-<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>};</div>
-</div>
-<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>}  <span class="comment">// namespace capabilities2_events</span></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html">capabilities2_events::UUIDGenerator</a></div><div class="ttdef"><b>Definition</b> uuid_generator.hpp:8</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_a7b54cb7556182732e476d7b6734acbe7"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#a7b54cb7556182732e476d7b6734acbe7">capabilities2_events::UUIDGenerator::UUIDGenerator</a></div><div class="ttdeci">UUIDGenerator(const UUIDGenerator &amp;)=delete</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_a9a621130c12a95d1e1311a456a4c8a35"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#a9a621130c12a95d1e1311a456a4c8a35">capabilities2_events::UUIDGenerator::operator=</a></div><div class="ttdeci">UUIDGenerator &amp; operator=(const UUIDGenerator &amp;)=delete</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_ac16e657db07c4d6368089cb8b846e434"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#ac16e657db07c4d6368089cb8b846e434">capabilities2_events::UUIDGenerator::UUIDGenerator</a></div><div class="ttdeci">UUIDGenerator()=delete</div></div>
-<div class="ttc" id="aclasscapabilities2__events_1_1UUIDGenerator_html_ad7966c639f088e11a3d19a7410956421"><div class="ttname"><a href="classcapabilities2__events_1_1UUIDGenerator.html#ad7966c639f088e11a3d19a7410956421">capabilities2_events::UUIDGenerator::gen_uuid_str</a></div><div class="ttdeci">static const std::string gen_uuid_str()</div><div class="ttdoc">generate a uuid string</div><div class="ttdef"><b>Definition</b> uuid_generator.cpp:11</div></div>
-<div class="ttc" id="anamespacecapabilities2__events_html"><div class="ttname"><a href="namespacecapabilities2__events.html">capabilities2_events</a></div><div class="ttdef"><b>Definition</b> event_base.hpp:14</div></div>
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diff --git a/docs/latex/Makefile b/docs/latex/Makefile
deleted file mode 100644
index 7f82972..0000000
--- a/docs/latex/Makefile
+++ /dev/null
@@ -1,27 +0,0 @@
-LATEX_CMD?=pdflatex
-MKIDX_CMD?=makeindex
-BIBTEX_CMD?=bibtex
-LATEX_COUNT?=8
-MANUAL_FILE?=refman
-
-all: $(MANUAL_FILE).pdf
-
-pdf: $(MANUAL_FILE).pdf
-
-$(MANUAL_FILE).pdf: clean $(MANUAL_FILE).tex
-	$(LATEX_CMD) $(MANUAL_FILE)
-	$(MKIDX_CMD) $(MANUAL_FILE).idx
-	$(LATEX_CMD) $(MANUAL_FILE)
-	latex_count=$(LATEX_COUNT) ; \
-	while grep -E -s 'Rerun (LaTeX|to get cross-references right|to get bibliographical references right)' $(MANUAL_FILE).log && [ $$latex_count -gt 0 ] ;\
-	    do \
-	      echo "Rerunning latex...." ;\
-	      $(LATEX_CMD) $(MANUAL_FILE) ;\
-	      latex_count=`expr $$latex_count - 1` ;\
-	    done
-	$(MKIDX_CMD) $(MANUAL_FILE).idx
-	$(LATEX_CMD) $(MANUAL_FILE)
-
-
-clean:
-	rm -f *.ps *.dvi *.aux *.toc *.idx *.ind *.ilg *.log *.out *.brf *.blg *.bbl $(MANUAL_FILE).pdf
diff --git a/docs/latex/README_8md.tex b/docs/latex/README_8md.tex
deleted file mode 100644
index bebaf67..0000000
--- a/docs/latex/README_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{README.\+md File Reference}
-\hypertarget{README_8md}{}\label{README_8md}\index{README.md@{README.md}}
diff --git a/docs/latex/TODO_8md.tex b/docs/latex/TODO_8md.tex
deleted file mode 100644
index 34ccab4..0000000
--- a/docs/latex/TODO_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{TODO.\+md File Reference}
-\hypertarget{TODO_8md}{}\label{TODO_8md}\index{TODO.md@{TODO.md}}
diff --git a/docs/latex/action__runner_8hpp.tex b/docs/latex/action__runner_8hpp.tex
deleted file mode 100644
index 8224426..0000000
--- a/docs/latex/action__runner_8hpp.tex
+++ /dev/null
@@ -1,31 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/action\+\_\+runner.hpp File Reference}
-\hypertarget{action__runner_8hpp}{}\label{action__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/action\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/action\_runner.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$iostream$>$}\newline
-{\ttfamily \#include $<$sstream$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$memory$>$}\newline
-{\ttfamily \#include $<$mutex$>$}\newline
-{\ttfamily \#include $<$condition\+\_\+variable$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$rclcpp\+\_\+action/rclcpp\+\_\+action.\+hpp$>$}\newline
-{\ttfamily \#include $<$action\+\_\+msgs/srv/cancel\+\_\+goal.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/threadtrigger\+\_\+runner.\+hpp$>$}\newline
-Include dependency graph for action\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{action__runner_8hpp__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}}
-\begin{DoxyCompactList}\small\item\em action runner base class \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/action__runner_8hpp__incl.md5 b/docs/latex/action__runner_8hpp__incl.md5
deleted file mode 100644
index 0dca3d3..0000000
--- a/docs/latex/action__runner_8hpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-899aa1601f0bd88d6837d67e8cbd42d5
\ No newline at end of file
diff --git a/docs/latex/action__runner_8hpp__incl.pdf b/docs/latex/action__runner_8hpp__incl.pdf
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diff --git a/docs/latex/action__runner_8hpp_source.tex b/docs/latex/action__runner_8hpp_source.tex
deleted file mode 100644
index bd82dbc..0000000
--- a/docs/latex/action__runner_8hpp_source.tex
+++ /dev/null
@@ -1,202 +0,0 @@
-\doxysection{action\+\_\+runner.\+hpp}
-\hypertarget{action__runner_8hpp_source}{}\label{action__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/action\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/action\_runner.hpp}}
-\mbox{\hyperlink{action__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <iostream>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <sstream>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <vector>}}
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <map>}}
-\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <memory>}}
-\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <mutex>}}
-\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <condition\_variable>}}
-\DoxyCodeLine{00011\ }
-\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
-\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <rclcpp\_action/rclcpp\_action.hpp>}}
-\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <action\_msgs/srv/cancel\_goal.hpp>}}
-\DoxyCodeLine{00015\ }
-\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{threadtrigger__runner_8hpp}{capabilities2\_runner/threadtrigger\_runner.hpp}}>}}
-\DoxyCodeLine{00017\ }
-\DoxyCodeLine{00018\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00019\ \{}
-\DoxyCodeLine{00020\ }
-\DoxyCodeLine{00026\ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ ActionT>}
-\DoxyCodeLine{00027\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{ActionRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}}
-\DoxyCodeLine{00028\ \{}
-\DoxyCodeLine{00029\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00033\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a591d542f6f91cfec3aec63eb311b4ac6}{ActionRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}()}
-\DoxyCodeLine{00034\ \ \ \{}
-\DoxyCodeLine{00035\ \ \ \}}
-\DoxyCodeLine{00036\ }
-\DoxyCodeLine{00044\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_adec17ec301ee0485a10bb5a1caa82ab9}{init\_action}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ action\_name)}
-\DoxyCodeLine{00045\ \ \ \{}
-\DoxyCodeLine{00046\ \ \ \ \ \textcolor{comment}{//\ initialize\ the\ runner\ base\ by\ storing\ node\ pointer\ and\ run\ config}}
-\DoxyCodeLine{00047\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
-\DoxyCodeLine{00048\ }
-\DoxyCodeLine{00049\ \ \ \ \ \textcolor{comment}{//\ create\ an\ action\ client}}
-\DoxyCodeLine{00050\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}}\ =\ rclcpp\_action::create\_client<ActionT>(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}},\ action\_name);}
-\DoxyCodeLine{00051\ }
-\DoxyCodeLine{00052\ \ \ \ \ \textcolor{comment}{//\ wait\ for\ action\ server}}
-\DoxyCodeLine{00053\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}waiting\ for\ action:\ \%s"{}},\ action\_name.c\_str());}
-\DoxyCodeLine{00054\ }
-\DoxyCodeLine{00055\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}}-\/>wait\_for\_action\_server(std::chrono::seconds(1000)))}
-\DoxyCodeLine{00056\ \ \ \ \ \{}
-\DoxyCodeLine{00057\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}failed\ to\ connect\ to\ action:\ \%s"{}},\ action\_name.c\_str());}
-\DoxyCodeLine{00058\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}failed\ to\ connect\ to\ action\ server"{}});}
-\DoxyCodeLine{00059\ \ \ \ \ \}}
-\DoxyCodeLine{00060\ }
-\DoxyCodeLine{00061\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}connected\ with\ action:\ \%s"{}},\ action\_name.c\_str());}
-\DoxyCodeLine{00062\ \ \ \}}
-\DoxyCodeLine{00063\ }
-\DoxyCodeLine{00068\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00069\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00070\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
-\DoxyCodeLine{00071\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
-\DoxyCodeLine{00072\ }
-\DoxyCodeLine{00073\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
-\DoxyCodeLine{00074\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
-\DoxyCodeLine{00075\ }
-\DoxyCodeLine{00076\ \ \ \ \ \textcolor{comment}{//\ throw\ an\ error\ if\ the\ action\ client\ is\ null}}
-\DoxyCodeLine{00077\ \ \ \ \ \textcolor{comment}{//\ this\ can\ happen\ if\ the\ runner\ is\ not\ able\ to\ find\ the\ action\ resource}}
-\DoxyCodeLine{00078\ }
-\DoxyCodeLine{00079\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}})}
-\DoxyCodeLine{00080\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ action\ that\ was\ not\ started"{}});}
-\DoxyCodeLine{00081\ }
-\DoxyCodeLine{00082\ \ \ \ \ \textcolor{comment}{//\ stop\ runner\ using\ action\ client}}
-\DoxyCodeLine{00083\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\_handle\_}})}
-\DoxyCodeLine{00084\ \ \ \ \ \{}
-\DoxyCodeLine{00085\ \ \ \ \ \ \ \textcolor{keywordflow}{try}}
-\DoxyCodeLine{00086\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00087\ \ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ cancel\_future\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}}-\/>async\_cancel\_goal(}
-\DoxyCodeLine{00088\ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\_handle\_}},\ [\textcolor{keyword}{this},\ \&bond\_id,\ \&instance\_id](action\_msgs::srv::CancelGoal\_Response::SharedPtr\ response)\ \{}
-\DoxyCodeLine{00089\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (response-\/>return\_code\ !=\ action\_msgs::srv::CancelGoal\_Response::ERROR\_NONE)}
-\DoxyCodeLine{00090\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00091\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ throw\ runner\_exception("{}failed\ to\ cancel\ runner"{});}}
-\DoxyCodeLine{00092\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(node\_-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Runner\ cancellation\ failed."{}});}
-\DoxyCodeLine{00093\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00094\ }
-\DoxyCodeLine{00095\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
-\DoxyCodeLine{00096\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
-\DoxyCodeLine{00097\ \ \ \ \ \ \ \ \ \ \ \ \ \});}
-\DoxyCodeLine{00098\ }
-\DoxyCodeLine{00099\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ wait\ for\ action\ to\ be\ stopped.\ hold\ the\ thread\ for\ 2\ seconds\ to\ help\ keep\ callbacks\ in\ scope}}
-\DoxyCodeLine{00100\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ BUG:\ the\ line\ below\ does\ not\ work\ in\ jazzy\ build,\ so\ a\ workaround\ is\ used}}
-\DoxyCodeLine{00101\ \ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ timeout\ =\ std::chrono::steady\_clock::now()\ +\ std::chrono::seconds(2);}
-\DoxyCodeLine{00102\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{while}\ (std::chrono::steady\_clock::now()\ <\ timeout)}
-\DoxyCodeLine{00103\ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00104\ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ Check\ if\ the\ cancel\ operation\ is\ complete}}
-\DoxyCodeLine{00105\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (cancel\_future.wait\_for(std::chrono::milliseconds(100))\ ==\ std::future\_status::ready)}
-\DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{break};}
-\DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00108\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00109\ \ \ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ rclcpp\_action::exceptions::UnknownGoalHandleError\&\ e)}
-\DoxyCodeLine{00110\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}failed\ to\ cancel\ goal:\ \%s"{}},\ e.what());}
-\DoxyCodeLine{00112\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(e.what());}
-\DoxyCodeLine{00113\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00114\ \ \ \ \ \}}
-\DoxyCodeLine{00115\ }
-\DoxyCodeLine{00116\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}runner\ cleaned.\ stopping.."{}});}
-\DoxyCodeLine{00117\ \ \ \}}
-\DoxyCodeLine{00118\ }
-\DoxyCodeLine{00119\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00127\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00128\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00129\ \ \ \ \ \textcolor{comment}{//\ split\ thread\_id\ to\ get\ bond\_id\ and\ instance\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
-\DoxyCodeLine{00130\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{ThreadTriggerRunner::bond\_from\_thread\_id}}(thread\_id);}
-\DoxyCodeLine{00131\ \ \ \ \ std::string\ instance\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{ThreadTriggerRunner::instance\_from\_thread\_id}}(thread\_id);}
-\DoxyCodeLine{00132\ }
-\DoxyCodeLine{00133\ \ \ \ \ \textcolor{comment}{//\ generate\ a\ goal\ from\ parameters\ provided}}
-\DoxyCodeLine{00134\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}{goal\_msg\_}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe}{generate\_goal}}(parameters);}
-\DoxyCodeLine{00135\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}goal\ generated\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00136\ }
-\DoxyCodeLine{00137\ \ \ \ \ std::mutex\ block\_mutex;}
-\DoxyCodeLine{00138\ \ \ \ \ std::condition\_variable\ cv;}
-\DoxyCodeLine{00139\ \ \ \ \ \textcolor{keywordtype}{bool}\ completed\ =\ \textcolor{keyword}{false};}
-\DoxyCodeLine{00140\ \ \ \ \ std::unique\_lock<std::mutex>\ lock(block\_mutex);}
-\DoxyCodeLine{00141\ }
-\DoxyCodeLine{00142\ \ \ \ \ \textcolor{comment}{//\ trigger\ the\ action\ client\ with\ goal}}
-\DoxyCodeLine{00143\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}}.goal\_response\_callback\ =}
-\DoxyCodeLine{00144\ \ \ \ \ \ \ \ \ [\textcolor{keyword}{this},\ \&instance\_id](\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::SharedPtr\&\ goal\_handle)\ \{}
-\DoxyCodeLine{00145\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (goal\_handle)}
-\DoxyCodeLine{00146\ \ \ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00147\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}goal\ accepted.\ Waiting\ for\ result\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00148\ \ \ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00149\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00150\ \ \ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00151\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}goal\ rejected\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00152\ \ \ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00153\ }
-\DoxyCodeLine{00154\ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ store\ goal\ handle\ to\ be\ used\ with\ stop\ funtion}}
-\DoxyCodeLine{00155\ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\_handle\_}}\ =\ goal\_handle;}
-\DoxyCodeLine{00156\ \ \ \ \ \ \ \ \ \};}
-\DoxyCodeLine{00157\ }
-\DoxyCodeLine{00158\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}}.feedback\_callback\ =\ [\textcolor{keyword}{this},\ \&instance\_id](}
-\DoxyCodeLine{00159\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::SharedPtr\ goal\_handle,}
-\DoxyCodeLine{00160\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ ActionT::Feedback::ConstSharedPtr\ feedback\_msg)\ \{}
-\DoxyCodeLine{00161\ \ \ \ \ \ \ std::string\ feedback\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4}{generate\_feedback}}(feedback\_msg);}
-\DoxyCodeLine{00162\ }
-\DoxyCodeLine{00163\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (feedback\ !=\ \textcolor{stringliteral}{"{}"{}})}
-\DoxyCodeLine{00164\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00165\ \ \ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}received\ feedback:\ \ \%s\ for\ instance\ \%s"{}},\ feedback.c\_str(),\ instance\_id.c\_str());}
-\DoxyCodeLine{00166\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00167\ \ \ \ \ \};}
-\DoxyCodeLine{00168\ }
-\DoxyCodeLine{00169\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}}.result\_callback\ =}
-\DoxyCodeLine{00170\ \ \ \ \ \ \ \ \ [\textcolor{keyword}{this},\ \&instance\_id,\ \&completed,\ \&cv,}
-\DoxyCodeLine{00171\ \ \ \ \ \ \ \ \ \ \&bond\_id,\ \&instance\_id](\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::WrappedResult\&\ wrapped\_result)\ \{}
-\DoxyCodeLine{00172\ \ \ \ \ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}received\ result\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00173\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (wrapped\_result.code\ ==\ rclcpp\_action::ResultCode::SUCCEEDED)}
-\DoxyCodeLine{00174\ \ \ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00175\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}action\ succeeded\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00176\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ success\ event}}
-\DoxyCodeLine{00177\ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\_succeeded}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\_on\_success}}());}
-\DoxyCodeLine{00178\ \ \ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00179\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00180\ \ \ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00181\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}action\ failed\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00182\ }
-\DoxyCodeLine{00183\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ failed\ event}}
-\DoxyCodeLine{00184\ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\_failed}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\_on\_failure}}());}
-\DoxyCodeLine{00185\ \ \ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00186\ }
-\DoxyCodeLine{00187\ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e}{result\_}}\ =\ wrapped\_result.result;}
-\DoxyCodeLine{00188\ \ \ \ \ \ \ \ \ \ \ completed\ =\ \textcolor{keyword}{true};}
-\DoxyCodeLine{00189\ \ \ \ \ \ \ \ \ \ \ cv.notify\_all();}
-\DoxyCodeLine{00190\ \ \ \ \ \ \ \ \ \};}
-\DoxyCodeLine{00191\ }
-\DoxyCodeLine{00192\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0}{goal\_handle\_future\_}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}}-\/>async\_send\_goal(\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}{goal\_msg\_}},\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}});}
-\DoxyCodeLine{00193\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}goal\ sent.\ Waiting\ for\ acceptance\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00194\ }
-\DoxyCodeLine{00195\ \ \ \ \ \textcolor{comment}{//\ Conditional\ wait}}
-\DoxyCodeLine{00196\ \ \ \ \ cv.wait(lock,\ [\&completed]\ \{\ \textcolor{keywordflow}{return}\ completed;\ \});}
-\DoxyCodeLine{00197\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}action\ complete.\ Thread\ closing\ for\ instance\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00198\ \ \ \}}
-\DoxyCodeLine{00199\ }
-\DoxyCodeLine{00211\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keyword}{typename}\ ActionT::Goal\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe}{generate\_goal}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters)\ =\ 0;}
-\DoxyCodeLine{00212\ }
-\DoxyCodeLine{00224\ \ \ \textcolor{keyword}{virtual}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4}{generate\_feedback}}(\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ ActionT::Feedback::ConstSharedPtr\ msg)\ =\ 0;}
-\DoxyCodeLine{00225\ }
-\DoxyCodeLine{00226\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00228\ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::Client<ActionT>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\_client\_}};}
-\DoxyCodeLine{00229\ }
-\DoxyCodeLine{00232\ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::Client<ActionT>::SendGoalOptions\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\_goal\_options\_}};}
-\DoxyCodeLine{00233\ }
-\DoxyCodeLine{00235\ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\_handle\_}};}
-\DoxyCodeLine{00236\ }
-\DoxyCodeLine{00238\ \ \ \textcolor{keyword}{typename}\ rclcpp\_action::ClientGoalHandle<ActionT>::WrappedResult\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a55a723c2c93f6f6842bfd1951d767597}{wrapped\_result\_}};}
-\DoxyCodeLine{00239\ }
-\DoxyCodeLine{00241\ \ \ \textcolor{keyword}{typename}\ ActionT::Result::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e}{result\_}};}
-\DoxyCodeLine{00242\ }
-\DoxyCodeLine{00244\ \ \ \textcolor{keyword}{typename}\ ActionT::Goal\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}{goal\_msg\_}};}
-\DoxyCodeLine{00245\ }
-\DoxyCodeLine{00247\ \ \ std::shared\_future<typename\ rclcpp\_action::ClientGoalHandle<ActionT>::SharedPtr>\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0}{goal\_handle\_future\_}};}
-\DoxyCodeLine{00248\ }
-\DoxyCodeLine{00250\ \ \ std::shared\_future<typename\ rclcpp\_action::ClientGoalHandle<ActionT>::WrappedResult>\ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a6054145b7cf13f6e9a0e62d85169ab7c}{result\_future\_}};}
-\DoxyCodeLine{00251\ \};}
-\DoxyCodeLine{00252\ }
-\DoxyCodeLine{00253\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/annotated.tex b/docs/latex/annotated.tex
deleted file mode 100644
index 50de1f0..0000000
--- a/docs/latex/annotated.tex
+++ /dev/null
@@ -1,52 +0,0 @@
-\doxysection{Class List}
-Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}} \\*Action runner base class }{\pageref{classcapabilities2__runner_1_1ActionRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{capabilities2\+\_\+server\+::\+Bond\+Cache}} \\*Bond cache class }{\pageref{classcapabilities2__server_1_1BondCache}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{capabilities2\+\_\+server\+::\+Capabilities\+API}} \\*Capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners }{\pageref{classcapabilities2__server_1_1CapabilitiesAPI}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB}{capabilities2\+\_\+server\+::\+Capabilities\+DB}} }{\pageref{classcapabilities2__server_1_1CapabilitiesDB}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer}{capabilities2\+\_\+server\+::\+Capabilities\+Server}} \\*Capabilities server }{\pageref{classcapabilities2__server_1_1CapabilitiesServer}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t}} }{\pageref{structcapabilities2__server_1_1models_1_1capability__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{capability\+\_\+registrar.\+Capability\+Registrar}} }{\pageref{classcapability__registrar_1_1CapabilityRegistrar}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{capabilities2\+\_\+server\+::\+DBBase}} }{\pageref{classcapabilities2__server_1_1DBBase}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}} \\*Defineable base }{\pageref{structcapabilities2__server_1_1models_1_1defineable__base__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}} \\*Dummy runner }{\pageref{classcapabilities2__runner_1_1DummyRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner$<$ Action\+T $>$}} \\*Encapsulated capability runner }{\pageref{classcapabilities2__runner_1_1EnCapRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{capabilities2\+\_\+events\+::event\+\_\+exception}} \\*Event exception }{\pageref{structcapabilities2__events_1_1event__exception}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} \\*Event base class }{\pageref{classcapabilities2__events_1_1EventBase}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}} \\*Event node is a source of an event }{\pageref{classcapabilities2__events_1_1EventNode}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \\*Capability options for a capability runner given by interface and provider }{\pageref{structcapabilities2__events_1_1EventParameters}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe}} \\*Event pipe structure }{\pageref{structcapabilities2__events_1_1EventNode_1_1EventPipe}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}} \\*Executor runner class }{\pageref{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t}} \\*Header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability }{\pageref{structcapabilities2__server_1_1models_1_1header__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t}} \\*Unique key for a row }{\pageref{structcapabilities2__server_1_1models_1_1identifiable__base__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}} }{\pageref{classcapabilities2__runner_1_1InputMultiplexRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t}} \\*Interface model }{\pageref{structcapabilities2__server_1_1models_1_1interface__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner}{capabilities2\+\_\+runner\+::\+Launch\+Runner}} \\*Launch runner base class }{\pageref{classcapabilities2__runner_1_1LaunchRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t}} \\*Base model for all models that can be modified }{\pageref{structcapabilities2__server_1_1models_1_1modifiable__base__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner}{capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner}} }{\pageref{classcapabilities2__runner_1_1MultiplexBaseRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}} \\*No-\/trigger runner }{\pageref{classcapabilities2__runner_1_1NoTriggerRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{capabilities2\+\_\+events\+::options\+\_\+exception}} }{\pageref{structcapabilities2__events_1_1options__exception}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{capabilities2\+\_\+events\+::\+Parameter}} \\*Key value pair for capability options }{\pageref{structcapabilities2__events_1_1Parameter}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t}} \\*Predicate model type }{\pageref{structcapabilities2__server_1_1models_1_1predicate__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}} \\*Predicateable model base type }{\pageref{structcapabilities2__server_1_1models_1_1predicateable__base__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t}} \\*Provider model }{\pageref{structcapabilities2__server_1_1models_1_1provider__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent}{capabilities2\+\_\+events\+::\+Published\+Event}} }{\pageref{classcapabilities2__events_1_1PublishedEvent}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}} \\*Remappable base model definition }{\pageref{structcapabilities2__server_1_1models_1_1remappable__base__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t}} }{\pageref{structcapabilities2__server_1_1models_1_1remapping__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t}} }{\pageref{structcapabilities2__server_1_1models_1_1remappings__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__runner_1_1resource}{capabilities2\+\_\+runner\+::resource}} \\*Resource definition }{\pageref{structcapabilities2__runner_1_1resource}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t}} \\*Computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph }{\pageref{structcapabilities2__server_1_1models_1_1resource__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t}} \\*Run configuration type }{\pageref{structcapabilities2__server_1_1models_1_1run__config__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\+\_\+runner\+::runner\+\_\+exception}} \\*Runner exception }{\pageref{structcapabilities2__runner_1_1runner__exception}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\+\_\+runner\+::runner\+\_\+opts}} \\*Runner options }{\pageref{structcapabilities2__runner_1_1runner__opts}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} \\*Base class for all runners }{\pageref{classcapabilities2__runner_1_1RunnerBase}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{capabilities2\+\_\+server\+::\+Runner\+Cache}} \\*Runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use }{\pageref{classcapabilities2__server_1_1RunnerCache}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t}} \\*Running capability model }{\pageref{structcapabilities2__server_1_1models_1_1running__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \\*Semantic interface model }{\pageref{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}} \\*Service runner base class }{\pageref{classcapabilities2__runner_1_1ServiceRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t}} \\*Base model for all models that can be soft deleted }{\pageref{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t}} \\*Interface specification type the specification model is the computation graph blueprint of a capability }{\pageref{structcapabilities2__server_1_1models_1_1specification__model__t}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}} \\*Add threaded trigger execution to the runner }{\pageref{classcapabilities2__runner_1_1ThreadTriggerRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}} \\*Topic runner base class }{\pageref{classcapabilities2__runner_1_1TopicRunner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{capabilities2\+\_\+events\+::\+UUIDGenerator}} }{\pageref{classcapabilities2__events_1_1UUIDGenerator}}{}
-\end{DoxyCompactList}
diff --git a/docs/latex/basic__tutorial_8md.tex b/docs/latex/basic__tutorial_8md.tex
deleted file mode 100644
index cfb8e4c..0000000
--- a/docs/latex/basic__tutorial_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs/basic\+\_\+tutorial.md File Reference}
-\hypertarget{basic__tutorial_8md}{}\label{basic__tutorial_8md}\index{docs/basic\_tutorial.md@{docs/basic\_tutorial.md}}
diff --git a/docs/latex/bond__cache_8hpp.tex b/docs/latex/bond__cache_8hpp.tex
deleted file mode 100644
index 284c98c..0000000
--- a/docs/latex/bond__cache_8hpp.tex
+++ /dev/null
@@ -1,32 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/bond\+\_\+cache.hpp File Reference}
-\hypertarget{bond__cache_8hpp}{}\label{bond__cache_8hpp}\index{capabilities2\_server/include/capabilities2\_server/bond\_cache.hpp@{capabilities2\_server/include/capabilities2\_server/bond\_cache.hpp}}
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$functional$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$bondcpp/bond.\+hpp$>$}\newline
-Include dependency graph for bond\+\_\+cache.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{bond__cache_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{bond__cache_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{capabilities2\+\_\+server\+::\+Bond\+Cache}}
-\begin{DoxyCompactList}\small\item\em bond cache class \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/bond__cache_8hpp__dep__incl.md5 b/docs/latex/bond__cache_8hpp__dep__incl.md5
deleted file mode 100644
index f205cbd..0000000
--- a/docs/latex/bond__cache_8hpp__dep__incl.md5
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diff --git a/docs/latex/bond__cache_8hpp__dep__incl.pdf b/docs/latex/bond__cache_8hpp__dep__incl.pdf
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diff --git a/docs/latex/bond__cache_8hpp_source.tex b/docs/latex/bond__cache_8hpp_source.tex
deleted file mode 100644
index e1ee65c..0000000
--- a/docs/latex/bond__cache_8hpp_source.tex
+++ /dev/null
@@ -1,163 +0,0 @@
-\doxysection{bond\+\_\+cache.\+hpp}
-\hypertarget{bond__cache_8hpp_source}{}\label{bond__cache_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/bond\_cache.hpp@{capabilities2\_server/include/capabilities2\_server/bond\_cache.hpp}}
-\mbox{\hyperlink{bond__cache_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <vector>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <functional>}}
-\DoxyCodeLine{00007\ }
-\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
-\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <bondcpp/bond.hpp>}}
-\DoxyCodeLine{00010\ }
-\DoxyCodeLine{00011\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00012\ \{}
-\DoxyCodeLine{00013\ }
-\DoxyCodeLine{00022\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{BondCache}}}
-\DoxyCodeLine{00023\ \{}
-\DoxyCodeLine{00024\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00030\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a48efeffaf9fb7570b52c79487eed3f0f}{BondCache}}(\textcolor{keyword}{const}\ std::string\&\ bonds\_topic\ =\ \textcolor{stringliteral}{"{}/capabilities/bond"{}})\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}{bonds\_topic\_}}(bonds\_topic)}
-\DoxyCodeLine{00031\ \ \ \{}
-\DoxyCodeLine{00032\ \ \ \}}
-\DoxyCodeLine{00033\ }
-\DoxyCodeLine{00040\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}{add\_bond}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
-\DoxyCodeLine{00041\ \ \ \{}
-\DoxyCodeLine{00042\ \ \ \ \ \textcolor{comment}{//\ if\ capability\ is\ not\ in\ cache,\ add\ it}}
-\DoxyCodeLine{00043\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.find(capability)\ ==\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.end())}
-\DoxyCodeLine{00044\ \ \ \ \ \{}
-\DoxyCodeLine{00045\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability]\ =\ \{\ bond\_id\ \};}
-\DoxyCodeLine{00046\ \ \ \ \ \}}
-\DoxyCodeLine{00047\ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00048\ \ \ \ \ \{}
-\DoxyCodeLine{00049\ \ \ \ \ \ \ \textcolor{comment}{//\ if\ capability\ is\ in\ cache,\ append\ only\ new\ bond\ id}}
-\DoxyCodeLine{00050\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (std::find(\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].begin(),\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].end(),\ bond\_id)\ ==}
-\DoxyCodeLine{00051\ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].end())}
-\DoxyCodeLine{00052\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00053\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].push\_back(bond\_id);}
-\DoxyCodeLine{00054\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00055\ \ \ \ \ \}}
-\DoxyCodeLine{00056\ \ \ \}}
-\DoxyCodeLine{00057\ }
-\DoxyCodeLine{00065\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}{remove\_bond}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id)}
-\DoxyCodeLine{00066\ \ \ \{}
-\DoxyCodeLine{00067\ \ \ \ \ \textcolor{comment}{//\ remove\ bond\ id\ from\ all\ capability\ entries}}
-\DoxyCodeLine{00068\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ [capability,\ bonds]\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}})}
-\DoxyCodeLine{00069\ \ \ \ \ \{}
-\DoxyCodeLine{00070\ \ \ \ \ \ \ \textcolor{keyword}{auto}\ it\ =\ std::find(bonds.begin(),\ bonds.end(),\ bond\_id);}
-\DoxyCodeLine{00071\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (it\ !=\ bonds.end())}
-\DoxyCodeLine{00072\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00073\ \ \ \ \ \ \ \ \ bonds.erase(it);}
-\DoxyCodeLine{00074\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00075\ \ \ \ \ \}}
-\DoxyCodeLine{00076\ }
-\DoxyCodeLine{00077\ \ \ \ \ \textcolor{comment}{//\ remove\ empty\ capability\ entries}}
-\DoxyCodeLine{00078\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\ it\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.begin();\ it\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.end();)}
-\DoxyCodeLine{00079\ \ \ \ \ \{}
-\DoxyCodeLine{00080\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (it-\/>second.empty())}
-\DoxyCodeLine{00081\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00082\ \ \ \ \ \ \ \ \ it\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.erase(it);}
-\DoxyCodeLine{00083\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00084\ \ \ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00085\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00086\ \ \ \ \ \ \ \ \ ++it;}
-\DoxyCodeLine{00087\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00088\ \ \ \ \ \}}
-\DoxyCodeLine{00089\ \ \ \}}
-\DoxyCodeLine{00090\ }
-\DoxyCodeLine{00100\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af3825f2898c0ed831a7f89b85d6742c5}{remove\_bond}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
-\DoxyCodeLine{00101\ \ \ \{}
-\DoxyCodeLine{00102\ \ \ \ \ \textcolor{comment}{//\ remove\ bond\ id\ from\ capability\ entry}}
-\DoxyCodeLine{00103\ \ \ \ \ \textcolor{keyword}{auto}\ it\ =\ std::find(\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].begin(),\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].end(),\ bond\_id);}
-\DoxyCodeLine{00104\ }
-\DoxyCodeLine{00105\ \ \ \ \ \textcolor{keywordflow}{if}\ (it\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].end())}
-\DoxyCodeLine{00106\ \ \ \ \ \{}
-\DoxyCodeLine{00107\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].erase(it);}
-\DoxyCodeLine{00108\ \ \ \ \ \}}
-\DoxyCodeLine{00109\ }
-\DoxyCodeLine{00110\ \ \ \ \ \textcolor{comment}{//\ remove\ capability\ entry\ if\ empty}}
-\DoxyCodeLine{00111\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability].empty())}
-\DoxyCodeLine{00112\ \ \ \ \ \{}
-\DoxyCodeLine{00113\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.erase(capability);}
-\DoxyCodeLine{00114\ \ \ \ \ \}}
-\DoxyCodeLine{00115\ \ \ \}}
-\DoxyCodeLine{00116\ }
-\DoxyCodeLine{00117\ \ \ \textcolor{comment}{//\ get\ all\ capabilities\ requested\ by\ a\ bond}}
-\DoxyCodeLine{00118\ \ \ \textcolor{keyword}{const}\ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5}{get\_capabilities}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id)}
-\DoxyCodeLine{00119\ \ \ \{}
-\DoxyCodeLine{00120\ \ \ \ \ std::vector<std::string>\ capabilities;}
-\DoxyCodeLine{00121\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ [capability,\ bonds]\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}})}
-\DoxyCodeLine{00122\ \ \ \ \ \{}
-\DoxyCodeLine{00123\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (std::find(bonds.begin(),\ bonds.end(),\ bond\_id)\ !=\ bonds.end())}
-\DoxyCodeLine{00124\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00125\ \ \ \ \ \ \ \ \ capabilities.push\_back(capability);}
-\DoxyCodeLine{00126\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00127\ \ \ \ \ \}}
-\DoxyCodeLine{00128\ }
-\DoxyCodeLine{00129\ \ \ \ \ \textcolor{keywordflow}{return}\ capabilities;}
-\DoxyCodeLine{00130\ \ \ \}}
-\DoxyCodeLine{00131\ }
-\DoxyCodeLine{00132\ \ \ \textcolor{comment}{//\ get\ all\ current\ bonds\ for\ a\ capability}}
-\DoxyCodeLine{00133\ \ \ \textcolor{keyword}{const}\ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728}{get\_bonds}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00134\ \ \ \{}
-\DoxyCodeLine{00135\ \ \ \ \ \textcolor{comment}{//\ if\ doesn't\ exist\ then\ throw}}
-\DoxyCodeLine{00136\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(capability))}
-\DoxyCodeLine{00137\ \ \ \ \ \{}
-\DoxyCodeLine{00138\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}capability\ not\ found"{}});}
-\DoxyCodeLine{00139\ \ \ \ \ \}}
-\DoxyCodeLine{00140\ }
-\DoxyCodeLine{00141\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability];}
-\DoxyCodeLine{00142\ \ \ \}}
-\DoxyCodeLine{00143\ }
-\DoxyCodeLine{00144\ \ \ \textcolor{comment}{//\ capability\ exists\ in\ cache}}
-\DoxyCodeLine{00145\ \ \ \textcolor{comment}{//\ a\ capability\ has\ at\ least\ one\ bond}}
-\DoxyCodeLine{00146\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00147\ \ \ \{}
-\DoxyCodeLine{00148\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.find(capability)\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}.end();}
-\DoxyCodeLine{00149\ \ \ \}}
-\DoxyCodeLine{00150\ }
-\DoxyCodeLine{00151\ \ \ \textcolor{comment}{//\ bond\ id\ exists\ for\ a\ capability}}
-\DoxyCodeLine{00152\ \ \ \textcolor{comment}{//\ this\ bond\ id\ is\ associated\ with\ this\ capability}}
-\DoxyCodeLine{00153\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7db63a73651b43fa55eb444f49d62b26}{exists}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
-\DoxyCodeLine{00154\ \ \ \{}
-\DoxyCodeLine{00155\ \ \ \ \ \textcolor{comment}{//\ capability\ exists\ guard}}
-\DoxyCodeLine{00156\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(capability))}
-\DoxyCodeLine{00157\ \ \ \ \ \{}
-\DoxyCodeLine{00158\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{keyword}{false};}
-\DoxyCodeLine{00159\ \ \ \ \ \}}
-\DoxyCodeLine{00160\ }
-\DoxyCodeLine{00161\ \ \ \ \ \textcolor{comment}{//\ check\ if\ bond\ id\ exists\ for\ capability}}
-\DoxyCodeLine{00162\ \ \ \ \ \textcolor{keyword}{auto}\&\ bonds\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}}[capability];}
-\DoxyCodeLine{00163\ \ \ \ \ \textcolor{keywordflow}{return}\ std::find(bonds.begin(),\ bonds.end(),\ bond\_id)\ !=\ bonds.end();}
-\DoxyCodeLine{00164\ \ \ \}}
-\DoxyCodeLine{00165\ }
-\DoxyCodeLine{00166\ \ \ \textcolor{comment}{//\ start\ a\ live\ bond}}
-\DoxyCodeLine{00167\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266}{start}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ rclcpp::Node::SharedPtr\ node,\ std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})>\ on\_broken,}
-\DoxyCodeLine{00168\ \ \ \ \ \ \ \ \ \ \ \ \ \ std::function<\textcolor{keywordtype}{void}(\textcolor{keywordtype}{void})>\ on\_formed)}
-\DoxyCodeLine{00169\ \ \ \{}
-\DoxyCodeLine{00170\ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ bond\ with\ event\ callbacks}}
-\DoxyCodeLine{00171\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}}[bond\_id]\ =\ std::make\_unique<bond::Bond>(\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}{bonds\_topic\_}},\ bond\_id,\ node,\ on\_broken,\ on\_formed);}
-\DoxyCodeLine{00172\ }
-\DoxyCodeLine{00173\ \ \ \ \ \textcolor{comment}{//\ start\ the\ bond}}
-\DoxyCodeLine{00174\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}}[bond\_id]-\/>setHeartbeatPeriod(0.10);}
-\DoxyCodeLine{00175\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}}[bond\_id]-\/>setHeartbeatTimeout(10.0);}
-\DoxyCodeLine{00176\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}}[bond\_id]-\/>start();}
-\DoxyCodeLine{00177\ \ \ \}}
-\DoxyCodeLine{00178\ }
-\DoxyCodeLine{00179\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00180\ \ \ \textcolor{comment}{//\ bonds\ topic}}
-\DoxyCodeLine{00181\ \ \ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}{bonds\_topic\_}};}
-\DoxyCodeLine{00182\ }
-\DoxyCodeLine{00183\ \ \ \textcolor{comment}{//\ bond\ cache}}
-\DoxyCodeLine{00184\ \ \ \textcolor{comment}{//\ capability\ -\/>\ bond\ ids}}
-\DoxyCodeLine{00185\ \ \ std::map<std::string,\ std::vector<std::string>>\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\_cache\_}};}
-\DoxyCodeLine{00186\ }
-\DoxyCodeLine{00187\ \ \ \textcolor{comment}{//\ live\ bonds}}
-\DoxyCodeLine{00188\ \ \ \textcolor{comment}{//\ bond\ id\ -\/>\ bond\ object}}
-\DoxyCodeLine{00189\ \ \ std::map<std::string,\ std::unique\_ptr<bond::Bond>>\ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\_bonds\_}};}
-\DoxyCodeLine{00190\ \};}
-\DoxyCodeLine{00191\ }
-\DoxyCodeLine{00192\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/call__establish__bond_8py.tex b/docs/latex/call__establish__bond_8py.tex
deleted file mode 100644
index 0deb3a1..0000000
--- a/docs/latex/call__establish__bond_8py.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\doxysection{capabilities2\+\_\+server/test/call\+\_\+establish\+\_\+bond.py File Reference}
-\hypertarget{call__establish__bond_8py}{}\label{call__establish__bond_8py}\index{capabilities2\_server/test/call\_establish\_bond.py@{capabilities2\_server/test/call\_establish\_bond.py}}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecall__establish__bond}{call\+\_\+establish\+\_\+bond}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__establish__bond_a2300575febd9f503d779af5f6cef21b0}{call\+\_\+establish\+\_\+bond.\+test\+\_\+establish\+\_\+bond}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__establish__bond_a76d78ca9217d39db4716f0c9b663e8fa}{call\+\_\+establish\+\_\+bond.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
diff --git a/docs/latex/call__get__interfaces_8py.tex b/docs/latex/call__get__interfaces_8py.tex
deleted file mode 100644
index 2b52db7..0000000
--- a/docs/latex/call__get__interfaces_8py.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\doxysection{capabilities2\+\_\+server/test/call\+\_\+get\+\_\+interfaces.py File Reference}
-\hypertarget{call__get__interfaces_8py}{}\label{call__get__interfaces_8py}\index{capabilities2\_server/test/call\_get\_interfaces.py@{capabilities2\_server/test/call\_get\_interfaces.py}}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecall__get__interfaces}{call\+\_\+get\+\_\+interfaces}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__interfaces_a244fa53f9a4d366baebc0c54424bb9be}{call\+\_\+get\+\_\+interfaces.\+test\+\_\+get\+\_\+interfaces\+\_\+srv}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__interfaces_a4811a33a2e010c2c4463526e89191d93}{call\+\_\+get\+\_\+interfaces.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
diff --git a/docs/latex/call__get__providers_8py.tex b/docs/latex/call__get__providers_8py.tex
deleted file mode 100644
index 47f7791..0000000
--- a/docs/latex/call__get__providers_8py.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\doxysection{capabilities2\+\_\+server/test/call\+\_\+get\+\_\+providers.py File Reference}
-\hypertarget{call__get__providers_8py}{}\label{call__get__providers_8py}\index{capabilities2\_server/test/call\_get\_providers.py@{capabilities2\_server/test/call\_get\_providers.py}}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecall__get__providers}{call\+\_\+get\+\_\+providers}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__providers_a9b6b81ded0d5cf7cdc5272d5c1bb79b6}{call\+\_\+get\+\_\+providers.\+test\+\_\+get\+\_\+providers\+\_\+srv}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__providers_a19989397f7a847fffc5c2aa893a9f351}{call\+\_\+get\+\_\+providers.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
diff --git a/docs/latex/call__get__semantic__interfaces_8py.tex b/docs/latex/call__get__semantic__interfaces_8py.tex
deleted file mode 100644
index 1617cf9..0000000
--- a/docs/latex/call__get__semantic__interfaces_8py.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\doxysection{capabilities2\+\_\+server/test/call\+\_\+get\+\_\+semantic\+\_\+interfaces.py File Reference}
-\hypertarget{call__get__semantic__interfaces_8py}{}\label{call__get__semantic__interfaces_8py}\index{capabilities2\_server/test/call\_get\_semantic\_interfaces.py@{capabilities2\_server/test/call\_get\_semantic\_interfaces.py}}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecall__get__semantic__interfaces}{call\+\_\+get\+\_\+semantic\+\_\+interfaces}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__semantic__interfaces_a263ddd6a05396d951292f4ec57f3530f}{call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+test\+\_\+get\+\_\+semantic\+\_\+interfaces\+\_\+srv}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__semantic__interfaces_a3b2242441665fc109bf9d960b5c732b6}{call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
diff --git a/docs/latex/call__get__specs_8py.tex b/docs/latex/call__get__specs_8py.tex
deleted file mode 100644
index 549d3b6..0000000
--- a/docs/latex/call__get__specs_8py.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\doxysection{capabilities2\+\_\+server/test/call\+\_\+get\+\_\+specs.py File Reference}
-\hypertarget{call__get__specs_8py}{}\label{call__get__specs_8py}\index{capabilities2\_server/test/call\_get\_specs.py@{capabilities2\_server/test/call\_get\_specs.py}}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecall__get__specs}{call\+\_\+get\+\_\+specs}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__specs_aed98e930040f17e4a3421609861973c2}{call\+\_\+get\+\_\+specs.\+test\+\_\+get\+\_\+capability\+\_\+specs\+\_\+srv}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__specs_a54561396e84d4b97d338bfcfb7adf638}{call\+\_\+get\+\_\+specs.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
diff --git a/docs/latex/call__register__cap_8py.tex b/docs/latex/call__register__cap_8py.tex
deleted file mode 100644
index c322c08..0000000
--- a/docs/latex/call__register__cap_8py.tex
+++ /dev/null
@@ -1,17 +0,0 @@
-\doxysection{capabilities2\+\_\+server/test/call\+\_\+register\+\_\+cap.py File Reference}
-\hypertarget{call__register__cap_8py}{}\label{call__register__cap_8py}\index{capabilities2\_server/test/call\_register\_cap.py@{capabilities2\_server/test/call\_register\_cap.py}}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecall__register__cap}{call\+\_\+register\+\_\+cap}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__register__cap_af74fb13a93506ad89f393dfd4db52c52}{call\+\_\+register\+\_\+cap.\+test\+\_\+register\+\_\+cap}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__register__cap_a542c6864d992b2711c9518ffc9c474e2}{call\+\_\+register\+\_\+cap.\+node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities2__events_2readme_8md.tex b/docs/latex/capabilities2__events_2readme_8md.tex
deleted file mode 100644
index 073aa8f..0000000
--- a/docs/latex/capabilities2__events_2readme_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+events/readme.md File Reference}
-\hypertarget{capabilities2__events_2readme_8md}{}\label{capabilities2__events_2readme_8md}\index{capabilities2\_events/readme.md@{capabilities2\_events/readme.md}}
diff --git a/docs/latex/capabilities2__msgs_2readme_8md.tex b/docs/latex/capabilities2__msgs_2readme_8md.tex
deleted file mode 100644
index 4178030..0000000
--- a/docs/latex/capabilities2__msgs_2readme_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+msgs/readme.md File Reference}
-\hypertarget{capabilities2__msgs_2readme_8md}{}\label{capabilities2__msgs_2readme_8md}\index{capabilities2\_msgs/readme.md@{capabilities2\_msgs/readme.md}}
diff --git a/docs/latex/capabilities2__runner_2readme_8md.tex b/docs/latex/capabilities2__runner_2readme_8md.tex
deleted file mode 100644
index c1ca9f0..0000000
--- a/docs/latex/capabilities2__runner_2readme_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/readme.md File Reference}
-\hypertarget{capabilities2__runner_2readme_8md}{}\label{capabilities2__runner_2readme_8md}\index{capabilities2\_runner/readme.md@{capabilities2\_runner/readme.md}}
diff --git a/docs/latex/capabilities2__server_2include_2capabilities2__server_2models_2readme_8md.tex b/docs/latex/capabilities2__server_2include_2capabilities2__server_2models_2readme_8md.tex
deleted file mode 100644
index 8e158cd..0000000
--- a/docs/latex/capabilities2__server_2include_2capabilities2__server_2models_2readme_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/readme.md File Reference}
-\hypertarget{capabilities2__server_2include_2capabilities2__server_2models_2readme_8md}{}\label{capabilities2__server_2include_2capabilities2__server_2models_2readme_8md}\index{capabilities2\_server/include/capabilities2\_server/models/readme.md@{capabilities2\_server/include/capabilities2\_server/models/readme.md}}
diff --git a/docs/latex/capabilities2__server_2readme_8md.tex b/docs/latex/capabilities2__server_2readme_8md.tex
deleted file mode 100644
index cc94664..0000000
--- a/docs/latex/capabilities2__server_2readme_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+server/readme.md File Reference}
-\hypertarget{capabilities2__server_2readme_8md}{}\label{capabilities2__server_2readme_8md}\index{capabilities2\_server/readme.md@{capabilities2\_server/readme.md}}
diff --git a/docs/latex/capabilities2__server_8composed_8launch_8py.tex b/docs/latex/capabilities2__server_8composed_8launch_8py.tex
deleted file mode 100644
index f349df3..0000000
--- a/docs/latex/capabilities2__server_8composed_8launch_8py.tex
+++ /dev/null
@@ -1,12 +0,0 @@
-\doxysection{capabilities2\+\_\+server/launch/capabilities2\+\_\+server.composed.\+launch.\+py File Reference}
-\hypertarget{capabilities2__server_8composed_8launch_8py}{}\label{capabilities2__server_8composed_8launch_8py}\index{capabilities2\_server/launch/capabilities2\_server.composed.launch.py@{capabilities2\_server/launch/capabilities2\_server.composed.launch.py}}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517}{capabilities2\+\_\+server.\+generate\+\_\+launch\+\_\+description}} ()
-\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities2__server_8launch_8py.tex b/docs/latex/capabilities2__server_8launch_8py.tex
deleted file mode 100644
index d99b7d4..0000000
--- a/docs/latex/capabilities2__server_8launch_8py.tex
+++ /dev/null
@@ -1,12 +0,0 @@
-\doxysection{capabilities2\+\_\+server/launch/capabilities2\+\_\+server.launch.\+py File Reference}
-\hypertarget{capabilities2__server_8launch_8py}{}\label{capabilities2__server_8launch_8py}\index{capabilities2\_server/launch/capabilities2\_server.launch.py@{capabilities2\_server/launch/capabilities2\_server.launch.py}}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517}{capabilities2\+\_\+server.\+generate\+\_\+launch\+\_\+description}} ()
-\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities__api_8hpp.tex b/docs/latex/capabilities__api_8hpp.tex
deleted file mode 100644
index b4bcf44..0000000
--- a/docs/latex/capabilities__api_8hpp.tex
+++ /dev/null
@@ -1,45 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/capabilities\+\_\+api.hpp File Reference}
-\hypertarget{capabilities__api_8hpp}{}\label{capabilities__api_8hpp}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_api.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_api.hpp}}
-{\ttfamily \#include $<$memory$>$}\newline
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$functional$>$}\newline
-{\ttfamily \#include $<$tinyxml2.\+h$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/db\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+db.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/bond\+\_\+cache.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/runner\+\_\+cache.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/uuid\+\_\+generator.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/remapping.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+spec.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+remappings.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/running\+\_\+capability.\+hpp$>$}\newline
-Include dependency graph for capabilities\+\_\+api.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{capabilities__api_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{capabilities__api_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{capabilities2\+\_\+server\+::\+Capabilities\+API}}
-\begin{DoxyCompactList}\small\item\em capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities__api_8hpp__dep__incl.md5 b/docs/latex/capabilities__api_8hpp__dep__incl.md5
deleted file mode 100644
index 69b18e3..0000000
--- a/docs/latex/capabilities__api_8hpp__dep__incl.md5
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diff --git a/docs/latex/capabilities__api_8hpp_source.tex b/docs/latex/capabilities__api_8hpp_source.tex
deleted file mode 100644
index 8b61738..0000000
--- a/docs/latex/capabilities__api_8hpp_source.tex
+++ /dev/null
@@ -1,663 +0,0 @@
-\doxysection{capabilities\+\_\+api.\+hpp}
-\hypertarget{capabilities__api_8hpp_source}{}\label{capabilities__api_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_api.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_api.hpp}}
-\mbox{\hyperlink{capabilities__api_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <memory>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <map>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <vector>}}
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <functional>}}
-\DoxyCodeLine{00008\ }
-\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <tinyxml2.h>}}
-\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
-\DoxyCodeLine{00011\ }
-\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
-\DoxyCodeLine{00013\ }
-\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{db__base_8hpp}{capabilities2\_server/db\_base.hpp}}>}}
-\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{capabilities__db_8hpp}{capabilities2\_server/capabilities\_db.hpp}}>}}
-\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{bond__cache_8hpp}{capabilities2\_server/bond\_cache.hpp}}>}}
-\DoxyCodeLine{00017\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__cache_8hpp}{capabilities2\_server/runner\_cache.hpp}}>}}
-\DoxyCodeLine{00018\ }
-\DoxyCodeLine{00019\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{uuid__generator_8hpp}{capabilities2\_events/uuid\_generator.hpp}}>}}
-\DoxyCodeLine{00020\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__base_8hpp}{capabilities2\_events/event\_base.hpp}}>}}
-\DoxyCodeLine{00021\ }
-\DoxyCodeLine{00022\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/remapping.hpp>}}
-\DoxyCodeLine{00023\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability.hpp>}}
-\DoxyCodeLine{00024\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_spec.hpp>}}
-\DoxyCodeLine{00025\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_remappings.hpp>}}
-\DoxyCodeLine{00026\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/running\_capability.hpp>}}
-\DoxyCodeLine{00027\ }
-\DoxyCodeLine{00028\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00029\ \{}
-\DoxyCodeLine{00030\ }
-\DoxyCodeLine{00038\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{CapabilitiesAPI}}}
-\DoxyCodeLine{00039\ \{}
-\DoxyCodeLine{00040\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00041\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce}{CapabilitiesAPI}}()\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\_}}(nullptr),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}(nullptr),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}(),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}(),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}(nullptr)}
-\DoxyCodeLine{00042\ \ \ \{}
-\DoxyCodeLine{00043\ \ \ \}}
-\DoxyCodeLine{00044\ }
-\DoxyCodeLine{00051\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}{connect}}(\textcolor{keyword}{const}\ std::string\&\ db\_file,\ rclcpp::node\_interfaces::NodeLoggingInterface::SharedPtr\ logging)}
-\DoxyCodeLine{00052\ \ \ \{}
-\DoxyCodeLine{00053\ \ \ \ \ \textcolor{comment}{//\ set\ logger}}
-\DoxyCodeLine{00054\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}\ =\ logging;}
-\DoxyCodeLine{00055\ }
-\DoxyCodeLine{00056\ \ \ \ \ \textcolor{comment}{//\ connect\ db}}
-\DoxyCodeLine{00057\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}\ =\ std::make\_unique<CapabilitiesDB>(db\_file);}
-\DoxyCodeLine{00058\ }
-\DoxyCodeLine{00059\ \ \ \ \ \textcolor{comment}{//\ log}}
-\DoxyCodeLine{00060\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Capabilities\ API\ connected\ to\ db:\ \%s"{}},\ db\_file.c\_str());}
-\DoxyCodeLine{00061\ \ \ \}}
-\DoxyCodeLine{00062\ }
-\DoxyCodeLine{00073\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\_capability}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ provider)}
-\DoxyCodeLine{00074\ \ \ \{}
-\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ return\ value}}
-\DoxyCodeLine{00076\ \ \ \ \ \textcolor{keywordtype}{bool}\ value\ =\ \textcolor{keyword}{true};}
-\DoxyCodeLine{00077\ }
-\DoxyCodeLine{00078\ \ \ \ \ \textcolor{comment}{//\ get\ the\ running\ model\ from\ the\ db}}
-\DoxyCodeLine{00079\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ running\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_running(provider);}
-\DoxyCodeLine{00080\ }
-\DoxyCodeLine{00081\ \ \ \ \ \textcolor{comment}{//\ start\ all\ dependencies}}
-\DoxyCodeLine{00082\ \ \ \ \ \textcolor{comment}{//\ go\ through\ the\ running\ model\ and\ start\ the\ necessary\ dependencies}}
-\DoxyCodeLine{00083\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ run\ :\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}})}
-\DoxyCodeLine{00084\ \ \ \ \ \{}
-\DoxyCodeLine{00085\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}found\ dependency:\ \%s"{}},\ run.interface.c\_str());}
-\DoxyCodeLine{00086\ }
-\DoxyCodeLine{00087\ \ \ \ \ \ \ \textcolor{comment}{//\ make\ an\ internal\ 'use'\ bond\ for\ the\ capability\ dependency}}
-\DoxyCodeLine{00088\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002}{bind\_dependency}}(run.interface);}
-\DoxyCodeLine{00089\ }
-\DoxyCodeLine{00090\ \ \ \ \ \ \ \textcolor{comment}{//\ add\ the\ runner\ to\ the\ cache}}
-\DoxyCodeLine{00091\ \ \ \ \ \ \ value\ =\ value\ and\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\_capability}}(node,\ run.interface,\ run.provider);}
-\DoxyCodeLine{00092\ \ \ \ \ \}}
-\DoxyCodeLine{00093\ }
-\DoxyCodeLine{00094\ \ \ \ \ \textcolor{comment}{//\ get\ the\ provider\ specification\ for\ the\ capability}}
-\DoxyCodeLine{00095\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}\ run\_config\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_run\_config(provider);}
-\DoxyCodeLine{00096\ }
-\DoxyCodeLine{00097\ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ runner,\ this\ call\ implicitly\ starts\ the\ runner}}
-\DoxyCodeLine{00098\ \ \ \ \ \textcolor{comment}{//\ create\ a\ runner\ id\ which\ is\ the\ cap\ name\ to\ uniquely\ identify\ the\ runner}}
-\DoxyCodeLine{00099\ \ \ \ \ \textcolor{comment}{//\ this\ means\ only\ one\ runner\ per\ capability\ name}}
-\DoxyCodeLine{00100\ \ \ \ \ \textcolor{comment}{//}}
-\DoxyCodeLine{00101\ \ \ \ \ \textcolor{comment}{//\ TODO:\ consider\ the\ logic\ for\ multiple\ runners\ per\ capability}}
-\DoxyCodeLine{00102\ \ \ \ \ \textcolor{keywordflow}{try}}
-\DoxyCodeLine{00103\ \ \ \ \ \{}
-\DoxyCodeLine{00104\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25}{add\_runner}}(node,\ capability,\ run\_config);}
-\DoxyCodeLine{00105\ }
-\DoxyCodeLine{00106\ \ \ \ \ \ \ \textcolor{comment}{//\ log}}
-\DoxyCodeLine{00107\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}started\ capability:\ \%s\ with\ provider:\ \%s"{}},\ capability.c\_str(),}
-\DoxyCodeLine{00108\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ provider.c\_str());}
-\DoxyCodeLine{00109\ }
-\DoxyCodeLine{00110\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ value\ and\ \textcolor{keyword}{true};}
-\DoxyCodeLine{00111\ \ \ \ \ \}}
-\DoxyCodeLine{00112\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
-\DoxyCodeLine{00113\ \ \ \ \ \{}
-\DoxyCodeLine{00114\ \ \ \ \ \ \ RCLCPP\_WARN(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ start\ runner:\ \%s"{}},\ e.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}());}
-\DoxyCodeLine{00115\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{keyword}{false};}
-\DoxyCodeLine{00116\ \ \ \ \ \}}
-\DoxyCodeLine{00117\ \ \ \}}
-\DoxyCodeLine{00118\ }
-\DoxyCodeLine{00125\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\_capability}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00126\ \ \ \{}
-\DoxyCodeLine{00127\ \ \ \ \ \textcolor{comment}{//\ make\ sure\ provider\ exists}}
-\DoxyCodeLine{00128\ \ \ \ \ \textcolor{comment}{//\ this\ can\ happen\ if\ dependencies\ fail\ to\ resolve\ in\ the\ first\ place}}
-\DoxyCodeLine{00129\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
-\DoxyCodeLine{00130\ \ \ \ \ \{}
-\DoxyCodeLine{00131\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ get\ provider\ for:\ \%s"{}},\ capability.c\_str());}
-\DoxyCodeLine{00132\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00133\ \ \ \ \ \}}
-\DoxyCodeLine{00134\ }
-\DoxyCodeLine{00135\ \ \ \ \ \textcolor{comment}{//\ get\ the\ provider\ from\ runner}}
-\DoxyCodeLine{00136\ \ \ \ \ std::string\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}{provider}}(capability);}
-\DoxyCodeLine{00137\ }
-\DoxyCodeLine{00138\ \ \ \ \ \textcolor{comment}{//\ get\ the\ running\ model\ from\ the\ db}}
-\DoxyCodeLine{00139\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ running\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_running(provider);}
-\DoxyCodeLine{00140\ }
-\DoxyCodeLine{00141\ \ \ \ \ \textcolor{comment}{//\ unbind\ and\ stop\ dependencies}}
-\DoxyCodeLine{00142\ \ \ \ \ \textcolor{comment}{//\ FIXME:\ this\ unrolls\ the\ dependency\ tree\ from\ the\ bottom\ up\ but\ should\ probably\ be\ top\ down}}
-\DoxyCodeLine{00143\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ run\ :\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}})}
-\DoxyCodeLine{00144\ \ \ \ \ \{}
-\DoxyCodeLine{00145\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}freeing\ dependency:\ \%s\ of\ :\ \%s"{}},\ run.interface.c\_str(),\ capability.c\_str());}
-\DoxyCodeLine{00146\ }
-\DoxyCodeLine{00147\ \ \ \ \ \ \ \textcolor{comment}{//\ remove\ the\ internal\ 'use'\ bond\ for\ the\ capability\ dependency}}
-\DoxyCodeLine{00148\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282}{unbind\_dependency}}(run.interface);}
-\DoxyCodeLine{00149\ }
-\DoxyCodeLine{00150\ \ \ \ \ \ \ \textcolor{comment}{//\ stop\ the\ dependency\ if\ no\ more\ bonds}}
-\DoxyCodeLine{00151\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(run.interface))}
-\DoxyCodeLine{00152\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00153\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\_capability}}(run.interface);}
-\DoxyCodeLine{00154\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00155\ \ \ \ \ \}}
-\DoxyCodeLine{00156\ }
-\DoxyCodeLine{00157\ \ \ \ \ \textcolor{comment}{//\ remove\ the\ runner}}
-\DoxyCodeLine{00158\ \ \ \ \ \textcolor{comment}{//\ this\ will\ implicitly\ stop\ the\ runner}}
-\DoxyCodeLine{00159\ \ \ \ \ \textcolor{keywordflow}{try}}
-\DoxyCodeLine{00160\ \ \ \ \ \{}
-\DoxyCodeLine{00161\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c}{remove\_runner}}(capability);}
-\DoxyCodeLine{00162\ \ \ \ \ \}}
-\DoxyCodeLine{00163\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
-\DoxyCodeLine{00164\ \ \ \ \ \{}
-\DoxyCodeLine{00165\ \ \ \ \ \ \ RCLCPP\_WARN(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ stop\ runner:\ \%s"{}},\ e.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}());}
-\DoxyCodeLine{00166\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00167\ \ \ \ \ \}}
-\DoxyCodeLine{00168\ }
-\DoxyCodeLine{00169\ \ \ \ \ \textcolor{comment}{//\ log}}
-\DoxyCodeLine{00170\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}stopped\ capability:\ \%s"{}},\ capability.c\_str());}
-\DoxyCodeLine{00171\ \ \ \}}
-\DoxyCodeLine{00172\ }
-\DoxyCodeLine{00180\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\_capability}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
-\DoxyCodeLine{00181\ \ \ \{}
-\DoxyCodeLine{00182\ \ \ \ \ \textcolor{comment}{//\ remove\ bond\ from\ cache\ for\ capability}}
-\DoxyCodeLine{00183\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}{remove\_bond}}(capability,\ bond\_id);}
-\DoxyCodeLine{00184\ }
-\DoxyCodeLine{00185\ \ \ \ \ \textcolor{comment}{//\ stop\ the\ capability\ if\ no\ more\ bonds}}
-\DoxyCodeLine{00186\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(capability))}
-\DoxyCodeLine{00187\ \ \ \ \ \{}
-\DoxyCodeLine{00188\ \ \ \ \ \ \ \textcolor{comment}{//\ stop\ the\ capability}}
-\DoxyCodeLine{00189\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}stopping\ freed\ capability:\ \%s"{}},\ capability.c\_str());}
-\DoxyCodeLine{00190\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\_capability}}(capability);}
-\DoxyCodeLine{00191\ \ \ \ \ \}}
-\DoxyCodeLine{00192\ \ \ \}}
-\DoxyCodeLine{00193\ }
-\DoxyCodeLine{00205\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}{trigger\_capability}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
-\DoxyCodeLine{00206\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters)}
-\DoxyCodeLine{00207\ \ \ \{}
-\DoxyCodeLine{00208\ \ \ \ \ \textcolor{comment}{//\ validate\ bond}}
-\DoxyCodeLine{00209\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(capability,\ bond\_id))}
-\DoxyCodeLine{00210\ \ \ \ \ \{}
-\DoxyCodeLine{00211\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}this\ bond:\ \%s\ is\ not\ using\ capability:\ \%s"{}},\ bond\_id.c\_str(),}
-\DoxyCodeLine{00212\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ capability.c\_str());}
-\DoxyCodeLine{00213\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00214\ \ \ \ \ \}}
-\DoxyCodeLine{00215\ }
-\DoxyCodeLine{00216\ \ \ \ \ \textcolor{comment}{//\ trigger\ the\ runner}}
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-\DoxyCodeLine{00218\ \ \ \ \ \{}
-\DoxyCodeLine{00219\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a}{trigger\_runner}}(bond\_id,\ capability,\ instance\_id,\ parameters);}
-\DoxyCodeLine{00220\ \ \ \ \ \}}
-\DoxyCodeLine{00221\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
-\DoxyCodeLine{00222\ \ \ \ \ \{}
-\DoxyCodeLine{00223\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ trigger\ runner:\ \%s"{}},\ e.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}());}
-\DoxyCodeLine{00224\ \ \ \ \ \}}
-\DoxyCodeLine{00225\ \ \ \}}
-\DoxyCodeLine{00226\ }
-\DoxyCodeLine{00238\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}{use\_capability}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ provider,}
-\DoxyCodeLine{00239\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ bond\_id)}
-\DoxyCodeLine{00240\ \ \ \{}
-\DoxyCodeLine{00241\ \ \ \ \ \textcolor{comment}{//\ add\ bond\ to\ cache\ for\ capability}}
-\DoxyCodeLine{00242\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}{add\_bond}}(capability,\ bond\_id);}
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-\DoxyCodeLine{00244\ \ \ \ \ \textcolor{comment}{//\ start\ the\ capability\ with\ the\ provider}}
-\DoxyCodeLine{00245\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\_capability}}(node,\ capability,\ provider);}
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-\DoxyCodeLine{00256\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}{connect\_capability}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilityConnection\&\ connection)}
-\DoxyCodeLine{00257\ \ \ \{}
-\DoxyCodeLine{00258\ \ \ \ \ \textcolor{comment}{//\ TODO:\ implement\ connection\ storage\ for\ non-\/running\ capabilities}}
-\DoxyCodeLine{00259\ \ \ \ \ \textcolor{comment}{//\ could\ also\ implicitly\ increment\ use\ counts\ for\ capabilities\ with\ this\ bond}}
-\DoxyCodeLine{00260\ \ \ \ \ \textcolor{comment}{//\ so\ that\ the\ capabilities\ are\ started\ and\ then\ connected}}
-\DoxyCodeLine{00261\ \ \ \ \ \textcolor{comment}{//\ could\ also\ increment\ use\ either\ way\ (running\ or\ not),\ which\ would\ allow\ tracking\ connections\ as\ 'uses'}}
-\DoxyCodeLine{00262\ \ \ \ \ \textcolor{comment}{//\ all\ of\ this\ would\ require\ freeing\ capabilities}}
-\DoxyCodeLine{00263\ }
-\DoxyCodeLine{00264\ \ \ \ \ \textcolor{comment}{//\ validate\ bonds}}
-\DoxyCodeLine{00265\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}}(connection.source.capability,\ bond\_id)\ ||}
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-\DoxyCodeLine{00267\ \ \ \ \ \{}
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-\DoxyCodeLine{00269\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00270\ \ \ \ \ \}}
-\DoxyCodeLine{00271\ }
-\DoxyCodeLine{00272\ \ \ \ \ \textcolor{comment}{//\ check\ if\ source\ and\ target\ capabilities\ are\ running}}
-\DoxyCodeLine{00273\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(connection.source.capability)\ ||\ !\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(connection.target.capability))}
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-\DoxyCodeLine{00276\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00277\ \ \ \ \ \}}
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-\DoxyCodeLine{00279\ \ \ \ \ \textcolor{keywordflow}{try}}
-\DoxyCodeLine{00280\ \ \ \ \ \{}
-\DoxyCodeLine{00281\ \ \ \ \ \ \ \textcolor{comment}{//\ create\ a\ unique\ connection\ id\ for\ the\ connection\ using\ the\ bond\_id\ and\ instance\ ids\ }}
-\DoxyCodeLine{00282\ \ \ \ \ \ \ \textcolor{comment}{//(format:\ "{}bond\_id/instance\_id/target\_instance\_id"{})}}
-\DoxyCodeLine{00283\ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\ connection\_id\ =\ bond\_id\ +\ \textcolor{charliteral}{'/'}\ +\ connection.source.instance\_id\ +\ \textcolor{charliteral}{'/'}\ +\ connection.target.instance\_id;}
-\DoxyCodeLine{00284\ }
-\DoxyCodeLine{00285\ \ \ \ \ \ \ \textcolor{comment}{//\ need\ to\ pass\ event\ emitter\ to\ the\ runner\ cache\ so\ that\ it\ can\ be\ set\ in\ the\ runner}}
-\DoxyCodeLine{00286\ \ \ \ \ \ \ \textcolor{comment}{//\ this\ allows\ the\ runner\ to\ emit\ events\ on\ state\ changes}}
-\DoxyCodeLine{00287\ \ \ \ \ \ \ \textcolor{comment}{//\ default\ runner\ behaviour\ does\ not\ use\ event\ subsystem}}
-\DoxyCodeLine{00288\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf}{add\_connection}}(connection.source.capability,\ connection\_id,\ connection,\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\_}});}
-\DoxyCodeLine{00289\ }
-\DoxyCodeLine{00290\ \ \ \ \ \ \ \textcolor{comment}{//\ log}}
-\DoxyCodeLine{00291\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}set\ 'type\ \%d'\ connection\ for\ runner:\ \%s\ with\ id:\ \%s"{}},\ connection.type.code,}
-\DoxyCodeLine{00292\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ connection.source.capability.c\_str(),\ connection\_id.c\_str());}
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-\DoxyCodeLine{00294\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
-\DoxyCodeLine{00295\ \ \ \ \ \{}
-\DoxyCodeLine{00296\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}could\ not\ connect\ runners:\ \%s"{}},\ e.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}());}
-\DoxyCodeLine{00297\ \ \ \ \ \}}
-\DoxyCodeLine{00298\ \ \ \}}
-\DoxyCodeLine{00299\ }
-\DoxyCodeLine{00300\ \ \ \textcolor{comment}{//\ capability\ api}}
-\DoxyCodeLine{00302\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}{add\_capability}}(\textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilitySpec\&\ spec)}
-\DoxyCodeLine{00303\ \ \ \{}
-\DoxyCodeLine{00304\ \ \ \ \ \textcolor{comment}{//\ peak\ at\ the\ spec\ header}}
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-\DoxyCodeLine{00306\ \ \ \ \ header.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\_yaml}}(YAML::Load(spec.content));}
-\DoxyCodeLine{00307\ \ \ \ \ header.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ =\ spec.package\ +\ \textcolor{stringliteral}{"{}/"{}}\ +\ header.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
-\DoxyCodeLine{00308\ }
-\DoxyCodeLine{00309\ \ \ \ \ \textcolor{comment}{//\ check\ type\ and\ exists,\ create\ model\ and\ add\ to\ db}}
-\DoxyCodeLine{00310\ \ \ \ \ \textcolor{keywordflow}{if}\ (spec.type\ ==\ capabilities2\_msgs::msg::CapabilitySpec::CAPABILITY\_INTERFACE)}
-\DoxyCodeLine{00311\ \ \ \ \ \{}
-\DoxyCodeLine{00312\ \ \ \ \ \ \ \textcolor{comment}{//\ exists\ guard}}
-\DoxyCodeLine{00313\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>exists<\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}>(header.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}))}
-\DoxyCodeLine{00314\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00315\ \ \ \ \ \ \ \ \ RCLCPP\_WARN(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}interface\ already\ exists:\ \%s"{}},\ header.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.c\_str());}
-\DoxyCodeLine{00316\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00317\ \ \ \ \ \ \ \}}
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-\DoxyCodeLine{00321\ \ \ \ \ \ \ \textcolor{keywordflow}{try}}
-\DoxyCodeLine{00322\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00323\ \ \ \ \ \ \ \ \ model.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a379d6d70a00d7ed95c279bd2d38cd286}{from\_yaml}}(YAML::Load(spec.content));}
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-\DoxyCodeLine{00325\ \ \ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ std::exception\&\ e)}
-\DoxyCodeLine{00326\ \ \ \ \ \ \ \{}
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-\DoxyCodeLine{00329\ \ \ \ \ \ \ \}}
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-\DoxyCodeLine{00331\ \ \ \ \ \ \ \textcolor{comment}{//\ add\ package\ to\ name\ probably\ to\ avoid\ collisions\ (this\ was\ previous\ convention)}}
-\DoxyCodeLine{00332\ \ \ \ \ \ \ model.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ =\ spec.package\ +\ \textcolor{stringliteral}{"{}/"{}}\ +\ model.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
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-\DoxyCodeLine{00335\ \ \ \ \ \ \ \textcolor{comment}{//\ log}}
-\DoxyCodeLine{00336\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}interface\ added\ to\ db:\ \%s"{}},\ model.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.c\_str());}
-\DoxyCodeLine{00337\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
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-\DoxyCodeLine{00340\ \ \ \ \ \textcolor{keywordflow}{if}\ (spec.type\ ==\ capabilities2\_msgs::msg::CapabilitySpec::SEMANTIC\_CAPABILITY\_INTERFACE)}
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-\DoxyCodeLine{00345\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
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-\DoxyCodeLine{00354\ \ \ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ std::exception\&\ e)}
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-\DoxyCodeLine{00357\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
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-\DoxyCodeLine{00360\ \ \ \ \ \ \ model.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ =\ spec.package\ +\ \textcolor{stringliteral}{"{}/"{}}\ +\ model.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
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-\DoxyCodeLine{00378\ \ \ \ \ \ \ \textcolor{keywordflow}{try}}
-\DoxyCodeLine{00379\ \ \ \ \ \ \ \{}
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-\DoxyCodeLine{00391\ \ \ \ \ \ \ \textcolor{comment}{//\ log}}
-\DoxyCodeLine{00392\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}provider\ added\ to\ db:\ \%s"{}},\ model.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.c\_str());}
-\DoxyCodeLine{00393\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00394\ \ \ \ \ \}}
-\DoxyCodeLine{00395\ }
-\DoxyCodeLine{00396\ \ \ \ \ \textcolor{comment}{//\ couldn't\ parse\ unknown\ capability\ type}}
-\DoxyCodeLine{00397\ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}unknown\ capability\ type:\ \%s"{}},\ spec.type.c\_str());}
-\DoxyCodeLine{00398\ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00399\ \ \ \}}
-\DoxyCodeLine{00400\ }
-\DoxyCodeLine{00401\ \ \ \textcolor{comment}{//\ query\ api}}
-\DoxyCodeLine{00402\ \ \ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03}{get\_interfaces}}()}
-\DoxyCodeLine{00403\ \ \ \{}
-\DoxyCodeLine{00404\ \ \ \ \ std::vector<std::string>\ interfaces;}
-\DoxyCodeLine{00405\ }
-\DoxyCodeLine{00406\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ interface\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_interfaces())}
-\DoxyCodeLine{00407\ \ \ \ \ \{}
-\DoxyCodeLine{00408\ \ \ \ \ \ \ interfaces.push\_back(interface.header.name);}
-\DoxyCodeLine{00409\ \ \ \ \ \}}
-\DoxyCodeLine{00410\ }
-\DoxyCodeLine{00411\ \ \ \ \ \textcolor{keywordflow}{return}\ interfaces;}
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-\DoxyCodeLine{00413\ }
-\DoxyCodeLine{00414\ \ \ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52}{get\_semantic\_interfaces}}(\textcolor{keyword}{const}\ std::string\&\ interface)}
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-\DoxyCodeLine{00416\ \ \ \ \ std::vector<std::string>\ semantic\_interfaces;}
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-\DoxyCodeLine{00418\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ semantic\_interface\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_semantic\_interfaces\_by\_interface(interface))}
-\DoxyCodeLine{00419\ \ \ \ \ \{}
-\DoxyCodeLine{00420\ \ \ \ \ \ \ semantic\_interfaces.push\_back(semantic\_interface.header.name);}
-\DoxyCodeLine{00421\ \ \ \ \ \}}
-\DoxyCodeLine{00422\ }
-\DoxyCodeLine{00423\ \ \ \ \ \textcolor{keywordflow}{return}\ semantic\_interfaces;}
-\DoxyCodeLine{00424\ \ \ \}}
-\DoxyCodeLine{00425\ }
-\DoxyCodeLine{00426\ \ \ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a}{get\_providers}}(\textcolor{keyword}{const}\ std::string\&\ interface,\ \textcolor{keyword}{const}\ \textcolor{keywordtype}{bool}\&\ include\_semantic)}
-\DoxyCodeLine{00427\ \ \ \{}
-\DoxyCodeLine{00428\ \ \ \ \ std::vector<std::string>\ providers;}
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-\DoxyCodeLine{00430\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ provider\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_providers\_by\_interface(interface))}
-\DoxyCodeLine{00431\ \ \ \ \ \{}
-\DoxyCodeLine{00432\ \ \ \ \ \ \ providers.push\_back(provider.header.name);}
-\DoxyCodeLine{00433\ \ \ \ \ \}}
-\DoxyCodeLine{00434\ }
-\DoxyCodeLine{00435\ \ \ \ \ \textcolor{comment}{//\ if\ not\ include\_semantic,\ remove\ providers\ for\ semantic\ interfaces}}
-\DoxyCodeLine{00436\ \ \ \ \ \textcolor{keywordflow}{if}\ (!include\_semantic)}
-\DoxyCodeLine{00437\ \ \ \ \ \{}
-\DoxyCodeLine{00438\ \ \ \ \ \ \ \textcolor{comment}{//\ TODO:\ implement}}
-\DoxyCodeLine{00439\ \ \ \ \ \}}
-\DoxyCodeLine{00440\ }
-\DoxyCodeLine{00441\ \ \ \ \ \textcolor{keywordflow}{return}\ providers;}
-\DoxyCodeLine{00442\ \ \ \}}
-\DoxyCodeLine{00443\ }
-\DoxyCodeLine{00451\ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilitySpec\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8}{get\_capability\_spec}}(\textcolor{keyword}{const}\ std::string\&\ resource)}
-\DoxyCodeLine{00452\ \ \ \{}
-\DoxyCodeLine{00453\ \ \ \ \ capabilities2\_msgs::msg::CapabilitySpec\ msg;}
-\DoxyCodeLine{00454\ }
-\DoxyCodeLine{00455\ \ \ \ \ \textcolor{comment}{//\ search\ db\ for\ resource}}
-\DoxyCodeLine{00456\ \ \ \ \ \textcolor{comment}{//\ interfaces}}
-\DoxyCodeLine{00457\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \textcolor{keyword}{interface\ }=\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_interface(resource);}
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-\DoxyCodeLine{00459\ \ \ \ \ \textcolor{keywordflow}{if}\ (!interface.header.name.empty())}
-\DoxyCodeLine{00460\ \ \ \ \ \{}
-\DoxyCodeLine{00461\ \ \ \ \ \ \ \textcolor{comment}{//\ package\ name\ is\ first\ part\ of\ name\ separated\ by\ /}}
-\DoxyCodeLine{00462\ \ \ \ \ \ \ msg.package\ =\ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.substr(0,\ interface.header.name.find\_first\_of(\textcolor{charliteral}{'/'}));}
-\DoxyCodeLine{00463\ \ \ \ \ \ \ msg.type\ =\ interface.header.type;}
-\DoxyCodeLine{00464\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ spec\ convert\ to\ yaml\ then\ to\ string}}
-\DoxyCodeLine{00465\ \ \ \ \ \ \ YAML::Node\ spec\ =\ interface.to\_yaml();}
-\DoxyCodeLine{00466\ \ \ \ \ \ \ \textcolor{comment}{//\ fix\ name\ to\ remove\ package\ name}}
-\DoxyCodeLine{00467\ \ \ \ \ \ \ spec[\textcolor{stringliteral}{"{}name"{}}]\ =\ spec[\textcolor{stringliteral}{"{}name"{}}].as<std::string>().substr(interface.header.name.find\_first\_of(\textcolor{charliteral}{'/'})\ +\ 1);}
-\DoxyCodeLine{00468\ \ \ \ \ \ \ msg.content\ =\ YAML::Dump(spec);}
-\DoxyCodeLine{00469\ \ \ \ \ \}}
-\DoxyCodeLine{00470\ }
-\DoxyCodeLine{00471\ \ \ \ \ \textcolor{comment}{//\ semantic\ interfaces}}
-\DoxyCodeLine{00472\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ semantic\_interface\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_semantic\_interface(resource);}
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-\DoxyCodeLine{00474\ \ \ \ \ \textcolor{keywordflow}{if}\ (!semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
-\DoxyCodeLine{00475\ \ \ \ \ \{}
-\DoxyCodeLine{00476\ \ \ \ \ \ \ msg.package\ =\ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.substr(0,\ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.find\_first\_of(\textcolor{charliteral}{'/'}));}
-\DoxyCodeLine{00477\ \ \ \ \ \ \ msg.type\ =\ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}};}
-\DoxyCodeLine{00478\ \ \ \ \ \ \ YAML::Node\ spec\ =\ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a27bcd752bad7f0e68baaa7754a6221c5}{to\_yaml}}();}
-\DoxyCodeLine{00479\ \ \ \ \ \ \ spec[\textcolor{stringliteral}{"{}name"{}}]\ =\ spec[\textcolor{stringliteral}{"{}name"{}}].as<std::string>().substr(semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.find\_first\_of(\textcolor{charliteral}{'/'})\ +\ 1);}
-\DoxyCodeLine{00480\ \ \ \ \ \ \ msg.content\ =\ YAML::Dump(spec);}
-\DoxyCodeLine{00481\ \ \ \ \ \}}
-\DoxyCodeLine{00482\ }
-\DoxyCodeLine{00483\ \ \ \ \ \textcolor{comment}{//\ providers}}
-\DoxyCodeLine{00484\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_provider(resource);}
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-\DoxyCodeLine{00486\ \ \ \ \ \textcolor{keywordflow}{if}\ (!provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
-\DoxyCodeLine{00487\ \ \ \ \ \{}
-\DoxyCodeLine{00488\ \ \ \ \ \ \ msg.package\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.substr(0,\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.find\_first\_of(\textcolor{charliteral}{'/'}));}
-\DoxyCodeLine{00489\ \ \ \ \ \ \ msg.type\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}};}
-\DoxyCodeLine{00490\ \ \ \ \ \ \ YAML::Node\ spec\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1a91763b3ebf0fe9fc9d38a0b9315fb9}{to\_yaml}}();}
-\DoxyCodeLine{00491\ \ \ \ \ \ \ spec[\textcolor{stringliteral}{"{}name"{}}]\ =\ spec[\textcolor{stringliteral}{"{}name"{}}].as<std::string>().substr(provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.find\_first\_of(\textcolor{charliteral}{'/'})\ +\ 1);}
-\DoxyCodeLine{00492\ \ \ \ \ \ \ msg.content\ =\ YAML::Dump(spec);}
-\DoxyCodeLine{00493\ \ \ \ \ \}}
-\DoxyCodeLine{00494\ }
-\DoxyCodeLine{00495\ \ \ \ \ \textcolor{keywordflow}{return}\ msg;}
-\DoxyCodeLine{00496\ \ \ \}}
-\DoxyCodeLine{00497\ }
-\DoxyCodeLine{00498\ \ \ std::vector<capabilities2\_msgs::msg::CapabilitySpec>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8}{get\_capability\_specs}}()}
-\DoxyCodeLine{00499\ \ \ \{}
-\DoxyCodeLine{00500\ \ \ \ \ \textcolor{comment}{//\ get\ all\ capability\ specs\ from\ db}}
-\DoxyCodeLine{00501\ \ \ \ \ std::vector<capabilities2\_msgs::msg::CapabilitySpec>\ specs;}
-\DoxyCodeLine{00502\ }
-\DoxyCodeLine{00503\ \ \ \ \ \textcolor{comment}{//\ interfaces}}
-\DoxyCodeLine{00504\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ interface\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_interfaces())}
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-\DoxyCodeLine{00506\ \ \ \ \ \ \ capabilities2\_msgs::msg::CapabilitySpec\ msg;}
-\DoxyCodeLine{00507\ \ \ \ \ \ \ msg.package\ =\ interface.header.name.substr(0,\ interface.header.name.find\_first\_of(\textcolor{charliteral}{'/'}));}
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-\DoxyCodeLine{00509\ \ \ \ \ \ \ YAML::Node\ spec\ =\ interface.to\_yaml();}
-\DoxyCodeLine{00510\ \ \ \ \ \ \ spec[\textcolor{stringliteral}{"{}name"{}}]\ =\ spec[\textcolor{stringliteral}{"{}name"{}}].as<std::string>().substr(interface.header.name.find\_first\_of(\textcolor{charliteral}{'/'})\ +\ 1);}
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-\DoxyCodeLine{00512\ \ \ \ \ \ \ specs.push\_back(msg);}
-\DoxyCodeLine{00513\ \ \ \ \ \}}
-\DoxyCodeLine{00514\ }
-\DoxyCodeLine{00515\ \ \ \ \ \textcolor{comment}{//\ semantic\ interfaces}}
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-\DoxyCodeLine{00518\ \ \ \ \ \ \ capabilities2\_msgs::msg::CapabilitySpec\ msg;}
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-\DoxyCodeLine{00524\ \ \ \ \ \ \ specs.push\_back(msg);}
-\DoxyCodeLine{00525\ \ \ \ \ \}}
-\DoxyCodeLine{00526\ }
-\DoxyCodeLine{00527\ \ \ \ \ \textcolor{comment}{//\ providers}}
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-\DoxyCodeLine{00533\ \ \ \ \ \ \ YAML::Node\ spec\ =\ provider.to\_yaml();}
-\DoxyCodeLine{00534\ \ \ \ \ \ \ spec[\textcolor{stringliteral}{"{}name"{}}]\ =\ spec[\textcolor{stringliteral}{"{}name"{}}].as<std::string>().substr(provider.header.name.find\_first\_of(\textcolor{charliteral}{'/'})\ +\ 1);}
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-\DoxyCodeLine{00536\ \ \ \ \ \ \ specs.push\_back(msg);}
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-\DoxyCodeLine{00539\ \ \ \ \ \textcolor{keywordflow}{return}\ specs;}
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-\DoxyCodeLine{00542\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f}{get\_remappings}}(\textcolor{keyword}{const}\ std::string\&\ capability\_spec,}
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-\DoxyCodeLine{00553\ \ \ \ \ \ \ capabilities2\_msgs::msg::Remapping\ msg;}
-\DoxyCodeLine{00554\ \ \ \ \ \ \ msg.key\ =\ topic.from;}
-\DoxyCodeLine{00555\ \ \ \ \ \ \ msg.value\ =\ topic.to;}
-\DoxyCodeLine{00556\ \ \ \ \ \ \ res-\/>topics.push\_back(msg);}
-\DoxyCodeLine{00557\ \ \ \ \ \}}
-\DoxyCodeLine{00558\ }
-\DoxyCodeLine{00559\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ service\ :\ remappable.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_aba5002e746519b1ca48238e6d26c2054}{services}})}
-\DoxyCodeLine{00560\ \ \ \ \ \{}
-\DoxyCodeLine{00561\ \ \ \ \ \ \ capabilities2\_msgs::msg::Remapping\ msg;}
-\DoxyCodeLine{00562\ \ \ \ \ \ \ msg.key\ =\ service.from;}
-\DoxyCodeLine{00563\ \ \ \ \ \ \ msg.value\ =\ service.to;}
-\DoxyCodeLine{00564\ \ \ \ \ \ \ res-\/>services.push\_back(msg);}
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-\DoxyCodeLine{00570\ \ \ \ \ \ \ msg.key\ =\ action.from;}
-\DoxyCodeLine{00571\ \ \ \ \ \ \ msg.value\ =\ action.to;}
-\DoxyCodeLine{00572\ \ \ \ \ \ \ res-\/>actions.push\_back(msg);}
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-\DoxyCodeLine{00576\ \ \ \ \ \{}
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-\DoxyCodeLine{00578\ \ \ \ \ \ \ msg.key\ =\ parameter.from;}
-\DoxyCodeLine{00579\ \ \ \ \ \ \ msg.value\ =\ parameter.to;}
-\DoxyCodeLine{00580\ \ \ \ \ \ \ res-\/>parameters.push\_back(msg);}
-\DoxyCodeLine{00581\ \ \ \ \ \}}
-\DoxyCodeLine{00582\ \ \ \}}
-\DoxyCodeLine{00583\ }
-\DoxyCodeLine{00584\ \ \ \textcolor{comment}{//\ runner\ api}}
-\DoxyCodeLine{00585\ \ \ std::vector<capabilities2\_msgs::msg::RunningCapability>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514}{get\_running\_capabilities}}()}
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-\DoxyCodeLine{00587\ \ \ \ \ \textcolor{comment}{//\ create\ message\ container}}
-\DoxyCodeLine{00588\ \ \ \ \ std::vector<capabilities2\_msgs::msg::RunningCapability>\ running\_capabilities;}
-\DoxyCodeLine{00589\ }
-\DoxyCodeLine{00590\ \ \ \ \ \textcolor{comment}{//\ get\ a\ list\ of\ running\ caps}}
-\DoxyCodeLine{00591\ \ \ \ \ std::vector<std::string>\ caps\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb}{get\_running\_capabilities}}();}
-\DoxyCodeLine{00592\ }
-\DoxyCodeLine{00593\ \ \ \ \ \textcolor{comment}{//\ for\ each\ cap\ get\ the\ running\ model\ from\ db}}
-\DoxyCodeLine{00594\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ std::string\&\ cap\ :\ caps)}
-\DoxyCodeLine{00595\ \ \ \ \ \{}
-\DoxyCodeLine{00596\ \ \ \ \ \ \ \textcolor{comment}{//\ create\ a\ running\ cap\ msg}}
-\DoxyCodeLine{00597\ \ \ \ \ \ \ capabilities2\_msgs::msg::RunningCapability\ rc;}
-\DoxyCodeLine{00598\ }
-\DoxyCodeLine{00599\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ cap\ provider\ from\ runner}}
-\DoxyCodeLine{00600\ \ \ \ \ \ \ std::string\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}{provider}}(cap);}
-\DoxyCodeLine{00601\ }
-\DoxyCodeLine{00602\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ running\ model\ for\ provider}}
-\DoxyCodeLine{00603\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ running\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}}-\/>get\_running(provider);}
-\DoxyCodeLine{00604\ }
-\DoxyCodeLine{00605\ \ \ \ \ \ \ \textcolor{comment}{//\ fill\ running\ cap\ msg}}
-\DoxyCodeLine{00606\ \ \ \ \ \ \ rc.capability.capability\ =\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}};}
-\DoxyCodeLine{00607\ \ \ \ \ \ \ rc.capability.provider\ =\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}};}
-\DoxyCodeLine{00608\ \ \ \ \ \ \ rc.started\_by\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f}{started\_by}}(cap);}
-\DoxyCodeLine{00609\ \ \ \ \ \ \ rc.pid\ =\ atoi(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}{pid}}(cap).c\_str());}
-\DoxyCodeLine{00610\ }
-\DoxyCodeLine{00611\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ dependencies}}
-\DoxyCodeLine{00612\ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ dep\ :\ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}})}
-\DoxyCodeLine{00613\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00614\ \ \ \ \ \ \ \ \ capabilities2\_msgs::msg::Capability\ cap\_msg;}
-\DoxyCodeLine{00615\ \ \ \ \ \ \ \ \ cap\_msg.capability\ =\ dep.interface;}
-\DoxyCodeLine{00616\ \ \ \ \ \ \ \ \ cap\_msg.provider\ =\ dep.provider;}
-\DoxyCodeLine{00617\ \ \ \ \ \ \ \ \ rc.dependent\_capabilities.push\_back(cap\_msg);}
-\DoxyCodeLine{00618\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00619\ }
-\DoxyCodeLine{00620\ \ \ \ \ \ \ \textcolor{comment}{//\ add\ running\ cap\ msg}}
-\DoxyCodeLine{00621\ \ \ \ \ \ \ running\_capabilities.push\_back(rc);}
-\DoxyCodeLine{00622\ \ \ \ \ \}}
-\DoxyCodeLine{00623\ }
-\DoxyCodeLine{00624\ \ \ \ \ \textcolor{keywordflow}{return}\ running\_capabilities;}
-\DoxyCodeLine{00625\ \ \ \}}
-\DoxyCodeLine{00626\ }
-\DoxyCodeLine{00635\ \ \ \textcolor{keywordtype}{int}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c}{get\_pid}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00636\ \ \ \{}
-\DoxyCodeLine{00637\ \ \ \ \ \textcolor{keywordflow}{return}\ atoi(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}{pid}}(capability).c\_str());}
-\DoxyCodeLine{00638\ \ \ \}}
-\DoxyCodeLine{00639\ }
-\DoxyCodeLine{00640\ \ \ \textcolor{comment}{//\ bond\ api}}
-\DoxyCodeLine{00641\ \ \ \textcolor{comment}{//\ establish\ bond}}
-\DoxyCodeLine{00642\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}{establish\_bond}}(rclcpp::Node::SharedPtr\ node)}
-\DoxyCodeLine{00643\ \ \ \{}
-\DoxyCodeLine{00644\ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ unique\ bond\ id}}
-\DoxyCodeLine{00645\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}{capabilities2\_events::UUIDGenerator::gen\_uuid\_str}}();}
-\DoxyCodeLine{00646\ }
-\DoxyCodeLine{00647\ \ \ \ \ \textcolor{comment}{//\ establish\ a\ bond\ and\ start\ liveness\ functions\ (on\_broken,\ on\_formed)}}
-\DoxyCodeLine{00648\ \ \ \ \ \textcolor{comment}{//\ bind\ the\ bond\ id\ to\ the\ callback\ functions}}
-\DoxyCodeLine{00649\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266}{start}}(bond\_id,\ node,\ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}{CapabilitiesAPI::on\_bond\_broken}},\ \textcolor{keyword}{this},\ bond\_id),}
-\DoxyCodeLine{00650\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}{CapabilitiesAPI::on\_bond\_established}},\ \textcolor{keyword}{this},\ bond\_id));}
-\DoxyCodeLine{00651\ }
-\DoxyCodeLine{00652\ \ \ \ \ \textcolor{comment}{//\ return\ bond\ id}}
-\DoxyCodeLine{00653\ \ \ \ \ \textcolor{keywordflow}{return}\ bond\_id;}
-\DoxyCodeLine{00654\ \ \ \}}
-\DoxyCodeLine{00655\ }
-\DoxyCodeLine{00656\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}{on\_bond\_established}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id)}
-\DoxyCodeLine{00657\ \ \ \{}
-\DoxyCodeLine{00658\ \ \ \ \ \textcolor{comment}{//\ log\ bond\ established\ event}}
-\DoxyCodeLine{00659\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}bond\ established\ with\ id:\ \%s"{}},\ bond\_id.c\_str());}
-\DoxyCodeLine{00660\ \ \ \}}
-\DoxyCodeLine{00661\ }
-\DoxyCodeLine{00662\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}{on\_bond\_broken}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id)}
-\DoxyCodeLine{00663\ \ \ \{}
-\DoxyCodeLine{00664\ \ \ \ \ \textcolor{comment}{//\ log\ warning}}
-\DoxyCodeLine{00665\ \ \ \ \ RCLCPP\_WARN(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}bond\ broken\ for\ id:\ \%s"{}},\ bond\_id.c\_str());}
-\DoxyCodeLine{00666\ }
-\DoxyCodeLine{00667\ \ \ \ \ \textcolor{comment}{//\ get\ capabilities\ requested\ by\ the\ bond}}
-\DoxyCodeLine{00668\ \ \ \ \ std::vector<std::string>\ capabilities\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5}{get\_capabilities}}(bond\_id);}
-\DoxyCodeLine{00669\ }
-\DoxyCodeLine{00670\ \ \ \ \ \textcolor{comment}{//\ free\ capabilities}}
-\DoxyCodeLine{00671\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ capability\ :\ capabilities)}
-\DoxyCodeLine{00672\ \ \ \ \ \{}
-\DoxyCodeLine{00673\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\_capability}}(capability,\ bond\_id);}
-\DoxyCodeLine{00674\ \ \ \ \ \}}
-\DoxyCodeLine{00675\ \ \ \}}
-\DoxyCodeLine{00676\ }
-\DoxyCodeLine{00677\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00678\ \ \ \textcolor{comment}{//\ bind\ a\ dependency\ to\ an\ internal\ bond}}
-\DoxyCodeLine{00679\ \ \ \textcolor{comment}{//\ this\ is\ a\ bond\ without\ a\ live\ external\ connection}}
-\DoxyCodeLine{00680\ \ \ \textcolor{comment}{//\ this\ will\ help\ keep\ the\ capability\ runners\ scoped\ to\ a\ reference}}
-\DoxyCodeLine{00681\ \ \ \textcolor{comment}{//\ only\ when\ all\ the\ bonds\ (including\ internal)\ are\ broken\ the\ capability\ is\ freed}}
-\DoxyCodeLine{00682\ \ \ \textcolor{comment}{//\ this\ is\ specifically\ needed\ for\ running\ dependencies\ of\ a\ capability}}
-\DoxyCodeLine{00683\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002}{bind\_dependency}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00684\ \ \ \{}
-\DoxyCodeLine{00685\ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ unique\ bond\ id}}
-\DoxyCodeLine{00686\ \ \ \ \ \textcolor{comment}{//\ std::string\ bond\_id\ =\ CapabilitiesAPI::gen\_bond\_id();\ //\ DEPRECATED}}
-\DoxyCodeLine{00687\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}{capabilities2\_events::UUIDGenerator::gen\_uuid\_str}}();}
-\DoxyCodeLine{00688\ }
-\DoxyCodeLine{00689\ \ \ \ \ \textcolor{comment}{//\ add\ the\ bond\ id\ to\ the\ bond\ cache}}
-\DoxyCodeLine{00690\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}{add\_bond}}(capability,\ bond\_id);}
-\DoxyCodeLine{00691\ }
-\DoxyCodeLine{00692\ \ \ \ \ \textcolor{comment}{//\ keep\ the\ bond\ id\ in\ the\ internal\ bond\ ids}}
-\DoxyCodeLine{00693\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.push\_back(bond\_id);}
-\DoxyCodeLine{00694\ \ \ \}}
-\DoxyCodeLine{00695\ }
-\DoxyCodeLine{00696\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282}{unbind\_dependency}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00697\ \ \ \{}
-\DoxyCodeLine{00698\ \ \ \ \ \textcolor{comment}{//\ do\ we\ have\ a\ bond\ id\ for\ this\ capability}}
-\DoxyCodeLine{00699\ }
-\DoxyCodeLine{00700\ \ \ \ \ \textcolor{comment}{//\ get\ cap\ bonds}}
-\DoxyCodeLine{00701\ \ \ \ \ std::vector<std::string>\ cap\_bonds\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728}{get\_bonds}}(capability);}
-\DoxyCodeLine{00702\ }
-\DoxyCodeLine{00703\ \ \ \ \ \textcolor{comment}{//\ if\ any\ internal\ bonds\ in\ cap\_bonds}}
-\DoxyCodeLine{00704\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ bond\ :\ cap\_bonds)}
-\DoxyCodeLine{00705\ \ \ \ \ \{}
-\DoxyCodeLine{00706\ \ \ \ \ \ \ \textcolor{keyword}{auto}\ it\ =\ std::find(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.begin(),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.end(),\ bond);}
-\DoxyCodeLine{00707\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (it\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.end())}
-\DoxyCodeLine{00708\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00709\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ remove\ just\ the\ first\ bond\ id\ found\ in\ cap\_bonds\ and\ internal\_bond\_ids\_}}
-\DoxyCodeLine{00710\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}}.\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}{remove\_bond}}(capability,\ bond);}
-\DoxyCodeLine{00711\ }
-\DoxyCodeLine{00712\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ delete\ internal\ bond}}
-\DoxyCodeLine{00713\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}}.erase(it);}
-\DoxyCodeLine{00714\ }
-\DoxyCodeLine{00715\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00716\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00717\ \ \ \ \ \}}
-\DoxyCodeLine{00718\ \ \ \}}
-\DoxyCodeLine{00719\ }
-\DoxyCodeLine{00720\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00721\ \ \ \textcolor{comment}{//\ event\ api}}
-\DoxyCodeLine{00722\ \ \ std::shared\_ptr<capabilities2\_events::EventBase>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\_}};}
-\DoxyCodeLine{00723\ }
-\DoxyCodeLine{00724\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00725\ \ \ \textcolor{comment}{//\ db}}
-\DoxyCodeLine{00726\ \ \ std::unique\_ptr<DBBase>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\_db\_}};}
-\DoxyCodeLine{00727\ }
-\DoxyCodeLine{00728\ \ \ \textcolor{comment}{//\ for\ internal\ logging}}
-\DoxyCodeLine{00729\ \ \ rclcpp::node\_interfaces::NodeLoggingInterface::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\_}};}
-\DoxyCodeLine{00730\ }
-\DoxyCodeLine{00731\ \ \ \textcolor{comment}{//\ caches}}
-\DoxyCodeLine{00732\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{BondCache}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\_cache\_}};}
-\DoxyCodeLine{00733\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{RunnerCache}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\_cache\_}};}
-\DoxyCodeLine{00734\ }
-\DoxyCodeLine{00735\ \ \ \textcolor{comment}{//\ internal\ bindings}}
-\DoxyCodeLine{00736\ \ \ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\_bond\_ids\_}};}
-\DoxyCodeLine{00737\ \};}
-\DoxyCodeLine{00738\ }
-\DoxyCodeLine{00739\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/capabilities__db_8hpp.tex b/docs/latex/capabilities__db_8hpp.tex
deleted file mode 100644
index d48f92f..0000000
--- a/docs/latex/capabilities__db_8hpp.tex
+++ /dev/null
@@ -1,38 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/capabilities\+\_\+db.hpp File Reference}
-\hypertarget{capabilities__db_8hpp}{}\label{capabilities__db_8hpp}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_db.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_db.hpp}}
-{\ttfamily \#include $<$memory$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$sqlite3.\+h$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/db\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/interface.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/semantic\+\_\+interface.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/provider.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/running.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/run\+\_\+config.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
-Include dependency graph for capabilities\+\_\+db.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{capabilities__db_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{capabilities__db_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities__db_8hpp__dep__incl.md5 b/docs/latex/capabilities__db_8hpp__dep__incl.md5
deleted file mode 100644
index e172cd2..0000000
--- a/docs/latex/capabilities__db_8hpp__dep__incl.md5
+++ /dev/null
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diff --git a/docs/latex/capabilities__db_8hpp__dep__incl.pdf b/docs/latex/capabilities__db_8hpp__dep__incl.pdf
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diff --git a/docs/latex/capabilities__db_8hpp_source.tex b/docs/latex/capabilities__db_8hpp_source.tex
deleted file mode 100644
index 42c8e10..0000000
--- a/docs/latex/capabilities__db_8hpp_source.tex
+++ /dev/null
@@ -1,522 +0,0 @@
-\doxysection{capabilities\+\_\+db.\+hpp}
-\hypertarget{capabilities__db_8hpp_source}{}\label{capabilities__db_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_db.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_db.hpp}}
-\mbox{\hyperlink{capabilities__db_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <memory>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <vector>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00006\ }
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <sqlite3.h>}}
-\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
-\DoxyCodeLine{00009\ }
-\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{db__base_8hpp}{capabilities2\_server/db\_base.hpp}}>}}
-\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{interface_8hpp}{capabilities2\_server/models/interface.hpp}}>}}
-\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{semantic__interface_8hpp}{capabilities2\_server/models/semantic\_interface.hpp}}>}}
-\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{provider_8hpp}{capabilities2\_server/models/provider.hpp}}>}}
-\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{running_8hpp}{capabilities2\_server/models/running.hpp}}>}}
-\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{run__config_8hpp}{capabilities2\_server/models/run\_config.hpp}}>}}
-\DoxyCodeLine{00016\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{sql__safe_8hpp}{capabilities2\_server/utils/sql\_safe.hpp}}>}}
-\DoxyCodeLine{00017\ }
-\DoxyCodeLine{00018\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00019\ \{}
-\DoxyCodeLine{00020\ }
-\DoxyCodeLine{00021\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB}{CapabilitiesDB}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}}}
-\DoxyCodeLine{00022\ \{}
-\DoxyCodeLine{00023\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00024\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6a06e320c5c1ac224f7879bbe05e6a8e}{CapabilitiesDB}}(\textcolor{keyword}{const}\ std::string\ db\_file\ =\ \textcolor{stringliteral}{"{}cache/capabilities.sqlite3"{}})\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}{db\_file\_}}(db\_file),\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}}(nullptr)}
-\DoxyCodeLine{00025\ \ \ \{}
-\DoxyCodeLine{00026\ \ \ \ \ \textcolor{comment}{//\ open\ db}}
-\DoxyCodeLine{00027\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df}{open}}();}
-\DoxyCodeLine{00028\ }
-\DoxyCodeLine{00029\ \ \ \ \ \textcolor{comment}{//\ create\ tables\ if\ they\ do\ not\ exists}}
-\DoxyCodeLine{00030\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0}{create\_tables}}();}
-\DoxyCodeLine{00031\ \ \ \}}
-\DoxyCodeLine{00032\ }
-\DoxyCodeLine{00033\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a40951e3346502f6e147865e1ab025e39}{\string~CapabilitiesDB}}()}
-\DoxyCodeLine{00034\ \ \ \{}
-\DoxyCodeLine{00035\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67}{close}}();}
-\DoxyCodeLine{00036\ \ \ \}}
-\DoxyCodeLine{00037\ }
-\DoxyCodeLine{00038\ \ \ \textcolor{comment}{/*\ inserters\ */}}
-\DoxyCodeLine{00039\ }
-\DoxyCodeLine{00040\ \ \ \textcolor{comment}{//\ insert\ interface}}
-\DoxyCodeLine{00041\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73}{insert\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\&\ interface)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00042\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00043\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}INSERT\ INTO\ interfaces\ VALUES\ ("{}}\ +\ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
-\DoxyCodeLine{00044\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(query);}
-\DoxyCodeLine{00045\ \ \ \}}
-\DoxyCodeLine{00046\ }
-\DoxyCodeLine{00047\ \ \ \textcolor{comment}{//\ insert\ semantic\ interface}}
-\DoxyCodeLine{00048\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1}{insert\_semantic\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\&\ semantic\_interface)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00049\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00050\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}INSERT\ INTO\ semantic\_interfaces\ VALUES\ ("{}}\ +\ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
-\DoxyCodeLine{00051\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(query);}
-\DoxyCodeLine{00052\ \ \ \}}
-\DoxyCodeLine{00053\ }
-\DoxyCodeLine{00054\ \ \ \textcolor{comment}{//\ insert\ provider}}
-\DoxyCodeLine{00055\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448}{insert\_provider}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\&\ provider)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00056\ \textcolor{keyword}{\ \ }\{}
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-\DoxyCodeLine{00114\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
-\DoxyCodeLine{00115\ \ \ \ \ \{}
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-\DoxyCodeLine{00117\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
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-\DoxyCodeLine{00122\ \ \ \ \ \{}
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-\DoxyCodeLine{00252\ \ \ \textcolor{comment}{/*\ foreign\ keys\ */}}
-\DoxyCodeLine{00253\ }
-\DoxyCodeLine{00254\ \ \ \textcolor{comment}{//\ get\ providers\ by\ interface}}
-\DoxyCodeLine{00255\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::provider\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d}{get\_providers\_by\_interface}}(\textcolor{keyword}{const}\ std::string\&\ interface\_name)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00256\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00257\ \ \ \ \ \textcolor{comment}{//\ could\ be\ a\ semantic\ interface\ or\ an\ interface}}
-\DoxyCodeLine{00258\ \ \ \ \ sqlite3\_stmt*\ stmt;}
-\DoxyCodeLine{00259\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}SELECT\ *\ FROM\ providers\ WHERE\ implements\ =\ '"{}}\ +\ interface\_name\ +\ \textcolor{stringliteral}{"{}'"{}};}
-\DoxyCodeLine{00260\ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{int}\ exit\ =\ sqlite3\_prepare\_v2(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}},\ query.c\_str(),\ -\/1,\ \&stmt,\ \textcolor{keyword}{nullptr});}
-\DoxyCodeLine{00261\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
-\DoxyCodeLine{00262\ \ \ \ \ \{}
-\DoxyCodeLine{00263\ \ \ \ \ \ \ sqlite3\_finalize(stmt);}
-\DoxyCodeLine{00264\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
-\DoxyCodeLine{00265\ \ \ \ \ \}}
-\DoxyCodeLine{00266\ }
-\DoxyCodeLine{00267\ \ \ \ \ std::vector<models::provider\_model\_t>\ providers;}
-\DoxyCodeLine{00268\ \ \ \ \ \textcolor{keywordflow}{while}\ (sqlite3\_step(stmt)\ ==\ SQLITE\_ROW)}
-\DoxyCodeLine{00269\ \ \ \ \ \{}
-\DoxyCodeLine{00270\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc}{to\_provider}}(stmt);}
-\DoxyCodeLine{00271\ \ \ \ \ \ \ providers.push\_back(provider);}
-\DoxyCodeLine{00272\ \ \ \ \ \}}
-\DoxyCodeLine{00273\ }
-\DoxyCodeLine{00274\ \ \ \ \ \textcolor{keywordflow}{return}\ providers;}
-\DoxyCodeLine{00275\ \ \ \}}
-\DoxyCodeLine{00276\ }
-\DoxyCodeLine{00277\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces\ by\ interface}}
-\DoxyCodeLine{00278\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::semantic\_interface\_model\_t>}
-\DoxyCodeLine{00279\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a}{get\_semantic\_interfaces\_by\_interface}}(\textcolor{keyword}{const}\ std::string\&\ interface\_name)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00280\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00281\ \ \ \ \ sqlite3\_stmt*\ stmt;}
-\DoxyCodeLine{00282\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ query\ =\ \textcolor{stringliteral}{"{}SELECT\ *\ FROM\ semantic\_interfaces\ WHERE\ redefines\ =\ '"{}}\ +\ interface\_name\ +\ \textcolor{stringliteral}{"{}'"{}};}
-\DoxyCodeLine{00283\ \ \ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{int}\ exit\ =\ sqlite3\_prepare\_v2(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}},\ query.c\_str(),\ -\/1,\ \&stmt,\ \textcolor{keyword}{nullptr});}
-\DoxyCodeLine{00284\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
-\DoxyCodeLine{00285\ \ \ \ \ \{}
-\DoxyCodeLine{00286\ \ \ \ \ \ \ sqlite3\_finalize(stmt);}
-\DoxyCodeLine{00287\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ preparing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
-\DoxyCodeLine{00288\ \ \ \ \ \}}
-\DoxyCodeLine{00289\ }
-\DoxyCodeLine{00290\ \ \ \ \ std::vector<models::semantic\_interface\_model\_t>\ semantic\_interfaces;}
-\DoxyCodeLine{00291\ \ \ \ \ \textcolor{keywordflow}{while}\ (sqlite3\_step(stmt)\ ==\ SQLITE\_ROW)}
-\DoxyCodeLine{00292\ \ \ \ \ \{}
-\DoxyCodeLine{00293\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ semantic\_interface\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3eb0881736fa825daef5ec83e1d919be}{to\_semantic\_interface}}(stmt);}
-\DoxyCodeLine{00294\ \ \ \ \ \ \ semantic\_interfaces.push\_back(semantic\_interface);}
-\DoxyCodeLine{00295\ \ \ \ \ \}}
-\DoxyCodeLine{00296\ }
-\DoxyCodeLine{00297\ \ \ \ \ \textcolor{keywordflow}{return}\ semantic\_interfaces;}
-\DoxyCodeLine{00298\ \ \ \}}
-\DoxyCodeLine{00299\ }
-\DoxyCodeLine{00300\ \ \ \textcolor{comment}{//\ get\ running\ model\ from\ provider}}
-\DoxyCodeLine{00301\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b}{get\_running}}(\textcolor{keyword}{const}\ std::string\&\ provider\_name)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00302\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00303\ \ \ \ \ \textcolor{comment}{//\ start\ with\ provider\ and\ work\ up\ the\ chain}}
-\DoxyCodeLine{00304\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}{get\_provider}}(provider\_name);}
-\DoxyCodeLine{00305\ \ \ \ \ \textcolor{keywordflow}{if}\ (provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
-\DoxyCodeLine{00306\ \ \ \ \ \{}
-\DoxyCodeLine{00307\ \ \ \ \ \ \ \textcolor{comment}{//\ return\ empty\ running\ model}}
-\DoxyCodeLine{00308\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}();}
-\DoxyCodeLine{00309\ \ \ \ \ \}}
-\DoxyCodeLine{00310\ }
-\DoxyCodeLine{00311\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ running;}
-\DoxyCodeLine{00312\ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}}\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}};}
-\DoxyCodeLine{00313\ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}}\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
-\DoxyCodeLine{00314\ \ \ \ \ \textcolor{comment}{//\ TODO:\ implement\ this\ variable\ somehow}}
-\DoxyCodeLine{00315\ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a0037a0006d89c68a56be1ed1337f7c37}{started\_by}}\ =\ provider\_name;}
-\DoxyCodeLine{00316\ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a1c0cff01cc7973eb2f1ffa49ae2ad5b9}{pid}}\ =\ \textcolor{stringliteral}{"{}0"{}};}
-\DoxyCodeLine{00317\ }
-\DoxyCodeLine{00318\ \ \ \ \ \textcolor{comment}{//\ get\ dependencies\ from\ provider\ depends\_on}}
-\DoxyCodeLine{00319\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\ \textcolor{keyword}{const}\&\ [key,\ value]\ :\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\_on}})}
-\DoxyCodeLine{00320\ \ \ \ \ \{}
-\DoxyCodeLine{00321\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{models::capability\_model\_t}}\ dependency;}
-\DoxyCodeLine{00322\ \ \ \ \ \ \ dependency.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}}\ =\ key;}
-\DoxyCodeLine{00323\ \ \ \ \ \ \ dependency.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}}\ =\ value;}
-\DoxyCodeLine{00324\ \ \ \ \ \ \ running.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}}.push\_back(dependency);}
-\DoxyCodeLine{00325\ \ \ \ \ \}}
-\DoxyCodeLine{00326\ }
-\DoxyCodeLine{00327\ \ \ \ \ \textcolor{comment}{//\ return\ running\ model}}
-\DoxyCodeLine{00328\ \ \ \ \ \textcolor{keywordflow}{return}\ running;}
-\DoxyCodeLine{00329\ \ \ \}}
-\DoxyCodeLine{00330\ }
-\DoxyCodeLine{00331\ \ \ \textcolor{comment}{//\ apply\ a\ remapping\ to\ a\ specification\ model}}
-\DoxyCodeLine{00332\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}{apply\_remappings}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models::specification\_model\_t}}\&\ spec,}
-\DoxyCodeLine{00333\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models::remappable\_base\_t}}\&\ remappable)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00334\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00335\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\ \textcolor{keyword}{const}\&\ param\ :\ remappable.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a1570369d1b89a3ba0a9cbff9419422cc}{parameters}})}
-\DoxyCodeLine{00336\ \ \ \ \ \{}
-\DoxyCodeLine{00337\ \ \ \ \ \ \ spec.parameters[param.from].name\ =\ param.to;}
-\DoxyCodeLine{00338\ \ \ \ \ \}}
-\DoxyCodeLine{00339\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\ \textcolor{keyword}{const}\&\ topic\ :\ remappable.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a9b83cf9b0b6306e5580f9babb42b8a11}{topics}})}
-\DoxyCodeLine{00340\ \ \ \ \ \{}
-\DoxyCodeLine{00341\ \ \ \ \ \ \ spec.topics[topic.from].name\ =\ topic.to;}
-\DoxyCodeLine{00342\ \ \ \ \ \}}
-\DoxyCodeLine{00343\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\ \textcolor{keyword}{const}\&\ service\ :\ remappable.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_aba5002e746519b1ca48238e6d26c2054}{services}})}
-\DoxyCodeLine{00344\ \ \ \ \ \{}
-\DoxyCodeLine{00345\ \ \ \ \ \ \ spec.services[service.from].name\ =\ service.to;}
-\DoxyCodeLine{00346\ \ \ \ \ \}}
-\DoxyCodeLine{00347\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\ \textcolor{keyword}{const}\&\ action\ :\ remappable.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a62e2be32cc2b051f7bdfba15ab17a95d}{actions}})}
-\DoxyCodeLine{00348\ \ \ \ \ \{}
-\DoxyCodeLine{00349\ \ \ \ \ \ \ spec.actions[action.from].name\ =\ action.to;}
-\DoxyCodeLine{00350\ \ \ \ \ \}}
-\DoxyCodeLine{00351\ \ \ \}}
-\DoxyCodeLine{00352\ }
-\DoxyCodeLine{00353\ \ \ \textcolor{comment}{//\ apply\ semantics\ to\ interface}}
-\DoxyCodeLine{00354\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a9ce49d71065acc667a5ce863a9e1f2a2}{apply\_semantic\_remappings}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ semantic)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00355\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00356\ \ \ \ \ \textcolor{comment}{//\ get\ the\ parent\ interface\ model}}
-\DoxyCodeLine{00357\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \textcolor{keyword}{interface\ }=\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac}{get\_interface}}(semantic.redefines);}
-\DoxyCodeLine{00358\ }
-\DoxyCodeLine{00359\ \ \ \ \ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}\ =\ semantic.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}};}
-\DoxyCodeLine{00360\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}{apply\_remappings}}(interface.interface,\ semantic);}
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-\DoxyCodeLine{00362\ \ \ \ \ \textcolor{keywordflow}{return}\ interface;}
-\DoxyCodeLine{00363\ \ \ \}}
-\DoxyCodeLine{00364\ }
-\DoxyCodeLine{00365\ \ \ \textcolor{comment}{//\ apply\ provider\ remappings}}
-\DoxyCodeLine{00366\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3c6ed044e3cd0e60b5fcfac889ab0eea}{apply\_provider\_remappings}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00367\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00368\ \ \ \ \ \textcolor{comment}{//\ get\ the\ parent\ interface\ model}}
-\DoxyCodeLine{00369\ \ \ \ \ \textcolor{comment}{//\ is\ it\ semantic}}
-\DoxyCodeLine{00370\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ semantic\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3}{get\_semantic\_interface}}(provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}});}
-\DoxyCodeLine{00371\ \ \ \ \ \textcolor{keywordflow}{if}\ (!semantic.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
-\DoxyCodeLine{00372\ \ \ \ \ \{}
-\DoxyCodeLine{00373\ \ \ \ \ \ \ \textcolor{comment}{//\ apply\ semantic\ remappings}}
-\DoxyCodeLine{00374\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \textcolor{keyword}{interface\ }=\ apply\_semantic\_remappings(semantic);}
-\DoxyCodeLine{00375\ }
-\DoxyCodeLine{00376\ \ \ \ \ \ \ \textcolor{comment}{//\ apply\ provider\ remappings}}
-\DoxyCodeLine{00377\ \ \ \ \ \ \ apply\_remappings(interface.interface,\ provider);}
-\DoxyCodeLine{00378\ }
-\DoxyCodeLine{00379\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ interface;}
-\DoxyCodeLine{00380\ \ \ \ \ \}}
-\DoxyCodeLine{00381\ }
-\DoxyCodeLine{00382\ \ \ \ \ \textcolor{comment}{//\ if\ not\ semantic,\ then\ it's\ an\ interface}}
-\DoxyCodeLine{00383\ \ \ \ \ \textcolor{comment}{//\ get\ interface}}
-\DoxyCodeLine{00384\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \textcolor{keyword}{interface\ }=\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac}{get\_interface}}(provider.\textcolor{keyword}{implements});}
-\DoxyCodeLine{00385\ }
-\DoxyCodeLine{00386\ \ \ \ \ \textcolor{comment}{//\ apply\ provider\ remappings}}
-\DoxyCodeLine{00387\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}{apply\_remappings}}(interface.interface,\ provider);}
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-\DoxyCodeLine{00389\ \ \ \ \ return\ interface;}
-\DoxyCodeLine{00390\ \ \ \}}
-\DoxyCodeLine{00391\ }
-\DoxyCodeLine{00392\ \ \ \textcolor{comment}{//\ get\ run\ config\ model}}
-\DoxyCodeLine{00393\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76}{get\_run\_config}}(const\ std::string\&\ provider\_name)\ override}
-\DoxyCodeLine{00394\ \ \ \{}
-\DoxyCodeLine{00395\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}{get\_provider}}(provider\_name);}
-\DoxyCodeLine{00396\ \ \ \ \ \textcolor{keywordflow}{if}\ (provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty())}
-\DoxyCodeLine{00397\ \ \ \ \ \{}
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-\DoxyCodeLine{00399\ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}();}
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-\DoxyCodeLine{00403\ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}{provider}}\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}};}
-\DoxyCodeLine{00404\ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}\ =\ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}};}
-\DoxyCodeLine{00405\ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\_by}}\ =\ provider\_name;}
-\DoxyCodeLine{00406\ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}}\ =\ \textcolor{stringliteral}{"{}0"{}};}
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-\DoxyCodeLine{00408\ \ \ \ \ \textcolor{comment}{//\ remap\ resources}}
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-\DoxyCodeLine{00411\ \ \ \ \ \textcolor{keywordflow}{return}\ run\_config;}
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-\DoxyCodeLine{00414\ \textcolor{keyword}{protected}:}
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-\DoxyCodeLine{00419\ \ \ \ \ \{}
-\DoxyCodeLine{00420\ \ \ \ \ \ \ sqlite3\_close(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}});}
-\DoxyCodeLine{00421\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ opening\ database:\ "{}}\ +\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}{db\_file\_}}\ +\ \textcolor{stringliteral}{"{}\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
-\DoxyCodeLine{00422\ \ \ \ \ \}}
-\DoxyCodeLine{00423\ }
-\DoxyCodeLine{00424\ \ \ \ \ \textcolor{comment}{//\ enable\ foreign\ keys}}
-\DoxyCodeLine{00425\ \ \ \ \ sqlite3\_exec(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}},\ \textcolor{stringliteral}{"{}PRAGMA\ foreign\_keys\ =\ ON;"{}},\ \textcolor{keyword}{nullptr},\ \textcolor{keyword}{nullptr},\ \textcolor{keyword}{nullptr});}
-\DoxyCodeLine{00426\ \ \ \}}
-\DoxyCodeLine{00427\ }
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-\DoxyCodeLine{00429\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00430\ \ \ \ \ \textcolor{comment}{//\ close\ if\ the\ database\ is\ open}}
-\DoxyCodeLine{00431\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}}\ !=\ \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{00432\ \ \ \ \ \{}
-\DoxyCodeLine{00433\ \ \ \ \ \ \ sqlite3\_close(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}});}
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-\DoxyCodeLine{00436\ \ \ \}}
-\DoxyCodeLine{00437\ }
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-\DoxyCodeLine{00439\ \ \ \{}
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-\DoxyCodeLine{00442\ \ \ \ \ \textcolor{keywordflow}{if}\ (exit\ !=\ SQLITE\_OK)}
-\DoxyCodeLine{00443\ \ \ \ \ \{}
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-\DoxyCodeLine{00445\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}Error\ executing\ query:\ "{}}\ +\ std::string(sqlite3\_errmsg(\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}})));}
-\DoxyCodeLine{00446\ \ \ \ \ \}}
-\DoxyCodeLine{00447\ \ \ \}}
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-\DoxyCodeLine{00449\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0}{create\_tables}}()\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00450\ \textcolor{keyword}{\ \ }\{}
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-\DoxyCodeLine{00452\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ create\_interface\_table\ =}
-\DoxyCodeLine{00453\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}CREATE\ TABLE\ IF\ NOT\ EXISTS\ interfaces\ ("{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a3e1b6a0fbb148703a6a2bfab6a4f2003}{models::interface\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
-\DoxyCodeLine{00454\ }
-\DoxyCodeLine{00455\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ create\_semantic\_interface\_table\ =}
-\DoxyCodeLine{00456\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}CREATE\ TABLE\ IF\ NOT\ EXISTS\ semantic\_interfaces\ ("{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd}{models::semantic\_interface\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
-\DoxyCodeLine{00457\ }
-\DoxyCodeLine{00458\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ create\_provider\_table\ =}
-\DoxyCodeLine{00459\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}CREATE\ TABLE\ IF\ NOT\ EXISTS\ providers\ ("{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1c7dc74c7eaa402394f4d9e8e917d337}{models::provider\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{})"{}};}
-\DoxyCodeLine{00460\ }
-\DoxyCodeLine{00461\ \ \ \ \ \textcolor{comment}{//\ TODO:\ create\ meta\ table}}
-\DoxyCodeLine{00462\ \ \ \ \ \textcolor{comment}{//\ meta\ table}}
-\DoxyCodeLine{00463\ \ \ \ \ \textcolor{keyword}{const}\ std::string\ create\_meta\_table\ =\ \textcolor{stringliteral}{"{}CREATE\ TABLE\ IF\ NOT\ EXISTS\ meta\ (key\ TEXT\ NOT\ NULL,\ value\ TEXT\ NOT\ NULL)"{}};}
-\DoxyCodeLine{00464\ }
-\DoxyCodeLine{00465\ \ \ \ \ \textcolor{comment}{//\ execute\ create\ queries}}
-\DoxyCodeLine{00466\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}}(create\_interface\_table);}
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-\DoxyCodeLine{00470\ }
-\DoxyCodeLine{00471\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00472\ \ \ \textcolor{comment}{//\ model\ conversion\ helpers}}
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-\DoxyCodeLine{00474\ \ \ \{}
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-\DoxyCodeLine{00477\ \ \ \ \ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}\ =\ sqlite3\_column\_int(stmt,\ 1);}
-\DoxyCodeLine{00478\ \ \ \ \ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 2)));}
-\DoxyCodeLine{00479\ \ \ \ \ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}}\ =\ \mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 3))));}
-\DoxyCodeLine{00480\ }
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-\DoxyCodeLine{00482\ \ \ \ \ spec.from\_yaml(YAML::Load(\mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 4))))));}
-\DoxyCodeLine{00483\ \ \ \ \ interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}\ =\ spec;}
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-\DoxyCodeLine{00489\ \ \ \{}
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-\DoxyCodeLine{00491\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 0)));}
-\DoxyCodeLine{00492\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}\ =\ sqlite3\_column\_int(stmt,\ 1);}
-\DoxyCodeLine{00493\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 2)));}
-\DoxyCodeLine{00494\ \ \ \ \ semantic\_interface.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}}\ =\ \mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 3))));}
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-\DoxyCodeLine{00498\ \ \ \ \ \ \ \ \ YAML::Load(\mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 6))))));}
-\DoxyCodeLine{00499\ }
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-\DoxyCodeLine{00501\ \ \ \}}
-\DoxyCodeLine{00502\ }
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-\DoxyCodeLine{00504\ \ \ \{}
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-\DoxyCodeLine{00507\ \ \ \ \ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}\ =\ sqlite3\_column\_int(stmt,\ 1);}
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-\DoxyCodeLine{00512\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ .as<std::map<std::string,\ std::string>>();}
-\DoxyCodeLine{00513\ \ \ \ \ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}{from\_yaml}}(YAML::Load(\mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 6))))));}
-\DoxyCodeLine{00514\ \ \ \ \ provider.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}}\ =\ std::string(\textcolor{keyword}{reinterpret\_cast<}\textcolor{keyword}{const\ }\textcolor{keywordtype}{char}*\textcolor{keyword}{>}(sqlite3\_column\_text(stmt,\ 7)));}
-\DoxyCodeLine{00515\ }
-\DoxyCodeLine{00516\ \ \ \ \ \textcolor{keywordflow}{return}\ provider;}
-\DoxyCodeLine{00517\ \ \ \}}
-\DoxyCodeLine{00518\ }
-\DoxyCodeLine{00519\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00520\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}{db\_file\_}};}
-\DoxyCodeLine{00521\ \ \ sqlite3*\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\_}};}
-\DoxyCodeLine{00522\ \};}
-\DoxyCodeLine{00523\ }
-\DoxyCodeLine{00524\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/capabilities__server_8hpp.tex b/docs/latex/capabilities__server_8hpp.tex
deleted file mode 100644
index 9f8ab24..0000000
--- a/docs/latex/capabilities__server_8hpp.tex
+++ /dev/null
@@ -1,61 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/capabilities\+\_\+server.hpp File Reference}
-\hypertarget{capabilities__server_8hpp}{}\label{capabilities__server_8hpp}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_server.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_server.hpp}}
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$memory$>$}\newline
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$fstream$>$}\newline
-{\ttfamily \#include $<$filesystem$>$}\newline
-{\ttfamily \#include $<$functional$>$}\newline
-{\ttfamily \#include $<$stdlib.\+h$>$}\newline
-{\ttfamily \#include $<$tinyxml2.\+h$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+api.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/published\+\_\+event.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+parameters.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+spec.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+stamped.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/establish\+\_\+bond.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/start\+\_\+capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/stop\+\_\+capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/free\+\_\+capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/trigger\+\_\+capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/use\+\_\+capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/register\+\_\+capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/connect\+\_\+capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+interfaces.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+semantic\+\_\+interfaces.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+providers.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+capability\+\_\+spec.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+capability\+\_\+specs.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+remappings.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+running\+\_\+capabilities.\+hpp$>$}\newline
-Include dependency graph for capabilities\+\_\+server.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{capabilities__server_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{capabilities__server_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer}{capabilities2\+\_\+server\+::\+Capabilities\+Server}}
-\begin{DoxyCompactList}\small\item\em capabilities server \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425}{capabilities2\+\_\+server\+::expand\+\_\+tilde}} (std\+::string \&path)
-\end{DoxyCompactItemize}
diff --git a/docs/latex/capabilities__server_8hpp__dep__incl.md5 b/docs/latex/capabilities__server_8hpp__dep__incl.md5
deleted file mode 100644
index 37e96de..0000000
--- a/docs/latex/capabilities__server_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-4d9c473cfb516e6c8cb3f2997ac9fb55
\ No newline at end of file
diff --git a/docs/latex/capabilities__server_8hpp__dep__incl.pdf b/docs/latex/capabilities__server_8hpp__dep__incl.pdf
deleted file mode 100644
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diff --git a/docs/latex/capabilities__server_8hpp_source.tex b/docs/latex/capabilities__server_8hpp_source.tex
deleted file mode 100644
index 4622625..0000000
--- a/docs/latex/capabilities__server_8hpp_source.tex
+++ /dev/null
@@ -1,750 +0,0 @@
-\doxysection{capabilities\+\_\+server.\+hpp}
-\hypertarget{capabilities__server_8hpp_source}{}\label{capabilities__server_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/capabilities\_server.hpp@{capabilities2\_server/include/capabilities2\_server/capabilities\_server.hpp}}
-\mbox{\hyperlink{capabilities__server_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
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-\DoxyCodeLine{00019\ }
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-\DoxyCodeLine{00038\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00039\ \{}
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-\DoxyCodeLine{00043\ \{}
-\DoxyCodeLine{00044\ \ \ \textcolor{keywordflow}{if}\ (path[0]\ ==\ \textcolor{charliteral}{'\string~'})}
-\DoxyCodeLine{00045\ \ \ \{}
-\DoxyCodeLine{00046\ \ \ \ \ path\ =\ std::string(std::getenv(\textcolor{stringliteral}{"{}HOME"{}}))\ +\ path.substr(1);}
-\DoxyCodeLine{00047\ \ \ \}}
-\DoxyCodeLine{00048\ \ \ \textcolor{keywordflow}{return}\ path;}
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-\DoxyCodeLine{00050\ }
-\DoxyCodeLine{00058\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer}{CapabilitiesServer}}\ :\ \textcolor{keyword}{public}\ rclcpp::Node,\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{CapabilitiesAPI}}}
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-\DoxyCodeLine{00060\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00061\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aacf69c819dfe2d31895bd6a4b7831aea}{CapabilitiesServer}}(\textcolor{keyword}{const}\ rclcpp::NodeOptions\&\ options\ =\ rclcpp::NodeOptions())}
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-\DoxyCodeLine{00063\ \ \ \{}
-\DoxyCodeLine{00064\ \ \ \ \ \textcolor{keywordflow}{try}}
-\DoxyCodeLine{00065\ \ \ \ \ \{}
-\DoxyCodeLine{00066\ \ \ \ \ \ \ \textcolor{comment}{//\ Only\ call\ setup\ if\ this\ object\ is\ already\ owned\ by\ a\ shared\_ptr}}
-\DoxyCodeLine{00067\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (shared\_from\_this())}
-\DoxyCodeLine{00068\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00069\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e}{initialize}}();}
-\DoxyCodeLine{00070\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00071\ \ \ \ \ \}}
-\DoxyCodeLine{00072\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ std::bad\_weak\_ptr\&)}
-\DoxyCodeLine{00073\ \ \ \ \ \{}
-\DoxyCodeLine{00074\ \ \ \ \ \ \ \textcolor{comment}{//\ Not\ yet\ safe\ —\ probably\ standalone\ without\ make\_shared}}
-\DoxyCodeLine{00075\ \ \ \ \ \}}
-\DoxyCodeLine{00076\ \ \ \}}
-\DoxyCodeLine{00077\ }
-\DoxyCodeLine{00082\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e}{initialize}}()}
-\DoxyCodeLine{00083\ \ \ \{}
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-\DoxyCodeLine{00085\ \ \ \ \ \textcolor{comment}{//\ loop\ rate}}
-\DoxyCodeLine{00086\ \ \ \ \ declare\_parameter(\textcolor{stringliteral}{"{}loop\_rate"{}},\ 5.0);}
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-\DoxyCodeLine{00088\ }
-\DoxyCodeLine{00089\ \ \ \ \ \textcolor{comment}{//\ db\ file}}
-\DoxyCodeLine{00090\ \ \ \ \ declare\_parameter(\textcolor{stringliteral}{"{}db\_file"{}},\ \textcolor{stringliteral}{"{}\string~/.ros/capabilities/capabilities.sqlite3"{}});}
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-\DoxyCodeLine{00092\ }
-\DoxyCodeLine{00093\ \ \ \ \ \textcolor{comment}{//\ rebuild\ db}}
-\DoxyCodeLine{00094\ \ \ \ \ declare\_parameter(\textcolor{stringliteral}{"{}rebuild"{}},\ \textcolor{keyword}{false});}
-\DoxyCodeLine{00095\ \ \ \ \ \textcolor{keywordtype}{bool}\ rebuild\ =\ get\_parameter(\textcolor{stringliteral}{"{}rebuild"{}}).as\_bool();}
-\DoxyCodeLine{00096\ }
-\DoxyCodeLine{00097\ \ \ \ \ \textcolor{comment}{//\ package\ path}}
-\DoxyCodeLine{00098\ \ \ \ \ declare\_parameter(\textcolor{stringliteral}{"{}package\_paths"{}},\ std::vector<std::string>());}
-\DoxyCodeLine{00099\ \ \ \ \ std::vector<std::string>\ package\_paths\ =\ get\_parameter(\textcolor{stringliteral}{"{}package\_paths"{}}).as\_string\_array();}
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-\DoxyCodeLine{00101\ \ \ \ \ \textcolor{comment}{//\ get\ full\ path\ of\ db\ file}}
-\DoxyCodeLine{00102\ \ \ \ \ std::filesystem::path\ db\_path\ =\ std::filesystem::absolute(\mbox{\hyperlink{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425}{expand\_tilde}}(db\_file));}
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-\DoxyCodeLine{00105\ \ \ \ \ \textcolor{keywordflow}{if}\ (rebuild)}
-\DoxyCodeLine{00106\ \ \ \ \ \{}
-\DoxyCodeLine{00107\ \ \ \ \ \ \ \textcolor{comment}{//\ remove\ db\ file\ if\ it\ exists}}
-\DoxyCodeLine{00108\ \ \ \ \ \ \ RCLCPP\_INFO(get\_logger(),\ \textcolor{stringliteral}{"{}Rebuilding\ capabilities\ database"{}});}
-\DoxyCodeLine{00109\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (std::remove(db\_file.c\_str())\ !=\ 0)}
-\DoxyCodeLine{00110\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}Error\ deleting\ file\ \%s"{}},\ db\_file.c\_str());}
-\DoxyCodeLine{00112\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00113\ \ \ \ \ \}}
-\DoxyCodeLine{00114\ }
-\DoxyCodeLine{00115\ \ \ \ \ \textcolor{comment}{//\ if\ db\ file\ does\ not\ exist}}
-\DoxyCodeLine{00116\ \ \ \ \ \textcolor{keywordflow}{if}\ (!std::filesystem::exists(db\_path))}
-\DoxyCodeLine{00117\ \ \ \ \ \{}
-\DoxyCodeLine{00118\ \ \ \ \ \ \ \textcolor{comment}{//\ create\ db\ file\ path}}
-\DoxyCodeLine{00119\ \ \ \ \ \ \ std::filesystem::create\_directories(db\_path.parent\_path());}
-\DoxyCodeLine{00120\ \ \ \ \ \}}
-\DoxyCodeLine{00121\ }
-\DoxyCodeLine{00122\ \ \ \ \ \textcolor{comment}{//\ init\ capabilities\ api}}
-\DoxyCodeLine{00123\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}{connect}}(db\_file,\ get\_node\_logging\_interface());}
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-\DoxyCodeLine{00134\ \ \ \ \ \textcolor{comment}{//\ event\ publisher\ uses\ event\ subsystem}}
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-\DoxyCodeLine{00137\ \ \ \ \ \textcolor{comment}{//\ subs}}
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-\DoxyCodeLine{00143\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7}{CapabilitiesServer::establish\_bond\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
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-\DoxyCodeLine{00145\ \ \ \ \ \textcolor{comment}{//\ start\ capability}}
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-\DoxyCodeLine{00148\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e}{CapabilitiesServer::start\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
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-\DoxyCodeLine{00150\ \ \ \ \ \textcolor{comment}{//\ stop\ capability}}
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-\DoxyCodeLine{00153\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d}{CapabilitiesServer::stop\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
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-\DoxyCodeLine{00155\ \ \ \ \ \textcolor{comment}{//\ free\ capability}}
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-\DoxyCodeLine{00158\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04}{CapabilitiesServer::free\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
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-\DoxyCodeLine{00160\ \ \ \ \ \textcolor{comment}{//\ trigger\ capability}}
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-\DoxyCodeLine{00163\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3}{CapabilitiesServer::trigger\_capability\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
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-\DoxyCodeLine{00195\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aed01fea6038bf10c20f4e23325e7b411}{CapabilitiesServer::get\_capability\_spec\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
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-\DoxyCodeLine{00201\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c}{get\_remappings\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::GetRemappings>(}
-\DoxyCodeLine{00202\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/get\_remappings"{}},}
-\DoxyCodeLine{00203\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a71728f43b140a67280d2eec2a18f00e4}{CapabilitiesServer::get\_remappings\_cb}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2));}
-\DoxyCodeLine{00204\ }
-\DoxyCodeLine{00205\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ac358c10e20544260cb65ad6fd3a31c8d}{get\_running\_capabilities\_srv\_}}\ =\ create\_service<capabilities2\_msgs::srv::GetRunningCapabilities>(}
-\DoxyCodeLine{00206\ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}\string~/get\_running\_capabilities"{}},\ std::bind(\&\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ad25368b49818a71d8bb5aefb64975fb5}{CapabilitiesServer::get\_running\_capabilities\_cb}},\ \textcolor{keyword}{this},}
-\DoxyCodeLine{00207\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::placeholders::\_1,\ std::placeholders::\_2));}
-\DoxyCodeLine{00208\ }
-\DoxyCodeLine{00209\ \ \ \ \ \textcolor{comment}{//\ log\ ready}}
-\DoxyCodeLine{00210\ \ \ \ \ RCLCPP\_INFO(get\_logger(),\ \textcolor{stringliteral}{"{}capabilities\ server\ started"{}});}
-\DoxyCodeLine{00211\ }
-\DoxyCodeLine{00212\ \ \ \ \ \textcolor{comment}{//\ fire/publish\ ready\ event}}
-\DoxyCodeLine{00213\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\_}}-\/>on\_server\_ready(\textcolor{stringliteral}{"{}capabilities\ server\ start\ up\ complete"{}});}
-\DoxyCodeLine{00214\ \ \ \}}
-\DoxyCodeLine{00215\ }
-\DoxyCodeLine{00216\ \ \ \textcolor{comment}{//\ service\ callbacks}}
-\DoxyCodeLine{00217\ \ \ \textcolor{comment}{//\ establish\ bond}}
-\DoxyCodeLine{00218\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7}{establish\_bond\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::EstablishBond::Request>\ req,}
-\DoxyCodeLine{00219\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::EstablishBond::Response>\ res)}
-\DoxyCodeLine{00220\ \ \ \{}
-\DoxyCodeLine{00221\ \ \ \ \ \textcolor{comment}{//\ req\ is\ empty}}
-\DoxyCodeLine{00222\ }
-\DoxyCodeLine{00223\ \ \ \ \ \textcolor{comment}{//\ set\ bond\ id\ to\ response}}
-\DoxyCodeLine{00224\ \ \ \ \ res-\/>bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}{establish\_bond}}(shared\_from\_this());}
-\DoxyCodeLine{00225\ \ \ \}}
-\DoxyCodeLine{00226\ }
-\DoxyCodeLine{00227\ \ \ \textcolor{comment}{//\ start\ capability}}
-\DoxyCodeLine{00228\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e}{start\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::StartCapability::Request>\ req,}
-\DoxyCodeLine{00229\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::StartCapability::Response>\ res)}
-\DoxyCodeLine{00230\ \ \ \{}
-\DoxyCodeLine{00231\ \ \ \ \ \textcolor{comment}{//\ log\ warning\ about\ using\ unsafe\ start\ service}}
-\DoxyCodeLine{00232\ \ \ \ \ RCLCPP\_WARN(get\_logger(),\ \textcolor{stringliteral}{"{}start\_capability\ service\ is\ unsafe\ and\ intended\ for\ internal\ use\ only.\ "{}}}
-\DoxyCodeLine{00233\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}Use\ use\_capability\ service\ with\ established\ bond\ instead."{}});}
-\DoxyCodeLine{00234\ }
-\DoxyCodeLine{00235\ \ \ \ \ \textcolor{comment}{//\ try\ starting\ capability}}
-\DoxyCodeLine{00236\ \ \ \ \ \textcolor{comment}{//\ TODO:\ handle\ errors}}
-\DoxyCodeLine{00237\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\_capability}}(shared\_from\_this(),\ req-\/>capability,\ req-\/>preferred\_provider);}
-\DoxyCodeLine{00238\ }
-\DoxyCodeLine{00239\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
-\DoxyCodeLine{00240\ \ \ \ \ res-\/>result\ =\ capabilities2\_msgs::srv::StartCapability::Response::RESULT\_SUCCESS;}
-\DoxyCodeLine{00241\ \ \ \}}
-\DoxyCodeLine{00242\ }
-\DoxyCodeLine{00243\ \ \ \textcolor{comment}{//\ stop\ capability}}
-\DoxyCodeLine{00244\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d}{stop\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::StopCapability::Request>\ req,}
-\DoxyCodeLine{00245\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::StopCapability::Response>\ res)}
-\DoxyCodeLine{00246\ \ \ \{}
-\DoxyCodeLine{00247\ \ \ \ \ \textcolor{comment}{//\ log\ warning\ about\ using\ unsafe\ stop\ service}}
-\DoxyCodeLine{00248\ \ \ \ \ RCLCPP\_WARN(get\_logger(),\ \textcolor{stringliteral}{"{}stop\_capability\ service\ is\ unsafe\ and\ intended\ for\ internal\ use\ only.\ "{}}}
-\DoxyCodeLine{00249\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}Use\ free\_capability\ service\ with\ established\ bond\ instead."{}});}
-\DoxyCodeLine{00250\ }
-\DoxyCodeLine{00251\ \ \ \ \ \textcolor{comment}{//\ try\ stopping\ capability}}
-\DoxyCodeLine{00252\ \ \ \ \ \textcolor{comment}{//\ TODO:\ handle\ errors}}
-\DoxyCodeLine{00253\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\_capability}}(req-\/>capability);}
-\DoxyCodeLine{00254\ }
-\DoxyCodeLine{00255\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
-\DoxyCodeLine{00256\ \ \ \ \ res-\/>successful\ =\ \textcolor{keyword}{true};}
-\DoxyCodeLine{00257\ \ \ \}}
-\DoxyCodeLine{00258\ }
-\DoxyCodeLine{00259\ \ \ \textcolor{comment}{//\ trigger\ capability}}
-\DoxyCodeLine{00260\ \ \ \textcolor{comment}{//\ requires\ a\ bond\ to\ be\ established}}
-\DoxyCodeLine{00261\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3}{trigger\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::TriggerCapability::Request>\ req,}
-\DoxyCodeLine{00262\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::TriggerCapability::Response>\ res)}
-\DoxyCodeLine{00263\ \ \ \{}
-\DoxyCodeLine{00264\ \ \ \ \ \textcolor{comment}{//\ make\ sure\ capability\ is\ not\ empty}}
-\DoxyCodeLine{00265\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability.capability.empty())}
-\DoxyCodeLine{00266\ \ \ \ \ \{}
-\DoxyCodeLine{00267\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}trigger\_capability:\ capability\ is\ empty"{}});}
-\DoxyCodeLine{00268\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00269\ \ \ \ \ \}}
-\DoxyCodeLine{00270\ }
-\DoxyCodeLine{00271\ \ \ \ \ \textcolor{comment}{//\ make\ sure\ bond\ id\ is\ provided}}
-\DoxyCodeLine{00272\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>bond\_id.empty())}
-\DoxyCodeLine{00273\ \ \ \ \ \{}
-\DoxyCodeLine{00274\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}trigger\_capability:\ bond\_id\ is\ empty"{}});}
-\DoxyCodeLine{00275\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00276\ \ \ \ \ \}}
-\DoxyCodeLine{00277\ }
-\DoxyCodeLine{00278\ \ \ \ \ \textcolor{comment}{//\ make\ sure\ instance\ id\ is\ provided}}
-\DoxyCodeLine{00279\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability.instance\_id.empty())}
-\DoxyCodeLine{00280\ \ \ \ \ \{}
-\DoxyCodeLine{00281\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}trigger\_capability:\ instance\_id\ is\ empty"{}});}
-\DoxyCodeLine{00282\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00283\ \ \ \ \ \}}
-\DoxyCodeLine{00284\ }
-\DoxyCodeLine{00285\ \ \ \ \ \textcolor{comment}{//\ try\ triggering\ capability}}
-\DoxyCodeLine{00286\ \ \ \ \ \textcolor{comment}{//\ TODO:\ handle\ errors}}
-\DoxyCodeLine{00287\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}{trigger\_capability}}(req-\/>bond\_id,\ req-\/>capability.capability,\ req-\/>capability.instance\_id,}
-\DoxyCodeLine{00288\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}(req-\/>capability));}
-\DoxyCodeLine{00289\ }
-\DoxyCodeLine{00290\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
-\DoxyCodeLine{00291\ \ \ \}}
-\DoxyCodeLine{00292\ }
-\DoxyCodeLine{00293\ \ \ \textcolor{comment}{//\ free\ capability}}
-\DoxyCodeLine{00294\ \ \ \textcolor{comment}{//\ requires\ bond\ to\ be\ established}}
-\DoxyCodeLine{00295\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04}{free\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::FreeCapability::Request>\ req,}
-\DoxyCodeLine{00296\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::FreeCapability::Response>\ res)}
-\DoxyCodeLine{00297\ \ \ \{}
-\DoxyCodeLine{00298\ \ \ \ \ \textcolor{comment}{//\ guard\ empty\ values}}
-\DoxyCodeLine{00299\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability.empty())}
-\DoxyCodeLine{00300\ \ \ \ \ \{}
-\DoxyCodeLine{00301\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}free\_capability:\ capability\ is\ empty"{}});}
-\DoxyCodeLine{00302\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00303\ \ \ \ \ \}}
-\DoxyCodeLine{00304\ }
-\DoxyCodeLine{00305\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>bond\_id.empty())}
-\DoxyCodeLine{00306\ \ \ \ \ \{}
-\DoxyCodeLine{00307\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}free\_capability:\ bond\_id\ is\ empty"{}});}
-\DoxyCodeLine{00308\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00309\ \ \ \ \ \}}
-\DoxyCodeLine{00310\ }
-\DoxyCodeLine{00311\ \ \ \ \ \textcolor{comment}{//\ free\ capability\ of\ this\ bond}}
-\DoxyCodeLine{00312\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\_capability}}(req-\/>capability,\ req-\/>bond\_id);}
-\DoxyCodeLine{00313\ }
-\DoxyCodeLine{00314\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
-\DoxyCodeLine{00315\ \ \ \}}
-\DoxyCodeLine{00316\ }
-\DoxyCodeLine{00317\ \ \ \textcolor{comment}{//\ use\ capability}}
-\DoxyCodeLine{00318\ \ \ \textcolor{comment}{//\ requires\ bond\ to\ be\ established}}
-\DoxyCodeLine{00319\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ab351057325bd9c62bbd25657061505d6}{use\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::UseCapability::Request>\ req,}
-\DoxyCodeLine{00320\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::UseCapability::Response>\ res)}
-\DoxyCodeLine{00321\ \ \ \{}
-\DoxyCodeLine{00322\ \ \ \ \ \textcolor{comment}{//\ guard\ empty\ values}}
-\DoxyCodeLine{00323\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability.empty())}
-\DoxyCodeLine{00324\ \ \ \ \ \{}
-\DoxyCodeLine{00325\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}use\_capability:\ capability\ is\ empty"{}});}
-\DoxyCodeLine{00326\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00327\ \ \ \ \ \}}
-\DoxyCodeLine{00328\ }
-\DoxyCodeLine{00329\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>preferred\_provider.empty())}
-\DoxyCodeLine{00330\ \ \ \ \ \{}
-\DoxyCodeLine{00331\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}use\_capability:\ preferred\_provider\ is\ empty"{}});}
-\DoxyCodeLine{00332\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00333\ \ \ \ \ \}}
-\DoxyCodeLine{00334\ }
-\DoxyCodeLine{00335\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>bond\_id.empty())}
-\DoxyCodeLine{00336\ \ \ \ \ \{}
-\DoxyCodeLine{00337\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}use\_capability:\ bond\_id\ is\ empty"{}});}
-\DoxyCodeLine{00338\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00339\ \ \ \ \ \}}
-\DoxyCodeLine{00340\ }
-\DoxyCodeLine{00341\ \ \ \ \ \textcolor{comment}{//\ use\ capability\ with\ this\ bond}}
-\DoxyCodeLine{00342\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}{use\_capability}}(shared\_from\_this(),\ req-\/>capability,\ req-\/>preferred\_provider,\ req-\/>bond\_id);}
-\DoxyCodeLine{00343\ }
-\DoxyCodeLine{00344\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
-\DoxyCodeLine{00345\ \ \ \}}
-\DoxyCodeLine{00346\ }
-\DoxyCodeLine{00347\ \ \ \textcolor{comment}{//\ FIXME:\ repair\ this\ to\ use\ new\ event\ subsystem}}
-\DoxyCodeLine{00348\ \ \ \textcolor{comment}{//\ connect\ capability}}
-\DoxyCodeLine{00349\ \ \ \textcolor{comment}{//\ requires\ bond\ to\ be\ established}}
-\DoxyCodeLine{00350\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a03500d304d5fef27e356b30b5d23dece}{connect\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::ConnectCapability::Request>\ req,}
-\DoxyCodeLine{00351\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::ConnectCapability::Response>\ res)}
-\DoxyCodeLine{00352\ \ \ \{}
-\DoxyCodeLine{00353\ \ \ \ \ \textcolor{comment}{//\ need\ to\ have\ a\ bond\ established}}
-\DoxyCodeLine{00354\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>bond\_id.empty())}
-\DoxyCodeLine{00355\ \ \ \ \ \{}
-\DoxyCodeLine{00356\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}connect\_capability:\ bond\_id\ is\ empty"{}});}
-\DoxyCodeLine{00357\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00358\ \ \ \ \ \}}
-\DoxyCodeLine{00359\ }
-\DoxyCodeLine{00360\ \ \ \ \ \textcolor{comment}{//\ need\ to\ have\ a\ instance\ id}}
-\DoxyCodeLine{00361\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>connection.source.instance\_id.empty())}
-\DoxyCodeLine{00362\ \ \ \ \ \{}
-\DoxyCodeLine{00363\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}connect\_capability:\ instance\_id\ is\ empty"{}});}
-\DoxyCodeLine{00364\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00365\ \ \ \ \ \}}
-\DoxyCodeLine{00366\ }
-\DoxyCodeLine{00367\ \ \ \ \ \textcolor{comment}{//\ need\ to\ have\ a\ target\ instance\ id}}
-\DoxyCodeLine{00368\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>connection.target.instance\_id.empty())}
-\DoxyCodeLine{00369\ \ \ \ \ \{}
-\DoxyCodeLine{00370\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}connect\_capability:\ target\_instance\_id\ is\ empty"{}});}
-\DoxyCodeLine{00371\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00372\ \ \ \ \ \}}
-\DoxyCodeLine{00373\ }
-\DoxyCodeLine{00374\ \ \ \ \ \textcolor{comment}{//\ api\ connect\ capability}}
-\DoxyCodeLine{00375\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}{connect\_capability}}(req-\/>bond\_id,\ req-\/>connection);}
-\DoxyCodeLine{00376\ }
-\DoxyCodeLine{00377\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
-\DoxyCodeLine{00378\ \ \ \}}
-\DoxyCodeLine{00379\ }
-\DoxyCodeLine{00380\ \ \ \textcolor{comment}{//\ register\ capability}}
-\DoxyCodeLine{00381\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a71a42e1eaa2a7b030b8e0b1c90609315}{register\_capability\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::RegisterCapability::Request>\ req,}
-\DoxyCodeLine{00382\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::RegisterCapability::Response>\ res)}
-\DoxyCodeLine{00383\ \ \ \{}
-\DoxyCodeLine{00384\ \ \ \ \ \textcolor{comment}{//\ guard\ empty\ values}}
-\DoxyCodeLine{00385\ \ \ \ \ \textcolor{keywordflow}{if}\ (req-\/>capability\_spec.package.empty()\ ||\ req-\/>capability\_spec.content.empty())}
-\DoxyCodeLine{00386\ \ \ \ \ \{}
-\DoxyCodeLine{00387\ \ \ \ \ \ \ RCLCPP\_ERROR(get\_logger(),\ \textcolor{stringliteral}{"{}register\_capability:\ package\ or\ content\ is\ empty"{}});}
-\DoxyCodeLine{00388\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00389\ \ \ \ \ \}}
-\DoxyCodeLine{00390\ }
-\DoxyCodeLine{00391\ \ \ \ \ \textcolor{comment}{//\ register\ capability}}
-\DoxyCodeLine{00392\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}{add\_capability}}(req-\/>capability\_spec);}
-\DoxyCodeLine{00393\ }
-\DoxyCodeLine{00394\ \ \ \ \ \textcolor{comment}{//\ response\ is\ empty}}
-\DoxyCodeLine{00395\ \ \ \}}
-\DoxyCodeLine{00396\ }
-\DoxyCodeLine{00397\ \ \ \textcolor{comment}{//\ query\ capabilities}}
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-\DoxyCodeLine{00399\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a1eee46a1f8874823530823183406e082}{get\_interfaces\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::GetInterfaces::Request>\ req,}
-\DoxyCodeLine{00400\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::GetInterfaces::Response>\ res)}
-\DoxyCodeLine{00401\ \ \ \{}
-\DoxyCodeLine{00402\ \ \ \ \ \textcolor{comment}{//\ req\ is\ empty}}
-\DoxyCodeLine{00403\ }
-\DoxyCodeLine{00404\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
-\DoxyCodeLine{00405\ \ \ \ \ \textcolor{comment}{//\ get\ all\ interfaces}}
-\DoxyCodeLine{00406\ \ \ \ \ res-\/>interfaces\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03}{get\_interfaces}}();}
-\DoxyCodeLine{00407\ \ \ \}}
-\DoxyCodeLine{00408\ }
-\DoxyCodeLine{00409\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces}}
-\DoxyCodeLine{00410\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae3299cfc91495fdff2fc8eb1513e7804}{get\_semantic\_interfaces\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::GetSemanticInterfaces::Request>\ req,}
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-\DoxyCodeLine{00412\ \ \ \{}
-\DoxyCodeLine{00413\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
-\DoxyCodeLine{00414\ \ \ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces\ for\ given\ interface}}
-\DoxyCodeLine{00415\ \ \ \ \ res-\/>semantic\_interfaces\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52}{get\_semantic\_interfaces}}(req-\/>interface);}
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-\DoxyCodeLine{00417\ }
-\DoxyCodeLine{00418\ \ \ \textcolor{comment}{//\ get\ providers}}
-\DoxyCodeLine{00419\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_afd5d1ff380148dbc66a57e04e92109e0}{get\_providers\_cb}}(\textcolor{keyword}{const}\ std::shared\_ptr<capabilities2\_msgs::srv::GetProviders::Request>\ req,}
-\DoxyCodeLine{00420\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_msgs::srv::GetProviders::Response>\ res)}
-\DoxyCodeLine{00421\ \ \ \{}
-\DoxyCodeLine{00422\ \ \ \ \ \textcolor{comment}{//\ set\ response}}
-\DoxyCodeLine{00423\ \ \ \ \ \textcolor{comment}{//\ get\ providers\ for\ given\ interface}}
-\DoxyCodeLine{00424\ \ \ \ \ res-\/>providers\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a}{get\_providers}}(req-\/>interface,\ req-\/>include\_semantic);}
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-\DoxyCodeLine{00426\ }
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-\DoxyCodeLine{00662\ \ \ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00663\ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00664\ \ \ \ \ \ \ \};}
-\DoxyCodeLine{00665\ }
-\DoxyCodeLine{00666\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ interface\ specs}}
-\DoxyCodeLine{00667\ \ \ \ \ \ \ get\_capability\_specs(capabilities2\_msgs::msg::CapabilitySpec::CAPABILITY\_INTERFACE);}
-\DoxyCodeLine{00668\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ semantic\ interface\ specs}}
-\DoxyCodeLine{00669\ \ \ \ \ \ \ get\_capability\_specs(capabilities2\_msgs::msg::CapabilitySpec::SEMANTIC\_CAPABILITY\_INTERFACE);}
-\DoxyCodeLine{00670\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ provider\ specs}}
-\DoxyCodeLine{00671\ \ \ \ \ \ \ get\_capability\_specs(capabilities2\_msgs::msg::CapabilitySpec::CAPABILITY\_PROVIDER);}
-\DoxyCodeLine{00672\ \ \ \ \ \}}
-\DoxyCodeLine{00673\ \ \ \}}
-\DoxyCodeLine{00674\ }
-\DoxyCodeLine{00681\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a5e0231cf2f4d4c16ec057e5603b0efd1}{parse\_package\_xml}}(\textcolor{keyword}{const}\ std::string\&\ package\_xml,\ tinyxml2::XMLDocument\&\ doc)}
-\DoxyCodeLine{00682\ \ \ \{}
-\DoxyCodeLine{00683\ \ \ \ \ \textcolor{comment}{//\ read\ package.xml}}
-\DoxyCodeLine{00684\ \ \ \ \ std::ifstream\ package\_xml\_file(package\_xml,\ std::ifstream::in);}
-\DoxyCodeLine{00685\ }
-\DoxyCodeLine{00686\ \ \ \ \ \textcolor{keywordflow}{if}\ (!package\_xml\_file.is\_open())}
-\DoxyCodeLine{00687\ \ \ \ \ \{}
-\DoxyCodeLine{00688\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}unable\ to\ open\ package.xml\ file:\ "{}}\ +\ package\_xml);}
-\DoxyCodeLine{00689\ \ \ \ \ \}}
-\DoxyCodeLine{00690\ }
-\DoxyCodeLine{00691\ \ \ \ \ \textcolor{comment}{//\ read\ package.xml\ file\ into\ string}}
-\DoxyCodeLine{00692\ \ \ \ \ std::string\ package\_xml\_string\{\ std::istreambuf\_iterator<char>(package\_xml\_file),}
-\DoxyCodeLine{00693\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::istreambuf\_iterator<char>()\ \};}
-\DoxyCodeLine{00694\ \ \ \ \ package\_xml\_file.close();}
-\DoxyCodeLine{00695\ }
-\DoxyCodeLine{00696\ \ \ \ \ \textcolor{comment}{//\ parse\ package.xml\ to\ xml\ doc}}
-\DoxyCodeLine{00697\ \ \ \ \ \textcolor{keywordflow}{if}\ (doc.Parse(package\_xml\_string.c\_str())\ !=\ tinyxml2::XML\_SUCCESS)}
-\DoxyCodeLine{00698\ \ \ \ \ \{}
-\DoxyCodeLine{00699\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}failed\ to\ parse\ package.xml\ file:\ "{}}\ +\ package\_xml);}
-\DoxyCodeLine{00700\ \ \ \ \ \}}
-\DoxyCodeLine{00701\ \ \ \}}
-\DoxyCodeLine{00702\ }
-\DoxyCodeLine{00709\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a38bec3f55aab20fb4ef4be05ff20ee20}{load\_spec\_content}}(\textcolor{keyword}{const}\ std::string\&\ spec\_file,\ capabilities2\_msgs::msg::CapabilitySpec\&\ capability\_spec)}
-\DoxyCodeLine{00710\ \ \ \{}
-\DoxyCodeLine{00711\ \ \ \ \ \textcolor{comment}{//\ read\ spec\ file}}
-\DoxyCodeLine{00712\ \ \ \ \ std::ifstream\ spec\_file\_file(spec\_file,\ std::ifstream::in);}
-\DoxyCodeLine{00713\ }
-\DoxyCodeLine{00714\ \ \ \ \ \textcolor{comment}{//\ file\ failed\ guard}}
-\DoxyCodeLine{00715\ \ \ \ \ \textcolor{keywordflow}{if}\ (!spec\_file\_file.is\_open())}
-\DoxyCodeLine{00716\ \ \ \ \ \{}
-\DoxyCodeLine{00717\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}unable\ to\ open\ capability\ spec\ file:\ "{}}\ +\ spec\_file);}
-\DoxyCodeLine{00718\ \ \ \ \ \}}
-\DoxyCodeLine{00719\ }
-\DoxyCodeLine{00720\ \ \ \ \ \textcolor{comment}{//\ load\ content\ into\ msg}}
-\DoxyCodeLine{00721\ \ \ \ \ std::string\ content\{\ std::istreambuf\_iterator<char>(spec\_file\_file),\ std::istreambuf\_iterator<char>()\ \};}
-\DoxyCodeLine{00722\ \ \ \ \ capability\_spec.content\ =\ content;}
-\DoxyCodeLine{00723\ }
-\DoxyCodeLine{00724\ \ \ \ \ spec\_file\_file.close();}
-\DoxyCodeLine{00725\ \ \ \}}
-\DoxyCodeLine{00726\ }
-\DoxyCodeLine{00727\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00728\ \ \ \textcolor{comment}{//\ loop\ hz}}
-\DoxyCodeLine{00729\ \ \ \textcolor{keywordtype}{double}\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a6e8b97337893a97daa58e3f0c11bb565}{loop\_hz\_}};}
-\DoxyCodeLine{00730\ }
-\DoxyCodeLine{00731\ \ \ \textcolor{comment}{//\ publishers}}
-\DoxyCodeLine{00732\ \ \ \textcolor{comment}{//\ event\ publisher}}
-\DoxyCodeLine{00733\ \ \ rclcpp::Publisher<capabilities2\_msgs::msg::CapabilityEventStamped>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa850ac5910b408d86b73b7bc04d82134}{event\_pub\_}};}
-\DoxyCodeLine{00734\ }
-\DoxyCodeLine{00735\ \ \ \textcolor{comment}{//\ services}}
-\DoxyCodeLine{00736\ \ \ \textcolor{comment}{//\ establish\ bond}}
-\DoxyCodeLine{00737\ \ \ rclcpp::Service<capabilities2\_msgs::srv::EstablishBond>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a4d626b97ce07ce813f045f334e0672bf}{establish\_bond\_srv\_}};}
-\DoxyCodeLine{00738\ \ \ \textcolor{comment}{//\ start\ capability}}
-\DoxyCodeLine{00739\ \ \ rclcpp::Service<capabilities2\_msgs::srv::StartCapability>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a1a04b3d8e38c3e738d6dad3e9f90ed32}{start\_capability\_srv\_}};}
-\DoxyCodeLine{00740\ \ \ \textcolor{comment}{//\ stop\ capability}}
-\DoxyCodeLine{00741\ \ \ rclcpp::Service<capabilities2\_msgs::srv::StopCapability>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aee406dd808d0277a3d1babfbaf5d0dee}{stop\_capability\_srv\_}};}
-\DoxyCodeLine{00742\ \ \ \textcolor{comment}{//\ free\ capability}}
-\DoxyCodeLine{00743\ \ \ rclcpp::Service<capabilities2\_msgs::srv::FreeCapability>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a0e28a32f07cadfecd641727cf7d6df9a}{free\_capability\_srv\_}};}
-\DoxyCodeLine{00744\ \ \ \textcolor{comment}{//\ connect\ capability}}
-\DoxyCodeLine{00745\ \ \ rclcpp::Service<capabilities2\_msgs::srv::ConnectCapability>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a234c5773e90eebb05bd36fe2025f5503}{connect\_capability\_srv\_}};}
-\DoxyCodeLine{00746\ \ \ \textcolor{comment}{//\ trigger\ capability}}
-\DoxyCodeLine{00747\ \ \ rclcpp::Service<capabilities2\_msgs::srv::TriggerCapability>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ab479dbd4ed2028355725f553dca81d4e}{trigger\_capability\_srv\_}};}
-\DoxyCodeLine{00748\ \ \ \textcolor{comment}{//\ use\ capability}}
-\DoxyCodeLine{00749\ \ \ rclcpp::Service<capabilities2\_msgs::srv::UseCapability>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a152c07656d903772602e01a23b717c94}{use\_capability\_srv\_}};}
-\DoxyCodeLine{00750\ \ \ \textcolor{comment}{//\ register\ capability}}
-\DoxyCodeLine{00751\ \ \ rclcpp::Service<capabilities2\_msgs::srv::RegisterCapability>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a12ab12a8447c6333dd2383534e2268bb}{register\_capability\_srv\_}};}
-\DoxyCodeLine{00752\ \ \ \textcolor{comment}{//\ query\ capabilities}}
-\DoxyCodeLine{00753\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetInterfaces>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa7b2bb889301337796e782ea00d788a9}{get\_interfaces\_srv\_}};}
-\DoxyCodeLine{00754\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces}}
-\DoxyCodeLine{00755\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetSemanticInterfaces>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae9b834509054095c04cc7f9d1557ec96}{get\_semantic\_interfaces\_srv\_}};}
-\DoxyCodeLine{00756\ \ \ \textcolor{comment}{//\ get\ providers}}
-\DoxyCodeLine{00757\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetProviders>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a755cc7001a6739ae422492a9b6d4f4e3}{get\_providers\_srv\_}};}
-\DoxyCodeLine{00758\ \ \ \textcolor{comment}{//\ get\ capability\ spec}}
-\DoxyCodeLine{00759\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetCapabilitySpec>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a8286d3d3b6ad3eefef8bb91abcf349a2}{get\_capability\_spec\_srv\_}};}
-\DoxyCodeLine{00760\ \ \ \textcolor{comment}{//\ get\ capability\ specs}}
-\DoxyCodeLine{00761\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetCapabilitySpecs>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aad26d9c4b7948bff89e9dfc54dae3b33}{get\_capability\_specs\_srv\_}};}
-\DoxyCodeLine{00762\ \ \ \textcolor{comment}{//\ get\ remappings}}
-\DoxyCodeLine{00763\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetRemappings>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c}{get\_remappings\_srv\_}};}
-\DoxyCodeLine{00764\ \ \ \textcolor{comment}{//\ get\ running\ capabilities}}
-\DoxyCodeLine{00765\ \ \ rclcpp::Service<capabilities2\_msgs::srv::GetRunningCapabilities>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ac358c10e20544260cb65ad6fd3a31c8d}{get\_running\_capabilities\_srv\_}};}
-\DoxyCodeLine{00766\ \};}
-\DoxyCodeLine{00767\ }
-\DoxyCodeLine{00768\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
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diff --git a/docs/latex/capabilities__server__component_8cpp.tex b/docs/latex/capabilities__server__component_8cpp.tex
deleted file mode 100644
index ef3a294..0000000
--- a/docs/latex/capabilities__server__component_8cpp.tex
+++ /dev/null
@@ -1,11 +0,0 @@
-\doxysection{capabilities2\+\_\+server/src/capabilities\+\_\+server\+\_\+component.cpp File Reference}
-\hypertarget{capabilities__server__component_8cpp}{}\label{capabilities__server__component_8cpp}\index{capabilities2\_server/src/capabilities\_server\_component.cpp@{capabilities2\_server/src/capabilities\_server\_component.cpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+server.\+hpp$>$}\newline
-{\ttfamily \#include $<$rclcpp\+\_\+components/register\+\_\+node\+\_\+macro.\+hpp$>$}\newline
-Include dependency graph for capabilities\+\_\+server\+\_\+component.\+cpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{capabilities__server__component_8cpp__incl}
-\end{center}
-\end{figure}
diff --git a/docs/latex/capabilities__server__component_8cpp__incl.md5 b/docs/latex/capabilities__server__component_8cpp__incl.md5
deleted file mode 100644
index 8a51d18..0000000
--- a/docs/latex/capabilities__server__component_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-d11b751938a83316c61d2ff1d004668b
\ No newline at end of file
diff --git a/docs/latex/capabilities__server__component_8cpp__incl.pdf b/docs/latex/capabilities__server__component_8cpp__incl.pdf
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diff --git a/docs/latex/capabilities__server__node_8cpp.tex b/docs/latex/capabilities__server__node_8cpp.tex
deleted file mode 100644
index bef9f16..0000000
--- a/docs/latex/capabilities__server__node_8cpp.tex
+++ /dev/null
@@ -1,24 +0,0 @@
-\doxysection{capabilities2\+\_\+server/src/capabilities\+\_\+server\+\_\+node.cpp File Reference}
-\hypertarget{capabilities__server__node_8cpp}{}\label{capabilities__server__node_8cpp}\index{capabilities2\_server/src/capabilities\_server\_node.cpp@{capabilities2\_server/src/capabilities\_server\_node.cpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+server.\+hpp$>$}\newline
-Include dependency graph for capabilities\+\_\+server\+\_\+node.\+cpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{capabilities__server__node_8cpp__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-int \mbox{\hyperlink{capabilities__server__node_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}{main}} (int argc, char \texorpdfstring{$\ast$}{*}\texorpdfstring{$\ast$}{*}argv)
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Function Documentation}
-\Hypertarget{capabilities__server__node_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}\label{capabilities__server__node_8cpp_a3c04138a5bfe5d72780bb7e82a18e627} 
-\index{capabilities\_server\_node.cpp@{capabilities\_server\_node.cpp}!main@{main}}
-\index{main@{main}!capabilities\_server\_node.cpp@{capabilities\_server\_node.cpp}}
-\doxysubsubsection{\texorpdfstring{main()}{main()}}
-{\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc,  }\item[{char \texorpdfstring{$\ast$}{*}\texorpdfstring{$\ast$}{*}}]{argv }\end{DoxyParamCaption})}
-
diff --git a/docs/latex/capabilities__server__node_8cpp__incl.md5 b/docs/latex/capabilities__server__node_8cpp__incl.md5
deleted file mode 100644
index 187e7b1..0000000
--- a/docs/latex/capabilities__server__node_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-8c7a48039b6110b3813ce1feae48a59a
\ No newline at end of file
diff --git a/docs/latex/capabilities__server__node_8cpp__incl.pdf b/docs/latex/capabilities__server__node_8cpp__incl.pdf
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diff --git a/docs/latex/capability__registrar_8py.tex b/docs/latex/capability__registrar_8py.tex
deleted file mode 100644
index 1b58aa0..0000000
--- a/docs/latex/capability__registrar_8py.tex
+++ /dev/null
@@ -1,41 +0,0 @@
-\doxysection{capabilities2\+\_\+server/scripts/capability\+\_\+registrar.py File Reference}
-\hypertarget{capability__registrar_8py}{}\label{capability__registrar_8py}\index{capabilities2\_server/scripts/capability\_registrar.py@{capabilities2\_server/scripts/capability\_registrar.py}}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{capability\+\_\+registrar.\+Capability\+Registrar}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapability__registrar}{capability\+\_\+registrar}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a85b2e418ce57973bee2d82f33e5738b5}{capability\+\_\+registrar.\+args}} = parser.\+parse\+\_\+args()
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_aba4d1e7264910b6be4626bff694d10ac}{capability\+\_\+registrar.\+registrar}} = \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{Capability\+Registrar}}()
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a7bfea02378cecfeceda9259e91e2e091}{capability\+\_\+registrar.\+parser}} = argparse.\+Argument\+Parser()
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_acfac32d04d0fcd7c8433ed1b24dc27bd}{capability\+\_\+registrar.\+type}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_adb5ed3f88c50cdfd43deee3b12020bea}{capability\+\_\+registrar.\+str}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_af66a2aad43c4712a55bee27275bd1e5d}{capability\+\_\+registrar.\+help}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a81f7c17e781033752eb7c2d5d43953f5}{capability\+\_\+registrar.\+default}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a9e88f588295c9d1134a65813e2cba57a}{capability\+\_\+registrar.\+required}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a56cd03cefa17b5d40d607d7efa907b86}{capability\+\_\+registrar.\+request}} = Register\+Capability.\+Request()
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a8def842f3231248fbb4afbada9c57c0e}{capability\+\_\+registrar.\+package}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{capability\+\_\+registrar.\+filename}} = args.\+file
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a9824c18d0c7c2bc9602902693e664d48}{capability\+\_\+registrar.\+spec}} = yaml.\+safe\+\_\+load(\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{filename}})
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a2042dee98cea898a5984b8261540b8fb}{capability\+\_\+registrar.\+content}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/changelog_8md.tex b/docs/latex/changelog_8md.tex
deleted file mode 100644
index 85f6696..0000000
--- a/docs/latex/changelog_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{changelog.\+md File Reference}
-\hypertarget{changelog_8md}{}\label{changelog_8md}\index{changelog.md@{changelog.md}}
diff --git a/docs/latex/classcapabilities2__events_1_1EventBase.tex b/docs/latex/classcapabilities2__events_1_1EventBase.tex
deleted file mode 100644
index d4a5283..0000000
--- a/docs/latex/classcapabilities2__events_1_1EventBase.tex
+++ /dev/null
@@ -1,262 +0,0 @@
-\doxysection{capabilities2\+\_\+events\+::Event\+Base Class Reference}
-\hypertarget{classcapabilities2__events_1_1EventBase}{}\label{classcapabilities2__events_1_1EventBase}\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-
-
-event base class  
-
-
-
-
-{\ttfamily \#include "{}event\+\_\+base.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+events\+::Event\+Base\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{classcapabilities2__events_1_1EventBase__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Types}
-\begin{DoxyCompactItemize}
-\item 
-typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}}
-\item 
-typedef \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}}
-\item 
-typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}}
-\item 
-typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}}
-\item 
-typedef std\+::function$<$ void(const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}} \&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}} \&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}} \&, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}})$>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\+\_\+callback\+\_\+t}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef}{Event\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7}{\texorpdfstring{$\sim$}{\string~}\+Event\+Base}} ()=default
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{emit}} (const std\+::string \&connection\+\_\+id, const uint8\+\_\+t \&event\+\_\+code, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&source, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\+\_\+callback\+\_\+t}} callback)
-\begin{DoxyCompactList}\small\item\em emit an event \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f}{on\+\_\+server\+\_\+ready}} (const std\+::string \&msg)=0
-\begin{DoxyCompactList}\small\item\em on server ready event \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb}{on\+\_\+process\+\_\+launched}} (const std\+::string \&pid)=0
-\begin{DoxyCompactList}\small\item\em on process launched event \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97}{on\+\_\+process\+\_\+terminated}} (const std\+::string \&pid)=0
-\begin{DoxyCompactList}\small\item\em on process terminated event \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0}{on\+\_\+triggered}} (const std\+::string \&trigger\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em on triggered event from server \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900}{on\+\_\+connected}} (const std\+::string \&source, const std\+::string \&target)=0
-\begin{DoxyCompactList}\small\item\em on connected event from server \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528}{on\+\_\+disconnected}} (const std\+::string \&source, const std\+::string \&target)=0
-\begin{DoxyCompactList}\small\item\em on disconnected event from server \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-event base class 
-
-Represents an event in the capabilities framework. An event can be triggered to notify other components about changes in running capability (runners) states. 
-
-\doxysubsection{Member Typedef Documentation}
-\Hypertarget{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}\label{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!access\_id\_t@{access\_id\_t}}
-\index{access\_id\_t@{access\_id\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{access\_id\_t}{access\_id\_t}}
-{\footnotesize\ttfamily typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{capabilities2\+\_\+events\+::\+Event\+Base\+::access\+\_\+id\+\_\+t}}}
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}\label{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!capability\_str\_t@{capability\_str\_t}}
-\index{capability\_str\_t@{capability\_str\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{capability\_str\_t}{capability\_str\_t}}
-{\footnotesize\ttfamily typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capabilities2\+\_\+events\+::\+Event\+Base\+::capability\+\_\+str\+\_\+t}}}
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}\label{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!event\_callback\_t@{event\_callback\_t}}
-\index{event\_callback\_t@{event\_callback\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{event\_callback\_t}{event\_callback\_t}}
-{\footnotesize\ttfamily typedef std\+::function$<$void(const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}}\&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}}\&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}}\&, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}})$>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{capabilities2\+\_\+events\+::\+Event\+Base\+::event\+\_\+callback\+\_\+t}}}
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}\label{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!parameter\_t@{parameter\_t}}
-\index{parameter\_t@{parameter\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{parameter\_t}{parameter\_t}}
-{\footnotesize\ttfamily typedef \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{capabilities2\+\_\+events\+::\+Event\+Base\+::parameter\+\_\+t}}}
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}\label{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!target\_instance\_id\_t@{target\_instance\_id\_t}}
-\index{target\_instance\_id\_t@{target\_instance\_id\_t}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{target\_instance\_id\_t}{target\_instance\_id\_t}}
-{\footnotesize\ttfamily typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{capabilities2\+\_\+events\+::\+Event\+Base\+::target\+\_\+instance\+\_\+id\+\_\+t}}}
-
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef}\label{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!EventBase@{EventBase}}
-\index{EventBase@{EventBase}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{EventBase()}{EventBase()}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Base\+::\+Event\+Base (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7}\label{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!````~EventBase@{\texorpdfstring{$\sim$}{\string~}EventBase}}
-\index{````~EventBase@{\texorpdfstring{$\sim$}{\string~}EventBase}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}EventBase()}{\string~EventBase()}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Base\+::\texorpdfstring{$\sim$}{\string~}\+Event\+Base (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}\label{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!emit@{emit}}
-\index{emit@{emit}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{emit()}{emit()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::emit (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const uint8\+\_\+t \&}]{event\+\_\+code,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{source,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{target,  }\item[{\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\+\_\+callback\+\_\+t}}}]{callback }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-emit an event 
-
-an event emission uses a parameterised callback which lets loosely-\/coupled capabilities propogate state changes when a source capability emits an event to a target capability
-
-
-\begin{DoxyParams}{Parameters}
-{\em connection\+\_\+id} & connection identifier (format\+: "{}bond\+\_\+id/trigger\+\_\+id"{}) \\
-\hline
-{\em event\+\_\+code} & type of event being emitted \\
-\hline
-{\em source} & source capability emitting the event \\
-\hline
-{\em target} & target capability receiving the event \\
-\hline
-{\em callback} & function to trigger target capability with (capability, parameters, bond\+\_\+id, target\+\_\+instance\+\_\+id) \\
-\hline
-\end{DoxyParams}
-
-
-Reimplemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a}{capabilities2\+\_\+events\+::\+Published\+Event}}.
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900}\label{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_connected@{on\_connected}}
-\index{on\_connected@{on\_connected}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{on\_connected()}{on\_connected()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+connected (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{source,  }\item[{const std\+::string \&}]{target }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-on connected event from server 
-
-
-\begin{DoxyParams}{Parameters}
-{\em source} & \\
-\hline
-{\em target} & \\
-\hline
-\end{DoxyParams}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13}{capabilities2\+\_\+events\+::\+Published\+Event}}.
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528}\label{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_disconnected@{on\_disconnected}}
-\index{on\_disconnected@{on\_disconnected}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{on\_disconnected()}{on\_disconnected()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+disconnected (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{source,  }\item[{const std\+::string \&}]{target }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-on disconnected event from server 
-
-
-\begin{DoxyParams}{Parameters}
-{\em source} & \\
-\hline
-{\em target} & \\
-\hline
-\end{DoxyParams}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a32cfbac8d0facda1f52cebba043d46de}{capabilities2\+\_\+events\+::\+Published\+Event}}.
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb}\label{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_process\_launched@{on\_process\_launched}}
-\index{on\_process\_launched@{on\_process\_launched}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{on\_process\_launched()}{on\_process\_launched()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+process\+\_\+launched (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{pid }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-on process launched event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em pid} & \\
-\hline
-\end{DoxyParams}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4}{capabilities2\+\_\+events\+::\+Published\+Event}}.
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97}\label{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_process\_terminated@{on\_process\_terminated}}
-\index{on\_process\_terminated@{on\_process\_terminated}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{on\_process\_terminated()}{on\_process\_terminated()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+process\+\_\+terminated (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{pid }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-on process terminated event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em pid} & \\
-\hline
-\end{DoxyParams}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a}{capabilities2\+\_\+events\+::\+Published\+Event}}.
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f}\label{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_server\_ready@{on\_server\_ready}}
-\index{on\_server\_ready@{on\_server\_ready}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{on\_server\_ready()}{on\_server\_ready()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+server\+\_\+ready (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-on server ready event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em msg} & \\
-\hline
-\end{DoxyParams}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787}{capabilities2\+\_\+events\+::\+Published\+Event}}.
-
-\Hypertarget{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0}\label{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0} 
-\index{capabilities2\_events::EventBase@{capabilities2\_events::EventBase}!on\_triggered@{on\_triggered}}
-\index{on\_triggered@{on\_triggered}!capabilities2\_events::EventBase@{capabilities2\_events::EventBase}}
-\doxysubsubsection{\texorpdfstring{on\_triggered()}{on\_triggered()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+events\+::\+Event\+Base\+::on\+\_\+triggered (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{trigger\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-on triggered event from server 
-
-
-\begin{DoxyParams}{Parameters}
-{\em trigger\+\_\+id} & \\
-\hline
-\end{DoxyParams}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774}{capabilities2\+\_\+events\+::\+Published\+Event}}.
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__base_8hpp}{event\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.md5 b/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.md5
deleted file mode 100644
index a2f7031..0000000
--- a/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-084898277c8013bbce800c0902892cac
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.pdf b/docs/latex/classcapabilities2__events_1_1EventBase__inherit__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/classcapabilities2__events_1_1EventNode.tex b/docs/latex/classcapabilities2__events_1_1EventNode.tex
deleted file mode 100644
index ab32aa5..0000000
--- a/docs/latex/classcapabilities2__events_1_1EventNode.tex
+++ /dev/null
@@ -1,313 +0,0 @@
-\doxysection{capabilities2\+\_\+events\+::Event\+Node Class Reference}
-\hypertarget{classcapabilities2__events_1_1EventNode}{}\label{classcapabilities2__events_1_1EventNode}\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-
-
-an event node is a source of an event  
-
-
-
-
-{\ttfamily \#include "{}event\+\_\+node.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+events\+::Event\+Node\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{classcapabilities2__events_1_1EventNode__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{Event\+Pipe}}
-\begin{DoxyCompactList}\small\item\em event pipe structure \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}{id\+\_\+}}
-\item 
-capabilities2\+\_\+msgs\+::msg\+::\+Capability \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\+\_\+}}
-\item 
-std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\+\_\+emitter\+\_\+}}
-\item 
-std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{Event\+Pipe}} $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\+\_\+}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-an event node is a source of an event 
-
-events when emitted will trigger interactions with connected nodes 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}\label{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!EventNode@{EventNode}}
-\index{EventNode@{EventNode}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{EventNode()}{EventNode()}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Node (\begin{DoxyParamCaption}\item[{std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$}]{event\+\_\+emitter = {\ttfamily nullptr} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}\label{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!````~EventNode@{\texorpdfstring{$\sim$}{\string~}EventNode}}
-\index{````~EventNode@{\texorpdfstring{$\sim$}{\string~}EventNode}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}EventNode()}{\string~EventNode()}}
-{\footnotesize\ttfamily virtual capabilities2\+\_\+events\+::\+Event\+Node\+::\texorpdfstring{$\sim$}{\string~}\+Event\+Node (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}, {\ttfamily [default]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}\label{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!add\_connection@{add\_connection}}
-\index{add\_connection@{add\_connection}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{add\_connection()}{add\_connection()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::add\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&}]{type,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{target,  }\item[{\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}}}]{event\+\_\+cb }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. 
-
-add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is\+: "{}bond\+\_\+id/trigger\+\_\+id"{} which allows event emission to extract bond\+\_\+id for access control
-
-
-\begin{DoxyParams}{Parameters}
-{\em connection\+\_\+id} & unique identifier for the connection (format\+: "{}bond\+\_\+id/trigger\+\_\+id"{}) \\
-\hline
-{\em type} & type of event to connect to \\
-\hline
-{\em target} & target capability to connect to \\
-\hline
-{\em event\+\_\+cb} & callback to trigger target capability with (capability, parameters, bond\+\_\+id, target\+\_\+instance\+\_\+id)\\
-\hline
-\end{DoxyParams}
-
-\begin{DoxyExceptions}{Exceptions}
-{\em \doxylink{structcapabilities2__events_1_1event__exception}{event\+\_\+exception}} & if connection with given id already exists \\
-\hline
-\end{DoxyExceptions}
-\Hypertarget{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}\label{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!clear\_connections@{clear\_connections}}
-\index{clear\_connections@{clear\_connections}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{clear\_connections()}{clear\_connections()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::clear\+\_\+connections (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-clear all connections from this event node 
-
-\Hypertarget{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}\label{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!connection\_count@{connection\_count}}
-\index{connection\_count@{connection\_count}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{connection\_count()}{connection\_count()}}
-{\footnotesize\ttfamily size\+\_\+t capabilities2\+\_\+events\+::\+Event\+Node\+::connection\+\_\+count (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-current connection count 
-
-\begin{DoxyReturn}{Returns}
-size\+\_\+t 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}\label{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!emit\_event@{emit\_event}}
-\index{emit\_event@{emit\_event}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{emit\_event()}{emit\_event()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::emit\+\_\+event (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{const uint8\+\_\+t \&}]{event\+\_\+type,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-emit an event from this event node to all matching connections 
-
-event handling 
-
-
-\begin{DoxyParams}{Parameters}
-{\em bond\+\_\+id} & the bond\+\_\+id to match connections with (extracted from connection\+\_\+id) for access control \\
-\hline
-{\em event\+\_\+type} & the type of event being emitted \\
-\hline
-{\em msg\+\_\+parameters} & the new parameters to emit with the event \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}\label{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!get\_id@{get\_id}}
-\index{get\_id@{get\_id}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{get\_id()}{get\_id()}}
-{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+events\+::\+Event\+Node\+::get\+\_\+id (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-unique id of this event node 
-
-\begin{DoxyReturn}{Returns}
-const std\+::string\& 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}\label{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!get\_source@{get\_source}}
-\index{get\_source@{get\_source}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{get\_source()}{get\_source()}}
-{\footnotesize\ttfamily const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& capabilities2\+\_\+events\+::\+Event\+Node\+::get\+\_\+source (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-source capability of this event node 
-
-\begin{DoxyReturn}{Returns}
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability\& 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}\label{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!has\_connection@{has\_connection}}
-\index{has\_connection@{has\_connection}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{has\_connection()}{has\_connection()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+events\+::\+Event\+Node\+::has\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Check if a connection exists. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em connection\+\_\+id} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-true 
-
-false 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}\label{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!is\_event\_emitter\_set@{is\_event\_emitter\_set}}
-\index{is\_event\_emitter\_set@{is\_event\_emitter\_set}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{is\_event\_emitter\_set()}{is\_event\_emitter\_set()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+events\+::\+Event\+Node\+::is\+\_\+event\+\_\+emitter\+\_\+set (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-event emitter is set on this node 
-
-\Hypertarget{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}\label{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!list\_connections@{list\_connections}}
-\index{list\_connections@{list\_connections}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{list\_connections()}{list\_connections()}}
-{\footnotesize\ttfamily std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ capabilities2\+\_\+events\+::\+Event\+Node\+::list\+\_\+connections (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-List all connections from this event node. 
-
-\begin{DoxyReturn}{Returns}
-std\+::vector$<$capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection$>$ 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}\label{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!remove\_connection@{remove\_connection}}
-\index{remove\_connection@{remove\_connection}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{remove\_connection()}{remove\_connection()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::remove\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Remove a connection by its id. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em connection\+\_\+id} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}\label{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!set\_event\_emitter@{set\_event\_emitter}}
-\index{set\_event\_emitter@{set\_event\_emitter}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{set\_event\_emitter()}{set\_event\_emitter()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::set\+\_\+event\+\_\+emitter (\begin{DoxyParamCaption}\item[{std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$}]{event\+\_\+emitter }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-event emitter for this event node 
-
-allows late binding of event emitter (when a node is initialized)
-
-
-\begin{DoxyParams}{Parameters}
-{\em event\+\_\+emitter} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}\label{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!set\_source@{set\_source}}
-\index{set\_source@{set\_source}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{set\_source()}{set\_source()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Node\+::set\+\_\+source (\begin{DoxyParamCaption}\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{src }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Set the source object. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em src} & \\
-\hline
-\end{DoxyParams}
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}\label{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!connections\_@{connections\_}}
-\index{connections\_@{connections\_}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{connections\_}{connections\_}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{Event\+Pipe}}$>$ capabilities2\+\_\+events\+::\+Event\+Node\+::connections\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}\label{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!event\_emitter\_@{event\_emitter\_}}
-\index{event\_emitter\_@{event\_emitter\_}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{event\_emitter\_}{event\_emitter\_}}
-{\footnotesize\ttfamily std\+::shared\+\_\+ptr$<$\mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}}$>$ capabilities2\+\_\+events\+::\+Event\+Node\+::event\+\_\+emitter\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}\label{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!id\_@{id\_}}
-\index{id\_@{id\_}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{id\_}{id\_}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+events\+::\+Event\+Node\+::id\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}\label{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce} 
-\index{capabilities2\_events::EventNode@{capabilities2\_events::EventNode}!source\_@{source\_}}
-\index{source\_@{source\_}!capabilities2\_events::EventNode@{capabilities2\_events::EventNode}}
-\doxysubsubsection{\texorpdfstring{source\_}{source\_}}
-{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability capabilities2\+\_\+events\+::\+Event\+Node\+::source\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__node_8hpp}{event\+\_\+node.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__events_1_1EventNode__inherit__graph.md5 b/docs/latex/classcapabilities2__events_1_1EventNode__inherit__graph.md5
deleted file mode 100644
index fda2ad0..0000000
--- a/docs/latex/classcapabilities2__events_1_1EventNode__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-af7b98c877df655ff571e2b454679b65
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__events_1_1EventNode__inherit__graph.pdf b/docs/latex/classcapabilities2__events_1_1EventNode__inherit__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/classcapabilities2__events_1_1PublishedEvent.tex b/docs/latex/classcapabilities2__events_1_1PublishedEvent.tex
deleted file mode 100644
index c362f72..0000000
--- a/docs/latex/classcapabilities2__events_1_1PublishedEvent.tex
+++ /dev/null
@@ -1,235 +0,0 @@
-\doxysection{capabilities2\+\_\+events\+::Published\+Event Class Reference}
-\hypertarget{classcapabilities2__events_1_1PublishedEvent}{}\label{classcapabilities2__events_1_1PublishedEvent}\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-
-
-{\ttfamily \#include "{}published\+\_\+event.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+events\+::Published\+Event\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{classcapabilities2__events_1_1PublishedEvent__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+events\+::Published\+Event\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{classcapabilities2__events_1_1PublishedEvent__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a171a4a05b8abbd64093cb19cf2935f1d}{Published\+Event}} (rclcpp\+::\+Publisher$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped $>$\+::\+Shared\+Ptr event\+\_\+pub)
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a6ab23da65edf53a46acb69d5c0e961cc}{\texorpdfstring{$\sim$}{\string~}\+Published\+Event}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a}{emit}} (const std\+::string \&connection\+\_\+id, const uint8\+\_\+t \&event\+\_\+code, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&source, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} callback) override
-\begin{DoxyCompactList}\small\item\em see \doxylink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{Event\+Base\+::emit}, specialised to publish events \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787}{on\+\_\+server\+\_\+ready}} (const std\+::string \&msg)
-\begin{DoxyCompactList}\small\item\em on server ready event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4}{on\+\_\+process\+\_\+launched}} (const std\+::string \&pid)
-\begin{DoxyCompactList}\small\item\em on process launched event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a}{on\+\_\+process\+\_\+terminated}} (const std\+::string \&pid)
-\begin{DoxyCompactList}\small\item\em on process terminated event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774}{on\+\_\+triggered}} (const std\+::string \&trigger\+\_\+id)
-\begin{DoxyCompactList}\small\item\em on triggered event from server \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13}{on\+\_\+connected}} (const std\+::string \&source, const std\+::string \&target)
-\begin{DoxyCompactList}\small\item\em on connected event from server \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a32cfbac8d0facda1f52cebba043d46de}{on\+\_\+disconnected}} (const std\+::string \&source, const std\+::string \&target)
-\begin{DoxyCompactList}\small\item\em on disconnected event from server \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef}{Event\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7}{\texorpdfstring{$\sim$}{\string~}\+Event\+Base}} ()=default
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Attributes}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Publisher$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\+\_\+pub\+\_\+}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Public Types inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}}
-\item 
-typedef \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}}
-\item 
-typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}}
-\item 
-typedef std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}}
-\item 
-typedef std\+::function$<$ void(const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\+\_\+id\+\_\+t}} \&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\+\_\+str\+\_\+t}} \&, const \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\+\_\+instance\+\_\+id\+\_\+t}} \&, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\+\_\+t}})$>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\+\_\+callback\+\_\+t}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a171a4a05b8abbd64093cb19cf2935f1d}\label{classcapabilities2__events_1_1PublishedEvent_a171a4a05b8abbd64093cb19cf2935f1d} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!PublishedEvent@{PublishedEvent}}
-\index{PublishedEvent@{PublishedEvent}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{PublishedEvent()}{PublishedEvent()}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Published\+Event\+::\+Published\+Event (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Publisher$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped $>$\+::\+Shared\+Ptr}]{event\+\_\+pub }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a6ab23da65edf53a46acb69d5c0e961cc}\label{classcapabilities2__events_1_1PublishedEvent_a6ab23da65edf53a46acb69d5c0e961cc} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!````~PublishedEvent@{\texorpdfstring{$\sim$}{\string~}PublishedEvent}}
-\index{````~PublishedEvent@{\texorpdfstring{$\sim$}{\string~}PublishedEvent}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}PublishedEvent()}{\string~PublishedEvent()}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Published\+Event\+::\texorpdfstring{$\sim$}{\string~}\+Published\+Event (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a}\label{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!emit@{emit}}
-\index{emit@{emit}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{emit()}{emit()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::emit (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const uint8\+\_\+t \&}]{event\+\_\+code,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{source,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{target,  }\item[{\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}}}]{callback }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-see \doxylink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{Event\+Base\+::emit}, specialised to publish events 
-
-
-
-Reimplemented from \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{capabilities2\+\_\+events\+::\+Event\+Base}}.
-
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13}\label{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_connected@{on\_connected}}
-\index{on\_connected@{on\_connected}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{on\_connected()}{on\_connected()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+connected (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{source,  }\item[{const std\+::string \&}]{target }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-on connected event from server 
-
-
-\begin{DoxyParams}{Parameters}
-{\em source} & \\
-\hline
-{\em target} & \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900}{capabilities2\+\_\+events\+::\+Event\+Base}}.
-
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a32cfbac8d0facda1f52cebba043d46de}\label{classcapabilities2__events_1_1PublishedEvent_a32cfbac8d0facda1f52cebba043d46de} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_disconnected@{on\_disconnected}}
-\index{on\_disconnected@{on\_disconnected}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{on\_disconnected()}{on\_disconnected()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+disconnected (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{source,  }\item[{const std\+::string \&}]{target }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-on disconnected event from server 
-
-
-\begin{DoxyParams}{Parameters}
-{\em source} & \\
-\hline
-{\em target} & \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528}{capabilities2\+\_\+events\+::\+Event\+Base}}.
-
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4}\label{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_process\_launched@{on\_process\_launched}}
-\index{on\_process\_launched@{on\_process\_launched}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{on\_process\_launched()}{on\_process\_launched()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+process\+\_\+launched (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{pid }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-on process launched event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em pid} & \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb}{capabilities2\+\_\+events\+::\+Event\+Base}}.
-
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a}\label{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_process\_terminated@{on\_process\_terminated}}
-\index{on\_process\_terminated@{on\_process\_terminated}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{on\_process\_terminated()}{on\_process\_terminated()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+process\+\_\+terminated (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{pid }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-on process terminated event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em pid} & \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97}{capabilities2\+\_\+events\+::\+Event\+Base}}.
-
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787}\label{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_server\_ready@{on\_server\_ready}}
-\index{on\_server\_ready@{on\_server\_ready}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{on\_server\_ready()}{on\_server\_ready()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+server\+\_\+ready (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-on server ready event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em msg} & \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f}{capabilities2\+\_\+events\+::\+Event\+Base}}.
-
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774}\label{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!on\_triggered@{on\_triggered}}
-\index{on\_triggered@{on\_triggered}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{on\_triggered()}{on\_triggered()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Published\+Event\+::on\+\_\+triggered (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{trigger\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-on triggered event from server 
-
-
-\begin{DoxyParams}{Parameters}
-{\em trigger\+\_\+id} & \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0}{capabilities2\+\_\+events\+::\+Event\+Base}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}\label{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453} 
-\index{capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}!event\_pub\_@{event\_pub\_}}
-\index{event\_pub\_@{event\_pub\_}!capabilities2\_events::PublishedEvent@{capabilities2\_events::PublishedEvent}}
-\doxysubsubsection{\texorpdfstring{event\_pub\_}{event\_pub\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Publisher$<$capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped$>$\+::\+Shared\+Ptr capabilities2\+\_\+events\+::\+Published\+Event\+::event\+\_\+pub\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{published__event_8hpp}{published\+\_\+event.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.md5 b/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.md5
deleted file mode 100644
index e47e1f8..0000000
--- a/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-cbaf38e9495ec813cb676482a04898e4
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diff --git a/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.pdf b/docs/latex/classcapabilities2__events_1_1PublishedEvent__coll__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/classcapabilities2__events_1_1UUIDGenerator.tex b/docs/latex/classcapabilities2__events_1_1UUIDGenerator.tex
deleted file mode 100644
index d5be272..0000000
--- a/docs/latex/classcapabilities2__events_1_1UUIDGenerator.tex
+++ /dev/null
@@ -1,63 +0,0 @@
-\doxysection{capabilities2\+\_\+events\+::UUIDGenerator Class Reference}
-\hypertarget{classcapabilities2__events_1_1UUIDGenerator}{}\label{classcapabilities2__events_1_1UUIDGenerator}\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
-
-
-{\ttfamily \#include "{}uuid\+\_\+generator.\+hpp"{}}
-
-\doxysubsubsection*{Static Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}{gen\+\_\+uuid\+\_\+str}} ()
-\begin{DoxyCompactList}\small\item\em generate a uuid string \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ac16e657db07c4d6368089cb8b846e434}{UUIDGenerator}} ()=delete
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_a7b54cb7556182732e476d7b6734acbe7}{UUIDGenerator}} (const \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \&)=delete
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \& \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_a9a621130c12a95d1e1311a456a4c8a35}{operator=}} (const \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \&)=delete
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__events_1_1UUIDGenerator_ac16e657db07c4d6368089cb8b846e434}\label{classcapabilities2__events_1_1UUIDGenerator_ac16e657db07c4d6368089cb8b846e434} 
-\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}!UUIDGenerator@{UUIDGenerator}}
-\index{UUIDGenerator@{UUIDGenerator}!capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
-\doxysubsubsection{\texorpdfstring{UUIDGenerator()}{UUIDGenerator()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+UUIDGenerator\+::\+UUIDGenerator (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}, {\ttfamily [delete]}}
-
-\Hypertarget{classcapabilities2__events_1_1UUIDGenerator_a7b54cb7556182732e476d7b6734acbe7}\label{classcapabilities2__events_1_1UUIDGenerator_a7b54cb7556182732e476d7b6734acbe7} 
-\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}!UUIDGenerator@{UUIDGenerator}}
-\index{UUIDGenerator@{UUIDGenerator}!capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
-\doxysubsubsection{\texorpdfstring{UUIDGenerator()}{UUIDGenerator()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+UUIDGenerator\+::\+UUIDGenerator (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \&}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}, {\ttfamily [delete]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}\label{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421} 
-\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}!gen\_uuid\_str@{gen\_uuid\_str}}
-\index{gen\_uuid\_str@{gen\_uuid\_str}!capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
-\doxysubsubsection{\texorpdfstring{gen\_uuid\_str()}{gen\_uuid\_str()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+events\+::\+UUIDGenerator\+::gen\+\_\+uuid\+\_\+str (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [static]}}
-
-
-
-generate a uuid string 
-
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__events_1_1UUIDGenerator_a9a621130c12a95d1e1311a456a4c8a35}\label{classcapabilities2__events_1_1UUIDGenerator_a9a621130c12a95d1e1311a456a4c8a35} 
-\index{capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}!operator=@{operator=}}
-\index{operator=@{operator=}!capabilities2\_events::UUIDGenerator@{capabilities2\_events::UUIDGenerator}}
-\doxysubsubsection{\texorpdfstring{operator=()}{operator=()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \& capabilities2\+\_\+events\+::\+UUIDGenerator\+::operator= (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}} \&}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [private]}, {\ttfamily [delete]}}
-
-
-
-The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{uuid__generator_8hpp}{uuid\+\_\+generator.\+hpp}}\item 
-capabilities2\+\_\+events/src/\mbox{\hyperlink{uuid__generator_8cpp}{uuid\+\_\+generator.\+cpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1ActionRunner.tex b/docs/latex/classcapabilities2__runner_1_1ActionRunner.tex
deleted file mode 100644
index 2e27195..0000000
--- a/docs/latex/classcapabilities2__runner_1_1ActionRunner.tex
+++ /dev/null
@@ -1,388 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Action\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>} Class Template Reference}
-\hypertarget{classcapabilities2__runner_1_1ActionRunner}{}\label{classcapabilities2__runner_1_1ActionRunner}\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-
-
-action runner base class  
-
-
-
-
-{\ttfamily \#include "{}action\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Action\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=227pt]{classcapabilities2__runner_1_1ActionRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Action\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1ActionRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a591d542f6f91cfec3aec63eb311b4ac6}{Action\+Runner}} ()
-\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_adec17ec301ee0485a10bb5a1caa82ab9}{init\+\_\+action}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&action\+\_\+name)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the action runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
-virtual Action\+T\+::\+Goal \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe}{generate\+\_\+goal}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters)=0
-\begin{DoxyCompactList}\small\item\em Generate a goal from parameters. \end{DoxyCompactList}\item 
-virtual std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4}{generate\+\_\+feedback}} (const typename Action\+T\+::\+Feedback\+::\+Const\+Shared\+Ptr msg)=0
-\begin{DoxyCompactList}\small\item\em Generate a std\+::string from feedback message. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+\_\+action\+::\+Client$<$ ActionT $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}{action\+\_\+client\+\_\+}}
-\item 
-rclcpp\+\_\+action\+::\+Client$<$ ActionT $>$\+::\+Send\+Goal\+Options \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}{send\+\_\+goal\+\_\+options\+\_\+}}
-\item 
-rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ ActionT $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}{goal\+\_\+handle\+\_\+}}
-\item 
-rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ ActionT $>$\+::\+Wrapped\+Result \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a55a723c2c93f6f6842bfd1951d767597}{wrapped\+\_\+result\+\_\+}}
-\item 
-Action\+T\+::\+Result\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e}{result\+\_\+}}
-\item 
-Action\+T\+::\+Goal \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}{goal\+\_\+msg\+\_\+}}
-\item 
-std\+::shared\+\_\+future$<$ typename rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ ActionT $>$\+::\+Shared\+Ptr $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0}{goal\+\_\+handle\+\_\+future\+\_\+}}
-\item 
-std\+::shared\+\_\+future$<$ typename rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ ActionT $>$\+::\+Wrapped\+Result $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a6054145b7cf13f6e9a0e62d85169ab7c}{result\+\_\+future\+\_\+}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
-\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
-std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
-\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
-std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
-\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\subsubsection*{template$<$typename ActionT$>$\newline
-class capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}
-action runner base class 
-
-Create an action client to run an action based capability 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1ActionRunner_a591d542f6f91cfec3aec63eb311b4ac6}\label{classcapabilities2__runner_1_1ActionRunner_a591d542f6f91cfec3aec63eb311b4ac6} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!ActionRunner@{ActionRunner}}
-\index{ActionRunner@{ActionRunner}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{ActionRunner()}{ActionRunner()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-\mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::\+Action\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Constructor which needs to be empty due to plugin semantics. 
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8}\label{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!execution@{execution}}
-\index{execution@{execution}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Trigger process to be executed. 
-
-This method utilizes paramters set via the \doxylink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger()} function
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & pointer to \doxylink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters} that contains parameters \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}.
-
-\Hypertarget{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4}\label{classcapabilities2__runner_1_1ActionRunner_afbc108c9cb2305848fcf0ada606475e4} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!generate\_feedback@{generate\_feedback}}
-\index{generate\_feedback@{generate\_feedback}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{generate\_feedback()}{generate\_feedback()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::generate\+\_\+feedback (\begin{DoxyParamCaption}\item[{const typename Action\+T\+::\+Feedback\+::\+Const\+Shared\+Ptr}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
-
-
-
-Generate a std\+::string from feedback message. 
-
-This function is used to convert feedback messages into generic strings
-
-A pattern needs to be implemented in the derived class. If the feedback string is empty, nothing will be printed on the screen
-
-
-\begin{DoxyParams}{Parameters}
-{\em msg} & the feedback message received from the action server \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Action\+T\+::\+Feedback the received feedback 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe}\label{classcapabilities2__runner_1_1ActionRunner_a620f49036d7996a09c5b804285c854fe} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!generate\_goal@{generate\_goal}}
-\index{generate\_goal@{generate\_goal}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{generate\_goal()}{generate\_goal()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual Action\+T\+::\+Goal \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::generate\+\_\+goal (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
-
-
-
-Generate a goal from parameters. 
-
-This function is used in conjunction with the trigger function to inject type erased parameters into the typed action
-
-A pattern needs to be implemented in the derived class
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & capability options that contain parameters for the instance \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Action\+T\+::\+Goal the generated goal 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1ActionRunner_adec17ec301ee0485a10bb5a1caa82ab9}\label{classcapabilities2__runner_1_1ActionRunner_adec17ec301ee0485a10bb5a1caa82ab9} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!init\_action@{init\_action}}
-\index{init\_action@{init\_action}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{init\_action()}{init\_action()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::init\+\_\+action (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{action\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-Initializer function for initializing the action runner in place of constructor due to plugin semantics. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
-\hline
-{\em action\+\_\+name} & action name used in the yaml file, used to load specific configuration from the run\+\_\+config \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}\label{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!stop@{stop}}
-\index{stop@{stop}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-stop function to cease functionality and shutdown 
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f}\label{classcapabilities2__runner_1_1ActionRunner_a4fb5c7f11f675e1b4a68de4ee746de6f} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!action\_client\_@{action\_client\_}}
-\index{action\_client\_@{action\_client\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{action\_client\_}{action\_client\_}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-rclcpp\+\_\+action\+::\+Client$<$ActionT$>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::action\+\_\+client\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-\texorpdfstring{$<$}{<} action client \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903}\label{classcapabilities2__runner_1_1ActionRunner_ac27423e74d0466bffb6e94a71865a903} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!goal\_handle\_@{goal\_handle\_}}
-\index{goal\_handle\_@{goal\_handle\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{goal\_handle\_}{goal\_handle\_}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ActionT$>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::goal\+\_\+handle\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-goal handle parameter to capture goal response from goal\+\_\+response\+\_\+callback \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0}\label{classcapabilities2__runner_1_1ActionRunner_ae4831885b998d9fd1a3a93e77fc1d7b0} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!goal\_handle\_future\_@{goal\_handle\_future\_}}
-\index{goal\_handle\_future\_@{goal\_handle\_future\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{goal\_handle\_future\_}{goal\_handle\_future\_}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-std\+::shared\+\_\+future$<$typename rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ActionT$>$\+::\+Shared\+Ptr$>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::goal\+\_\+handle\+\_\+future\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-Goal Handle Future message \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab}\label{classcapabilities2__runner_1_1ActionRunner_ab849326c650cb28e6b894f069ad9e2ab} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!goal\_msg\_@{goal\_msg\_}}
-\index{goal\_msg\_@{goal\_msg\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{goal\_msg\_}{goal\_msg\_}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-Action\+T\+::\+Goal \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::goal\+\_\+msg\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-Goal message \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e}\label{classcapabilities2__runner_1_1ActionRunner_ae1a518ed38168b716d8f964b9345c45e} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!result\_@{result\_}}
-\index{result\_@{result\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{result\_}{result\_}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-Action\+T\+::\+Result\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::result\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-Result \Hypertarget{classcapabilities2__runner_1_1ActionRunner_a6054145b7cf13f6e9a0e62d85169ab7c}\label{classcapabilities2__runner_1_1ActionRunner_a6054145b7cf13f6e9a0e62d85169ab7c} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!result\_future\_@{result\_future\_}}
-\index{result\_future\_@{result\_future\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{result\_future\_}{result\_future\_}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-std\+::shared\+\_\+future$<$typename rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ActionT$>$\+::\+Wrapped\+Result$>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::result\+\_\+future\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-Result Future \Hypertarget{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1}\label{classcapabilities2__runner_1_1ActionRunner_ade3f3629bca55ca92727f28cdf4178f1} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!send\_goal\_options\_@{send\_goal\_options\_}}
-\index{send\_goal\_options\_@{send\_goal\_options\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{send\_goal\_options\_}{send\_goal\_options\_}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-rclcpp\+\_\+action\+::\+Client$<$ActionT$>$\+::\+Send\+Goal\+Options \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::send\+\_\+goal\+\_\+options\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-Send Goal Option struct to link result\+\_\+callback, feedback\+\_\+callback and goal\+\_\+response\+\_\+callback with action client \Hypertarget{classcapabilities2__runner_1_1ActionRunner_a55a723c2c93f6f6842bfd1951d767597}\label{classcapabilities2__runner_1_1ActionRunner_a55a723c2c93f6f6842bfd1951d767597} 
-\index{capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}!wrapped\_result\_@{wrapped\_result\_}}
-\index{wrapped\_result\_@{wrapped\_result\_}!capabilities2\_runner::ActionRunner$<$ ActionT $>$@{capabilities2\_runner::ActionRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{wrapped\_result\_}{wrapped\_result\_}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-rclcpp\+\_\+action\+::\+Client\+Goal\+Handle$<$ActionT$>$\+::\+Wrapped\+Result \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}$<$ ActionT $>$\+::wrapped\+\_\+result\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-Wrapped Result 
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{action__runner_8hpp}{action\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.md5
deleted file mode 100644
index 51ff969..0000000
--- a/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.md5
+++ /dev/null
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diff --git a/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1ActionRunner__coll__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1DummyRunner.tex b/docs/latex/classcapabilities2__runner_1_1DummyRunner.tex
deleted file mode 100644
index 10fe1f9..0000000
--- a/docs/latex/classcapabilities2__runner_1_1DummyRunner.tex
+++ /dev/null
@@ -1,224 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Dummy\+Runner Class Reference}
-\hypertarget{classcapabilities2__runner_1_1DummyRunner}{}\label{classcapabilities2__runner_1_1DummyRunner}\index{capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}}
-
-
-Dummy runner.  
-
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Dummy\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{classcapabilities2__runner_1_1DummyRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Dummy\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1DummyRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_a871306308d5dc43facc2c490410c38cd}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_ae7c05952eaa590755e7ec4a722321513}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_a0b767e28a66171727b2f9609375963f2}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Dummy runner. 
-
-A sample runner that can be used to test the functionality of capabilities server. It does not perform any real action but logs messages when started and stopped. 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1DummyRunner_a871306308d5dc43facc2c490410c38cd}\label{classcapabilities2__runner_1_1DummyRunner_a871306308d5dc43facc2c490410c38cd} 
-\index{capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}!start@{start}}
-\index{start@{start}!capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}}
-\doxysubsubsection{\texorpdfstring{start()}{start()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Dummy\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-start the runner 
-
-runner plugin api 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file\\
-\hline
-\end{DoxyParams}
-\begin{DoxyAttention}{Attention}
-Must call init\+\_\+base in derived class implementation and should call start event 
-\end{DoxyAttention}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-\Hypertarget{classcapabilities2__runner_1_1DummyRunner_ae7c05952eaa590755e7ec4a722321513}\label{classcapabilities2__runner_1_1DummyRunner_ae7c05952eaa590755e7ec4a722321513} 
-\index{capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}!stop@{stop}}
-\index{stop@{stop}!capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}}
-\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Dummy\+Runner\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-stop the runner 
-
-\begin{DoxyAttention}{Attention}
-should clean up threads and should call stop event 
-\end{DoxyAttention}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-\Hypertarget{classcapabilities2__runner_1_1DummyRunner_a0b767e28a66171727b2f9609375963f2}\label{classcapabilities2__runner_1_1DummyRunner_a0b767e28a66171727b2f9609375963f2} 
-\index{capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}!trigger@{trigger}}
-\index{trigger@{trigger}!capabilities2\_runner::DummyRunner@{capabilities2\_runner::DummyRunner}}
-\doxysubsubsection{\texorpdfstring{trigger()}{trigger()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Dummy\+Runner\+::trigger (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters,  }\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Trigger the runner. 
-
-FIXME\+: implement new event subsystem 
-
-This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up Runner\+Base\+::trigger\+Execution in a thread
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & capability options that contain parameters for the trigger \\
-\hline
-{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
-\hline
-{\em instance\+\_\+id} & unique identifier for the instance of the capability \\
-\hline
-\end{DoxyParams}
-\begin{DoxyAttention}{Attention}
-should call success and failure events with parameters and bond\+\_\+id when the trigger process completes. 
-\end{DoxyAttention}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/src/\mbox{\hyperlink{dummy__runner_8cpp}{dummy\+\_\+runner.\+cpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.md5
deleted file mode 100644
index cd6d30f..0000000
--- a/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-14d2a7dd4e6d4918be6ef0dea720f422
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1DummyRunner__coll__graph.pdf
deleted file mode 100644
index 57ba71afb4f729f90b3b53ec9adfcbc63600374f..0000000000000000000000000000000000000000
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diff --git a/docs/latex/classcapabilities2__runner_1_1EnCapRunner.tex b/docs/latex/classcapabilities2__runner_1_1EnCapRunner.tex
deleted file mode 100644
index 8588b91..0000000
--- a/docs/latex/classcapabilities2__runner_1_1EnCapRunner.tex
+++ /dev/null
@@ -1,169 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::En\+Cap\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>} Class Template Reference}
-\hypertarget{classcapabilities2__runner_1_1EnCapRunner}{}\label{classcapabilities2__runner_1_1EnCapRunner}\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
-
-
-encapsulated capability runner  
-
-
-
-
-{\ttfamily \#include "{}encap\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::En\+Cap\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=227pt]{classcapabilities2__runner_1_1EnCapRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::En\+Cap\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=227pt]{classcapabilities2__runner_1_1EnCapRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a0bbf60f7f885bc1dddffe90635854bad}{En\+Cap\+Runner}} ()
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7782f8488a37196d1246fef965c75443}{init\+\_\+encapsulated\+\_\+action}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&action\+\_\+name, std\+::function$<$ void(Event \&)$>$ print)
-\begin{DoxyCompactList}\small\item\em init encapsulated action \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a68e87f8c49301e1e001c232a80fa2f16}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em stop the encapsulated action server \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55}{handle\+\_\+goal}} (const rclcpp\+\_\+action\+::\+Goal\+UUID \&uuid, std\+::shared\+\_\+ptr$<$ const capabilities2\+\_\+msgs\+::action\+::\+Capability\+::\+Goal $>$ goal)
-\begin{DoxyCompactList}\small\item\em handle encap action goal \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43}{handle\+\_\+cancel}} (const std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server\+Goal\+Handle$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$ goal\+\_\+handle)
-\begin{DoxyCompactList}\small\item\em handle encap action cancel goal \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58}{handle\+\_\+accepted}} (const std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server\+Goal\+Handle$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$ goal\+\_\+handle)
-\begin{DoxyCompactList}\small\item\em handle encap action accepted \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\+\_\+action\+\_\+}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\subsubsection*{template$<$typename ActionT$>$\newline
-class capabilities2\+\_\+runner\+::\+En\+Cap\+Runner$<$ Action\+T $>$}
-encapsulated capability runner 
-
-Create an action client to run an action based capability using an encapsulated capability action this allows a system to run an action that is not a managed action
-
-Use the generate action, and generate result functions from the action runner to implement an encapsulation strategy for child classes 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a0bbf60f7f885bc1dddffe90635854bad}\label{classcapabilities2__runner_1_1EnCapRunner_a0bbf60f7f885bc1dddffe90635854bad} 
-\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!EnCapRunner@{EnCapRunner}}
-\index{EnCapRunner@{EnCapRunner}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{EnCapRunner()}{EnCapRunner()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::\+En\+Cap\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58}\label{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58} 
-\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!handle\_accepted@{handle\_accepted}}
-\index{handle\_accepted@{handle\_accepted}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{handle\_accepted()}{handle\_accepted()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::handle\+\_\+accepted (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server\+Goal\+Handle$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$}]{goal\+\_\+handle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
-
-
-
-handle encap action accepted 
-
-
-\begin{DoxyParams}{Parameters}
-{\em goal\+\_\+handle} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43}\label{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43} 
-\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!handle\_cancel@{handle\_cancel}}
-\index{handle\_cancel@{handle\_cancel}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{handle\_cancel()}{handle\_cancel()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::handle\+\_\+cancel (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ rclcpp\+\_\+action\+::\+Server\+Goal\+Handle$<$ capabilities2\+\_\+msgs\+::action\+::\+Capability $>$ $>$}]{goal\+\_\+handle }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
-
-
-
-handle encap action cancel goal 
-
-
-\begin{DoxyParams}{Parameters}
-{\em goal\+\_\+handle} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55}\label{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55} 
-\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!handle\_goal@{handle\_goal}}
-\index{handle\_goal@{handle\_goal}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{handle\_goal()}{handle\_goal()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::handle\+\_\+goal (\begin{DoxyParamCaption}\item[{const rclcpp\+\_\+action\+::\+Goal\+UUID \&}]{uuid,  }\item[{std\+::shared\+\_\+ptr$<$ const capabilities2\+\_\+msgs\+::action\+::\+Capability\+::\+Goal $>$}]{goal }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}}
-
-
-
-handle encap action goal 
-
-
-\begin{DoxyParams}{Parameters}
-{\em uuid} & \\
-\hline
-{\em goal} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a7782f8488a37196d1246fef965c75443}\label{classcapabilities2__runner_1_1EnCapRunner_a7782f8488a37196d1246fef965c75443} 
-\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!init\_encapsulated\_action@{init\_encapsulated\_action}}
-\index{init\_encapsulated\_action@{init\_encapsulated\_action}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{init\_encapsulated\_action()}{init\_encapsulated\_action()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::init\+\_\+encapsulated\+\_\+action (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{action\+\_\+name,  }\item[{std\+::function$<$ void(Event \&)$>$}]{print }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-init encapsulated action 
-
-call in start when inheriting from Encap\+Runner to initialize the encapsulated action server and the base action runner this is deferred since the action client topic name is not known at this level of abstraction
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
-\hline
-{\em action\+\_\+name} & action name used in the yaml file, used to load specific configuration from the run\+\_\+config \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a68e87f8c49301e1e001c232a80fa2f16}\label{classcapabilities2__runner_1_1EnCapRunner_a68e87f8c49301e1e001c232a80fa2f16} 
-\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!stop@{stop}}
-\index{stop@{stop}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-stop the encapsulated action server 
-
-call the parent stop and stop the encapsulated action 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}\label{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02} 
-\index{capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}!encap\_action\_@{encap\_action\_}}
-\index{encap\_action\_@{encap\_action\_}!capabilities2\_runner::EnCapRunner$<$ ActionT $>$@{capabilities2\_runner::EnCapRunner$<$ ActionT $>$}}
-\doxysubsubsection{\texorpdfstring{encap\_action\_}{encap\_action\_}}
-{\footnotesize\ttfamily template$<$typename ActionT $>$ \\
-std\+::shared\+\_\+ptr$<$rclcpp\+\_\+action\+::\+Server$<$capabilities2\+\_\+msgs\+::action\+::\+Capability$>$ $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}$<$ ActionT $>$\+::encap\+\_\+action\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-encap action server 
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{encap__runner_8hpp}{encap\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.md5
deleted file mode 100644
index b8c6379..0000000
--- a/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1EnCapRunner__coll__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner.tex b/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner.tex
deleted file mode 100644
index 76a4583..0000000
--- a/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner.tex
+++ /dev/null
@@ -1,290 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Get\+Capability\+Specs\+Runner Class Reference}
-\hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
-
-
-Executor runner class.  
-
-
-
-
-{\ttfamily \#include "{}get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Get\+Capability\+Specs\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{classcapabilities2__runner_1_1GetCapabilitySpecsRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Get\+Capability\+Specs\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a848b090faf5103681df61bf494495966}{Get\+Capability\+Specs\+Runner}} ()
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Starter function for starting the action runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804}{Service\+Runner}} ()
-\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}{init\+\_\+service}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&service\+\_\+name)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the service runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Request \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b}{generate\+\_\+request}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters) override
-\begin{DoxyCompactList}\small\item\em This generate goal function overrides the generate\+\_\+goal() function from Action\+Runner() \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{param\+\_\+on\+\_\+success}} () override
-\begin{DoxyCompactList}\small\item\em This function overrides the \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{param\+\_\+on\+\_\+success()} function from \doxylink{classcapabilities2__runner_1_1RunnerBase}{Runner\+Base} to provide specific implementation for the \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{Get\+Capability\+Specs\+Runner}. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a97bee7f3c56177c44026dcd20948329c}{process\+\_\+response}} (typename capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Response\+::\+Shared\+Ptr response) override
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c}{process\+\_\+response}} (typename Service\+T\+::\+Response\+::\+Shared\+Ptr)
-\begin{DoxyCompactList}\small\item\em Process the reponse and print data as required. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Client$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\+\_\+client\+\_\+}}
-\item 
-Service\+T\+::\+Response\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}{response\+\_\+}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
-\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
-std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
-\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
-std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
-\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Executor runner class. 
-
-Class to run capabilities2 executor action based capability 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a848b090faf5103681df61bf494495966}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a848b090faf5103681df61bf494495966} 
-\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!GetCapabilitySpecsRunner@{GetCapabilitySpecsRunner}}
-\index{GetCapabilitySpecsRunner@{GetCapabilitySpecsRunner}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
-\doxysubsubsection{\texorpdfstring{GetCapabilitySpecsRunner()}{GetCapabilitySpecsRunner()}}
-{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::\+Get\+Capability\+Specs\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b} 
-\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!generate\_request@{generate\_request}}
-\index{generate\_request@{generate\_request}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
-\doxysubsubsection{\texorpdfstring{generate\_request()}{generate\_request()}}
-{\footnotesize\ttfamily virtual capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Request capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::generate\+\_\+request (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-This generate goal function overrides the generate\+\_\+goal() function from Action\+Runner() 
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & XMLElement that contains parameters in the format \textquotesingle{}$<$\+Event name=follow\+\_\+waypoints provider=\+Waypoint\+Runner x=\textquotesingle{}\$value\textquotesingle{} y=\textquotesingle{}\$value\textquotesingle{} $>$\textquotesingle{} \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Action\+T\+::\+Goal the generated goal 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}.
-
-\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065} 
-\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!param\_on\_success@{param\_on\_success}}
-\index{param\_on\_success@{param\_on\_success}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
-\doxysubsubsection{\texorpdfstring{param\_on\_success()}{param\_on\_success()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::param\+\_\+on\+\_\+success (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-This function overrides the \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{param\+\_\+on\+\_\+success()} function from \doxylink{classcapabilities2__runner_1_1RunnerBase}{Runner\+Base} to provide specific implementation for the \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{Get\+Capability\+Specs\+Runner}. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & Event\+Parameters containing parameters for the trigger event \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Event\+Parameters updated parameters for on\+\_\+success event 
-\end{DoxyReturn}
-
-
-Reimplemented from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a97bee7f3c56177c44026dcd20948329c}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a97bee7f3c56177c44026dcd20948329c} 
-\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!process\_response@{process\_response}}
-\index{process\_response@{process\_response}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
-\doxysubsubsection{\texorpdfstring{process\_response()}{process\_response()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::process\+\_\+response (\begin{DoxyParamCaption}\item[{typename capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Response\+::\+Shared\+Ptr}]{response }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-\Hypertarget{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36}\label{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36} 
-\index{capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}!start@{start}}
-\index{start@{start}!capabilities2\_runner::GetCapabilitySpecsRunner@{capabilities2\_runner::GetCapabilitySpecsRunner}}
-\doxysubsubsection{\texorpdfstring{start()}{start()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Starter function for starting the action runner. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
-\hline
-{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/\mbox{\hyperlink{get__capability__specs__runner_8hpp}{get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.md5
deleted file mode 100644
index 4f34f70..0000000
--- a/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-00a327be2ea880b0a92cd230e19f793e
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1GetCapabilitySpecsRunner__coll__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner.tex b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner.tex
deleted file mode 100644
index 59edb36..0000000
--- a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner.tex
+++ /dev/null
@@ -1,274 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Input\+Multiplex\+Runner Class Reference}
-\hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner}{}\label{classcapabilities2__runner_1_1InputMultiplexRunner}\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
-
-
-{\ttfamily \#include "{}input\+\_\+multiplex\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Input\+Multiplex\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=208pt]{classcapabilities2__runner_1_1InputMultiplexRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Input\+Multiplex\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a921185df695a0c589c3f76534622c973}{Input\+Multiplex\+Runner}} ()
-\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Starter function for starting the action runner. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ std\+::string, int $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\+\_\+count\+\_\+tracker}}
-\item 
-std\+::map$<$ std\+::string, int $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\+\_\+input\+\_\+count}}
-\item 
-std\+::map$<$ std\+::string, bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_abdc2ea43099056447273e1f7ee1cc113}{completed\+\_\+executions}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
-\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
-std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
-\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
-std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
-\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_a921185df695a0c589c3f76534622c973}\label{classcapabilities2__runner_1_1InputMultiplexRunner_a921185df695a0c589c3f76534622c973} 
-\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!InputMultiplexRunner@{InputMultiplexRunner}}
-\index{InputMultiplexRunner@{InputMultiplexRunner}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
-\doxysubsubsection{\texorpdfstring{InputMultiplexRunner()}{InputMultiplexRunner()}}
-{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::\+Input\+Multiplex\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Constructor which needs to be empty due to plugin semantics. 
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90}\label{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90} 
-\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!execution@{execution}}
-\index{execution@{execution}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
-\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Trigger process to be executed. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & pointer to tinyxml2\+::\+XMLElement that contains parameters \\
-\hline
-{\em thread\+\_\+id} & unique identifier for the execution thread \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}.
-
-\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e}\label{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e} 
-\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!start@{start}}
-\index{start@{start}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
-\doxysubsubsection{\texorpdfstring{start()}{start()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Starter function for starting the action runner. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a}\label{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a} 
-\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!stop@{stop}}
-\index{stop@{stop}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
-\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-stop function to cease functionality and shutdown 
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_abdc2ea43099056447273e1f7ee1cc113}\label{classcapabilities2__runner_1_1InputMultiplexRunner_abdc2ea43099056447273e1f7ee1cc113} 
-\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!completed\_executions@{completed\_executions}}
-\index{completed\_executions@{completed\_executions}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
-\doxysubsubsection{\texorpdfstring{completed\_executions}{completed\_executions}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, bool$>$ capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::completed\+\_\+executions\hspace{0.3cm}{\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}\label{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878} 
-\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!expected\_input\_count@{expected\_input\_count}}
-\index{expected\_input\_count@{expected\_input\_count}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
-\doxysubsubsection{\texorpdfstring{expected\_input\_count}{expected\_input\_count}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, int$>$ capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::expected\+\_\+input\+\_\+count\hspace{0.3cm}{\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}\label{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b} 
-\index{capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}!input\_count\_tracker@{input\_count\_tracker}}
-\index{input\_count\_tracker@{input\_count\_tracker}!capabilities2\_runner::InputMultiplexRunner@{capabilities2\_runner::InputMultiplexRunner}}
-\doxysubsubsection{\texorpdfstring{input\_count\_tracker}{input\_count\_tracker}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, int$>$ capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner\+::input\+\_\+count\+\_\+tracker\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/\mbox{\hyperlink{input__multiplex__runner_8hpp}{input\+\_\+multiplex\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.md5
deleted file mode 100644
index 7b04b90..0000000
--- a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-13be9ac85c0a2bca6f767756a7b0bc62
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1InputMultiplexRunner__coll__graph.pdf
deleted file mode 100644
index 1da524dae8845086fb5063291ce45b660d291d4c..0000000000000000000000000000000000000000
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diff --git a/docs/latex/classcapabilities2__runner_1_1LaunchRunner.tex b/docs/latex/classcapabilities2__runner_1_1LaunchRunner.tex
deleted file mode 100644
index e6c7963..0000000
--- a/docs/latex/classcapabilities2__runner_1_1LaunchRunner.tex
+++ /dev/null
@@ -1,232 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Launch\+Runner Class Reference}
-\hypertarget{classcapabilities2__runner_1_1LaunchRunner}{}\label{classcapabilities2__runner_1_1LaunchRunner}\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
-
-
-launch runner base class  
-
-
-
-
-{\ttfamily \#include "{}launch\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Launch\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{classcapabilities2__runner_1_1LaunchRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Launch\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1LaunchRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ace430452667a2365c3555755643c4c4c}{Launch\+Runner}} ()
-\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Starter function for starting the launch runner. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4}{launch\+\_\+name}}
-\item 
-std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d}{package\+\_\+name}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-launch runner base class 
-
-Create a launch file runner to run a launch file based capability uses process execution to run the launch file and kill the process on stop 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_ace430452667a2365c3555755643c4c4c}\label{classcapabilities2__runner_1_1LaunchRunner_ace430452667a2365c3555755643c4c4c} 
-\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!LaunchRunner@{LaunchRunner}}
-\index{LaunchRunner@{LaunchRunner}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
-\doxysubsubsection{\texorpdfstring{LaunchRunner()}{LaunchRunner()}}
-{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Launch\+Runner\+::\+Launch\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Constructor which needs to be empty due to plugin semantics. 
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9}\label{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9} 
-\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!start@{start}}
-\index{start@{start}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
-\doxysubsubsection{\texorpdfstring{start()}{start()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Launch\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Starter function for starting the launch runner. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
-\hline
-{\em bond\+\_\+id} & bond identifier for the runner \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9}\label{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9} 
-\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!stop@{stop}}
-\index{stop@{stop}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
-\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Launch\+Runner\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-stop function to cease functionality and shutdown 
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4}\label{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4} 
-\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!launch\_name@{launch\_name}}
-\index{launch\_name@{launch\_name}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
-\doxysubsubsection{\texorpdfstring{launch\_name}{launch\_name}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::\+Launch\+Runner\+::launch\+\_\+name\hspace{0.3cm}{\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d}\label{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d} 
-\index{capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}!package\_name@{package\_name}}
-\index{package\_name@{package\_name}!capabilities2\_runner::LaunchRunner@{capabilities2\_runner::LaunchRunner}}
-\doxysubsubsection{\texorpdfstring{package\_name}{package\_name}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::\+Launch\+Runner\+::package\+\_\+name\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{launch__runner_8hpp}{launch\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.md5
deleted file mode 100644
index 37bf319..0000000
--- a/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1LaunchRunner__coll__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner.tex b/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner.tex
deleted file mode 100644
index e467028..0000000
--- a/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner.tex
+++ /dev/null
@@ -1,238 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Multiplex\+Base\+Runner Class Reference}
-\hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner}{}\label{classcapabilities2__runner_1_1MultiplexBaseRunner}\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
-
-
-{\ttfamily \#include "{}multiplex\+\_\+base\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Multiplex\+Base\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=207pt]{classcapabilities2__runner_1_1MultiplexBaseRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Multiplex\+Base\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a9e4cab14be73162040c91cae3c674343}{Multiplex\+Base\+Runner}} ()
-\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_af52788c65f5ca9fb860cee2332abbbe2}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config) override
-\begin{DoxyCompactList}\small\item\em Starter function for starting the action runner. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a7213a134e8a183c4021033e6bd7797c7}{execution}} (int id)
-\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_aa5cefe19419078fb0a4eb18858a684fe}{stop}} () override
-\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{})=0
-\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ int, int $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_afccbbe50f43831a9ad8efa452ed6c99f}{input\+\_\+count\+\_\+tracker}}
-\item 
-std\+::map$<$ int, int $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a8047a02e3c962fe5704ea9e9ef9c5565}{expected\+\_\+input\+\_\+count}}
-\item 
-std\+::map$<$ int, bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\+\_\+executions}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_a9e4cab14be73162040c91cae3c674343}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_a9e4cab14be73162040c91cae3c674343} 
-\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!MultiplexBaseRunner@{MultiplexBaseRunner}}
-\index{MultiplexBaseRunner@{MultiplexBaseRunner}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
-\doxysubsubsection{\texorpdfstring{MultiplexBaseRunner()}{MultiplexBaseRunner()}}
-{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::\+Multiplex\+Base\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Constructor which needs to be empty due to plugin semantics. 
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_a7213a134e8a183c4021033e6bd7797c7}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_a7213a134e8a183c4021033e6bd7797c7} 
-\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!execution@{execution}}
-\index{execution@{execution}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
-\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::execution (\begin{DoxyParamCaption}\item[{int}]{id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-Trigger process to be executed. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em id} & unique identifier for the execution \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_af52788c65f5ca9fb860cee2332abbbe2}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_af52788c65f5ca9fb860cee2332abbbe2} 
-\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!start@{start}}
-\index{start@{start}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
-\doxysubsubsection{\texorpdfstring{start()}{start()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Starter function for starting the action runner. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_aa5cefe19419078fb0a4eb18858a684fe}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_aa5cefe19419078fb0a4eb18858a684fe} 
-\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!stop@{stop}}
-\index{stop@{stop}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
-\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::stop (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-stop function to cease functionality and shutdown 
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859} 
-\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!completed\_executions@{completed\_executions}}
-\index{completed\_executions@{completed\_executions}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
-\doxysubsubsection{\texorpdfstring{completed\_executions}{completed\_executions}}
-{\footnotesize\ttfamily std\+::map$<$int, bool$>$ capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::completed\+\_\+executions\hspace{0.3cm}{\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_a8047a02e3c962fe5704ea9e9ef9c5565}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_a8047a02e3c962fe5704ea9e9ef9c5565} 
-\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!expected\_input\_count@{expected\_input\_count}}
-\index{expected\_input\_count@{expected\_input\_count}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
-\doxysubsubsection{\texorpdfstring{expected\_input\_count}{expected\_input\_count}}
-{\footnotesize\ttfamily std\+::map$<$int, int$>$ capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::expected\+\_\+input\+\_\+count\hspace{0.3cm}{\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__runner_1_1MultiplexBaseRunner_afccbbe50f43831a9ad8efa452ed6c99f}\label{classcapabilities2__runner_1_1MultiplexBaseRunner_afccbbe50f43831a9ad8efa452ed6c99f} 
-\index{capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}!input\_count\_tracker@{input\_count\_tracker}}
-\index{input\_count\_tracker@{input\_count\_tracker}!capabilities2\_runner::MultiplexBaseRunner@{capabilities2\_runner::MultiplexBaseRunner}}
-\doxysubsubsection{\texorpdfstring{input\_count\_tracker}{input\_count\_tracker}}
-{\footnotesize\ttfamily std\+::map$<$int, int$>$ capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner\+::input\+\_\+count\+\_\+tracker\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{multiplex__base__runner_8hpp}{multiplex\+\_\+base\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.md5
deleted file mode 100644
index 2a792f8..0000000
--- a/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-eb4553637072f24cf3c4525b583b489c
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1MultiplexBaseRunner__coll__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner.tex b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner.tex
deleted file mode 100644
index d6cb76c..0000000
--- a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner.tex
+++ /dev/null
@@ -1,185 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::No\+Trigger\+Runner Class Reference}
-\hypertarget{classcapabilities2__runner_1_1NoTriggerRunner}{}\label{classcapabilities2__runner_1_1NoTriggerRunner}\index{capabilities2\_runner::NoTriggerRunner@{capabilities2\_runner::NoTriggerRunner}}
-
-
-no-\/trigger runner  
-
-
-
-
-{\ttfamily \#include "{}notrigger\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::No\+Trigger\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{classcapabilities2__runner_1_1NoTriggerRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::No\+Trigger\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1NoTriggerRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{})=0
-\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-no-\/trigger runner 
-
-provides a no trigger runner implementation for the runner use for child runner classes that do not require a trigger 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}\label{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4} 
-\index{capabilities2\_runner::NoTriggerRunner@{capabilities2\_runner::NoTriggerRunner}!trigger@{trigger}}
-\index{trigger@{trigger}!capabilities2\_runner::NoTriggerRunner@{capabilities2\_runner::NoTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{trigger()}{trigger()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner\+::trigger (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters,  }\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Trigger the runner. 
-
-FIXME\+: implement new event subsystem 
-
-This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up Runner\+Base\+::trigger\+Execution in a thread
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & capability options that contain parameters for the trigger \\
-\hline
-{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
-\hline
-{\em instance\+\_\+id} & unique identifier for the instance of the capability \\
-\hline
-\end{DoxyParams}
-\begin{DoxyAttention}{Attention}
-should call success and failure events with parameters and bond\+\_\+id when the trigger process completes. 
-\end{DoxyAttention}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{notrigger__runner_8hpp}{notrigger\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.md5
deleted file mode 100644
index b039c21..0000000
--- a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-c0c9ad887c32d6142e0e86df5c07c858
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1NoTriggerRunner__coll__graph.pdf
deleted file mode 100644
index 2dafeaed0b62c411d05be4a75dfc82002502465d..0000000000000000000000000000000000000000
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diff --git a/docs/latex/classcapabilities2__runner_1_1RunnerBase.tex b/docs/latex/classcapabilities2__runner_1_1RunnerBase.tex
deleted file mode 100644
index ffe23ca..0000000
--- a/docs/latex/classcapabilities2__runner_1_1RunnerBase.tex
+++ /dev/null
@@ -1,670 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Runner\+Base Class Reference}
-\hypertarget{classcapabilities2__runner_1_1RunnerBase}{}\label{classcapabilities2__runner_1_1RunnerBase}\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-
-
-base class for all runners  
-
-
-
-
-{\ttfamily \#include "{}runner\+\_\+base.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Runner\+Base\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{classcapabilities2__runner_1_1RunnerBase__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Runner\+Base\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1RunnerBase__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{})=0
-\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-base class for all runners 
-
-Defines the runner plugin api. Inherits from Event\+Node to provide event emission 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}\label{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!RunnerBase@{RunnerBase}}
-\index{RunnerBase@{RunnerBase}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{RunnerBase()}{RunnerBase()}}
-{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Runner\+Base\+::\+Runner\+Base (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}\label{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!````~RunnerBase@{\texorpdfstring{$\sim$}{\string~}RunnerBase}}
-\index{````~RunnerBase@{\texorpdfstring{$\sim$}{\string~}RunnerBase}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}RunnerBase()}{\string~RunnerBase()}}
-{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Runner\+Base\+::\texorpdfstring{$\sim$}{\string~}\+Runner\+Base (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}\label{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!add\_connection@{add\_connection}}
-\index{add\_connection@{add\_connection}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{add\_connection()}{add\_connection()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::add\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&}]{type,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{target,  }\item[{std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$}]{callback }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-make Event\+Node\+::add\+\_\+connection public method on runner api. 
-
-add connection to this runner to target capability this allows the runner to emit events on state changes to the target capability the connection ID format is\+: "{}bond\+\_\+id/trigger\+\_\+id"{} which allows event emission to extract bond\+\_\+id for access control
-
-
-\begin{DoxyParams}{Parameters}
-{\em connection\+\_\+id} & unique identifier for the connection (format\+: "{}bond\+\_\+id/trigger\+\_\+id"{}) \\
-\hline
-{\em type} & type of event to connect to \\
-\hline
-{\em target} & target capability to connect to \\
-\hline
-{\em callback} & callback to trigger target capability with (capability, parameters, bond\+\_\+id) \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}\label{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!emit\_failed@{emit\_failed}}
-\index{emit\_failed@{emit\_failed}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{emit\_failed()}{emit\_failed()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::emit\+\_\+failed (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-emit FAILED event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em bond\+\_\+id} & \\
-\hline
-{\em parameters} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}\label{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!emit\_started@{emit\_started}}
-\index{emit\_started@{emit\_started}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{emit\_started()}{emit\_started()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::emit\+\_\+started (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-emit STARTED event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em bond\+\_\+id} & \\
-\hline
-{\em parameters} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}\label{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!emit\_stopped@{emit\_stopped}}
-\index{emit\_stopped@{emit\_stopped}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{emit\_stopped()}{emit\_stopped()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::emit\+\_\+stopped (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-emit STOPPED event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em bond\+\_\+id} & \\
-\hline
-{\em parameters} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}\label{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!emit\_succeeded@{emit\_succeeded}}
-\index{emit\_succeeded@{emit\_succeeded}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{emit\_succeeded()}{emit\_succeeded()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::emit\+\_\+succeeded (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters = {\ttfamily \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-emit SUCCEEDED event 
-
-
-\begin{DoxyParams}{Parameters}
-{\em bond\+\_\+id} & \\
-\hline
-{\em parameters} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}\label{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!enable\_events@{enable\_events}}
-\index{enable\_events@{enable\_events}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{enable\_events()}{enable\_events()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::enable\+\_\+events (\begin{DoxyParamCaption}\item[{std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$}]{events }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-enable events system for this runner 
-
-
-\begin{DoxyParams}{Parameters}
-{\em events} & event emitter to be used by this runner \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}\label{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_action\_name\_by\_type@{get\_action\_name\_by\_type}}
-\index{get\_action\_name\_by\_type@{get\_action\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_action\_name\_by\_type()}{get\_action\_name\_by\_type()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+action\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{action\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Get the action name by type object. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em action\+\_\+type} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}\label{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_action\_name@{get\_first\_action\_name}}
-\index{get\_first\_action\_name@{get\_first\_action\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_first\_action\_name()}{get\_first\_action\_name()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+action\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Get the first action name. 
-
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}\label{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_parameter\_name@{get\_first\_parameter\_name}}
-\index{get\_first\_parameter\_name@{get\_first\_parameter\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_first\_parameter\_name()}{get\_first\_parameter\_name()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+parameter\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Get the first parameter name. 
-
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}\label{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_resource\_name@{get\_first\_resource\_name}}
-\index{get\_first\_resource\_name@{get\_first\_resource\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_first\_resource\_name()}{get\_first\_resource\_name()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+resource\+\_\+name (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-get first name of a given resource 
-
-This can be used to get the name of the first action resource in the runner config
-
-\begin{DoxyReturn}{Returns}
-std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}\label{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_service\_name@{get\_first\_service\_name}}
-\index{get\_first\_service\_name@{get\_first\_service\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_first\_service\_name()}{get\_first\_service\_name()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+service\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Get the first service name. 
-
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}\label{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_first\_topic\_name@{get\_first\_topic\_name}}
-\index{get\_first\_topic\_name@{get\_first\_topic\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_first\_topic\_name()}{get\_first\_topic\_name()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+first\+\_\+topic\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Get the first topic name. 
-
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}\label{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_interface@{get\_interface}}
-\index{get\_interface@{get\_interface}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_interface()}{get\_interface()}}
-{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+interface (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-get the interface of the runner. 
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}\label{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_package\_name@{get\_package\_name}}
-\index{get\_package\_name@{get\_package\_name}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_package\_name()}{get\_package\_name()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+package\+\_\+name (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-get the package name to which the runner belong to. 
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}\label{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_parameter\_name\_by\_type@{get\_parameter\_name\_by\_type}}
-\index{get\_parameter\_name\_by\_type@{get\_parameter\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_parameter\_name\_by\_type()}{get\_parameter\_name\_by\_type()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{param\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Get a parameter name by type. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em param\+\_\+type} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}\label{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_pid@{get\_pid}}
-\index{get\_pid@{get\_pid}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_pid()}{get\_pid()}}
-{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+pid (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-get the pid of the runner. 
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}\label{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_provider@{get\_provider}}
-\index{get\_provider@{get\_provider}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_provider()}{get\_provider()}}
-{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+provider (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-get the provider of the runner. 
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}\label{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_resource\_name\_by\_type@{get\_resource\_name\_by\_type}}
-\index{get\_resource\_name\_by\_type@{get\_resource\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_resource\_name\_by\_type()}{get\_resource\_name\_by\_type()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+type,  }\item[{const std\+::string \&}]{msg\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Get a resource name by data type from the config. 
-
-This helps to navigate remappings from the runner config
-
-WARNING\+: this only gets the first resource found of the given type
-
-
-\begin{DoxyParams}{Parameters}
-{\em resource\+\_\+type} & \\
-\hline
-{\em msg\+\_\+type} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}\label{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_service\_name\_by\_type@{get\_service\_name\_by\_type}}
-\index{get\_service\_name\_by\_type@{get\_service\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_service\_name\_by\_type()}{get\_service\_name\_by\_type()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+service\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{srv\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Get a service name by type. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em srv\+\_\+type} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}\label{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_started\_by@{get\_started\_by}}
-\index{get\_started\_by@{get\_started\_by}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_started\_by()}{get\_started\_by()}}
-{\footnotesize\ttfamily const std\+::string \& capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+started\+\_\+by (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-get the starter of the runner. 
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}\label{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!get\_topic\_name\_by\_type@{get\_topic\_name\_by\_type}}
-\index{get\_topic\_name\_by\_type@{get\_topic\_name\_by\_type}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{get\_topic\_name\_by\_type()}{get\_topic\_name\_by\_type()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+runner\+::\+Runner\+Base\+::get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{topic\+\_\+type }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Get a topic name by type. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em topic\+\_\+type} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}\label{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!init\_base@{init\_base}}
-\index{init\_base@{init\_base}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{init\_base()}{init\_base()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Runner\+Base\+::init\+\_\+base (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Initializer function for initializing the base runner in place of constructor due to plugin semantics. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}\label{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!param\_on\_failure@{param\_on\_failure}}
-\index{param\_on\_failure@{param\_on\_failure}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{param\_on\_failure()}{param\_on\_failure()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::param\+\_\+on\+\_\+failure (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Update on\+\_\+failure event parameters with new data if available. 
-
-This function is used to inject new data into the Capability\+Options containing parameters related to the on\+\_\+failure trigger event
-
-A pattern needs to be implemented in the derived class
-
-\begin{DoxyReturn}{Returns}
-Capability\+Options containing new parameters 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}\label{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!param\_on\_started@{param\_on\_started}}
-\index{param\_on\_started@{param\_on\_started}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{param\_on\_started()}{param\_on\_started()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::param\+\_\+on\+\_\+started (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Update on\+\_\+started event parameters with new data if available. 
-
-This function is used to inject new data into the Capability\+Options containing parameters related to the on\+\_\+started trigger event
-
-A pattern needs to be implemented in the derived class
-
-\begin{DoxyReturn}{Returns}
-Capability\+Options containing new parameters 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}\label{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!param\_on\_stopped@{param\_on\_stopped}}
-\index{param\_on\_stopped@{param\_on\_stopped}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{param\_on\_stopped()}{param\_on\_stopped()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::param\+\_\+on\+\_\+stopped (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Update on\+\_\+stopped event parameters with new data if available. 
-
-This function is used to inject new data into the Capability\+Options containing parameters related to the on\+\_\+stopped trigger event
-
-A pattern needs to be implemented in the derived class
-
-\begin{DoxyReturn}{Returns}
-Capability\+Options containing new parameters 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}\label{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!param\_on\_success@{param\_on\_success}}
-\index{param\_on\_success@{param\_on\_success}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{param\_on\_success()}{param\_on\_success()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::param\+\_\+on\+\_\+success (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Update on\+\_\+success event parameters with new data if available. 
-
-This function is used to inject new data into the Capability\+Options containing parameters related to the on\+\_\+success trigger event
-
-A pattern needs to be implemented in the derived class
-
-\begin{DoxyReturn}{Returns}
-Capability\+Options containing new parameters 
-\end{DoxyReturn}
-
-
-Reimplemented in \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}.
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}\label{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!start@{start}}
-\index{start@{start}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{start()}{start()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Runner\+Base\+::start (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-start the runner 
-
-runner plugin api 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file\\
-\hline
-\end{DoxyParams}
-\begin{DoxyAttention}{Attention}
-Must call init\+\_\+base in derived class implementation and should call start event 
-\end{DoxyAttention}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9}{capabilities2\+\_\+runner\+::\+Launch\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}, and \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_a871306308d5dc43facc2c490410c38cd}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}.
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}\label{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!stop@{stop}}
-\index{stop@{stop}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Runner\+Base\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-stop the runner 
-
-\begin{DoxyAttention}{Attention}
-should clean up threads and should call stop event 
-\end{DoxyAttention}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}{capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9}{capabilities2\+\_\+runner\+::\+Launch\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659}{capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}}, and \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_ae7c05952eaa590755e7ec4a722321513}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}.
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}\label{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!trigger@{trigger}}
-\index{trigger@{trigger}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{trigger()}{trigger()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Runner\+Base\+::trigger (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters,  }\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Trigger the runner. 
-
-FIXME\+: implement new event subsystem 
-
-This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up Runner\+Base\+::trigger\+Execution in a thread
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & capability options that contain parameters for the trigger \\
-\hline
-{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
-\hline
-{\em instance\+\_\+id} & unique identifier for the instance of the capability \\
-\hline
-\end{DoxyParams}
-\begin{DoxyAttention}{Attention}
-should call success and failure events with parameters and bond\+\_\+id when the trigger process completes. 
-\end{DoxyAttention}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}, and \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner_a0b767e28a66171727b2f9609375963f2}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}\label{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!node\_@{node\_}}
-\index{node\_@{node\_}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{node\_}{node\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Node\+::\+Shared\+Ptr capabilities2\+\_\+runner\+::\+Runner\+Base\+::node\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-shared pointer to the capabilities node Allows to use ros node related functionalities 
-
-\Hypertarget{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}\label{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce} 
-\index{capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}!run\_config\_@{run\_config\_}}
-\index{run\_config\_@{run\_config\_}!capabilities2\_runner::RunnerBase@{capabilities2\_runner::RunnerBase}}
-\doxysubsubsection{\texorpdfstring{run\_config\_}{run\_config\_}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} capabilities2\+\_\+runner\+::\+Runner\+Base\+::run\+\_\+config\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-run\+\_\+config\+\_\+ runner configuration 
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.md5
deleted file mode 100644
index 6c0029b..0000000
--- a/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-5daf3f419c7aa79681b56587f566994f
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1RunnerBase__coll__graph.pdf
deleted file mode 100644
index 8dd334b23f51d9faa180993fdbcce695574a54e7..0000000000000000000000000000000000000000
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diff --git a/docs/latex/classcapabilities2__runner_1_1ServiceRunner.tex b/docs/latex/classcapabilities2__runner_1_1ServiceRunner.tex
deleted file mode 100644
index 61308f5..0000000
--- a/docs/latex/classcapabilities2__runner_1_1ServiceRunner.tex
+++ /dev/null
@@ -1,338 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} ServiceT \texorpdfstring{$>$}{>} Class Template Reference}
-\hypertarget{classcapabilities2__runner_1_1ServiceRunner}{}\label{classcapabilities2__runner_1_1ServiceRunner}\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
-
-
-service runner base class  
-
-
-
-
-{\ttfamily \#include "{}service\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} ServiceT \texorpdfstring{$>$}{>}\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=238pt]{classcapabilities2__runner_1_1ServiceRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} ServiceT \texorpdfstring{$>$}{>}\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1ServiceRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804}{Service\+Runner}} ()
-\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}{init\+\_\+service}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&service\+\_\+name)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the service runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
-virtual Service\+T\+::\+Request \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}{generate\+\_\+request}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters)=0
-\begin{DoxyCompactList}\small\item\em Generate a request from parameters. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c}{process\+\_\+response}} (typename Service\+T\+::\+Response\+::\+Shared\+Ptr)
-\begin{DoxyCompactList}\small\item\em Process the reponse and print data as required. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Client$<$ ServiceT $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\+\_\+client\+\_\+}}
-\item 
-Service\+T\+::\+Response\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}{response\+\_\+}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
-\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
-std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
-\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
-std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
-\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\subsubsection*{template$<$typename ServiceT$>$\newline
-class capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}
-service runner base class 
-
-Create an server client to run an service based capability 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804}\label{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804} 
-\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!ServiceRunner@{ServiceRunner}}
-\index{ServiceRunner@{ServiceRunner}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
-\doxysubsubsection{\texorpdfstring{ServiceRunner()}{ServiceRunner()}}
-{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
-\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::\+Service\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Constructor which needs to be empty due to plugin semantics. 
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}\label{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41} 
-\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!execution@{execution}}
-\index{execution@{execution}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
-\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
-{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Trigger process to be executed. 
-
-This method utilizes paramters set via the \doxylink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger()} function
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & pointer to tinyxml2\+::\+XMLElement that contains parameters \\
-\hline
-{\em thread\+\_\+id} & unique identifier for the execution thread \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}.
-
-\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}\label{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc} 
-\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!generate\_request@{generate\_request}}
-\index{generate\_request@{generate\_request}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
-\doxysubsubsection{\texorpdfstring{generate\_request()}{generate\_request()}}
-{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
-virtual Service\+T\+::\+Request \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::generate\+\_\+request (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
-
-
-
-Generate a request from parameters. 
-
-This function is used in conjunction with the trigger function to inject type erased parameters into the typed service
-
-A pattern needs to be implemented in the derived class
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-Service\+T\+::\+Request the generated request 
-\end{DoxyReturn}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}.
-
-\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}\label{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87} 
-\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!init\_service@{init\_service}}
-\index{init\_service@{init\_service}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
-\doxysubsubsection{\texorpdfstring{init\_service()}{init\_service()}}
-{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::init\+\_\+service (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{service\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-Initializer function for initializing the service runner in place of constructor due to plugin semantics. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
-\hline
-{\em service\+\_\+name} & action name used in the yaml file, used to load specific configuration from the run\+\_\+config \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c}\label{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c} 
-\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!process\_response@{process\_response}}
-\index{process\_response@{process\_response}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
-\doxysubsubsection{\texorpdfstring{process\_response()}{process\_response()}}
-{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::process\+\_\+response (\begin{DoxyParamCaption}\item[{typename Service\+T\+::\+Response\+::\+Shared\+Ptr}]{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Process the reponse and print data as required. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em response} & service reponse message \\
-\hline
-{\em trigger\+\_\+id} & thread id associated with this response used for logging and event emission \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-\doxylink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters} containing updated parameters for the on\+\_\+success event if needed
-\end{DoxyReturn}
-A pattern needs to be implemented in the derived class for processing the response and extracting data if needed, currently does nothing. \Hypertarget{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}\label{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633} 
-\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!stop@{stop}}
-\index{stop@{stop}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
-\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
-{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-stop function to cease functionality and shutdown 
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}\label{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188} 
-\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!response\_@{response\_}}
-\index{response\_@{response\_}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
-\doxysubsubsection{\texorpdfstring{response\_}{response\_}}
-{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
-Service\+T\+::\+Response\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::response\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}\label{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431} 
-\index{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}!service\_client\_@{service\_client\_}}
-\index{service\_client\_@{service\_client\_}!capabilities2\_runner::ServiceRunner$<$ ServiceT $>$@{capabilities2\_runner::ServiceRunner$<$ ServiceT $>$}}
-\doxysubsubsection{\texorpdfstring{service\_client\_}{service\_client\_}}
-{\footnotesize\ttfamily template$<$typename ServiceT $>$ \\
-rclcpp\+::\+Client$<$ServiceT$>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}$<$ ServiceT $>$\+::service\+\_\+client\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{service__runner_8hpp}{service\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.md5
deleted file mode 100644
index a9e5a2d..0000000
--- a/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-65ed3f6942357c7062437462a0c58b24
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diff --git a/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1ServiceRunner__coll__graph.pdf
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diff --git a/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner.tex b/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner.tex
deleted file mode 100644
index 572428a..0000000
--- a/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner.tex
+++ /dev/null
@@ -1,323 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Thread\+Trigger\+Runner Class Reference}
-\hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner}{}\label{classcapabilities2__runner_1_1ThreadTriggerRunner}\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-
-
-add threaded trigger execution to the runner  
-
-
-
-
-{\ttfamily \#include "{}threadtrigger\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Thread\+Trigger\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{classcapabilities2__runner_1_1ThreadTriggerRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Thread\+Trigger\+Runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{})=0
-\begin{DoxyCompactList}\small\item\em stop the runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Static Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
-\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
-std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
-\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
-std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
-\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7}{stop\+\_\+execution}} (std\+::chrono\+::milliseconds timeout=std\+::chrono\+::milliseconds(500))
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-add threaded trigger execution to the runner 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!ThreadTriggerRunner@{ThreadTriggerRunner}}
-\index{ThreadTriggerRunner@{ThreadTriggerRunner}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{ThreadTriggerRunner()}{ThreadTriggerRunner()}}
-{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::\+Thread\+Trigger\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!````~ThreadTriggerRunner@{\texorpdfstring{$\sim$}{\string~}ThreadTriggerRunner}}
-\index{````~ThreadTriggerRunner@{\texorpdfstring{$\sim$}{\string~}ThreadTriggerRunner}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}ThreadTriggerRunner()}{\string~ThreadTriggerRunner()}}
-{\footnotesize\ttfamily capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!bond\_from\_thread\_id@{bond\_from\_thread\_id}}
-\index{bond\_from\_thread\_id@{bond\_from\_thread\_id}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{bond\_from\_thread\_id()}{bond\_from\_thread\_id()}}
-{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::bond\+\_\+from\+\_\+thread\+\_\+id (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-helper function to extract bond\+\_\+id from thread\+\_\+id 
-
-
-\begin{DoxyParams}{Parameters}
-{\em thread\+\_\+id} & unique identifier for the execution thread, format\+: "{}bond\+\_\+id/trigger\+\_\+id"{}\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!execution@{execution}}
-\index{execution@{execution}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
-
-
-
-Trigger process to be executed. 
-
-This method utilizes parameters set via the \doxylink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger()} function
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & parameters for the execution \\
-\hline
-{\em thread\+\_\+id} & unique identifier for the execution thread, can be used for tracking and cleanup\\
-\hline
-\end{DoxyParams}
-\begin{DoxyAttention}{Attention}
-\+: Should be implemented on derieved classes and should call success and failure events appropriately 
-\end{DoxyAttention}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_ad4e445a63ba8fbe8421b944eca53dea8}{capabilities2\+\_\+runner\+::\+Action\+Runner$<$ Action\+T $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$}}, \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}, and \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6}{capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}}.
-
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!instance\_from\_thread\_id@{instance\_from\_thread\_id}}
-\index{instance\_from\_thread\_id@{instance\_from\_thread\_id}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{instance\_from\_thread\_id()}{instance\_from\_thread\_id()}}
-{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::instance\+\_\+from\+\_\+thread\+\_\+id (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-
-
-helper function to extract instance\+\_\+id from thread\+\_\+id 
-
-
-\begin{DoxyParams}{Parameters}
-{\em thread\+\_\+id} & unique identifier for the execution thread, format\+: "{}bond\+\_\+id/instance\+\_\+id"{} \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-const std\+::string 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!stop\_execution@{stop\_execution}}
-\index{stop\_execution@{stop\_execution}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{stop\_execution()}{stop\_execution()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::stop\+\_\+execution (\begin{DoxyParamCaption}\item[{std\+::chrono\+::milliseconds}]{timeout = {\ttfamily std\+:\+:chrono\+:\+:milliseconds(500)} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!trigger@{trigger}}
-\index{trigger@{trigger}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{trigger()}{trigger()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::trigger (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&}]{parameters,  }\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Trigger the runner. 
-
-This method allows insertion of parameters in a runner after it has been initialized. it is an approach to parameterise capabilities. Internally starts up Runner\+Base\+::trigger\+Execution in a thread
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & pointer to tinyxml2\+::\+XMLElement that contains parameters \\
-\hline
-{\em bond\+\_\+id} & unique identifier for the group of connections associated with this runner trigger event \\
-\hline
-{\em instance\+\_\+id} & unique identifier for the instance associated with this runner trigger event \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!execution\_should\_stop\_@{execution\_should\_stop\_}}
-\index{execution\_should\_stop\_@{execution\_should\_stop\_}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{execution\_should\_stop\_}{execution\_should\_stop\_}}
-{\footnotesize\ttfamily std\+::atomic$<$bool$>$ capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::execution\+\_\+should\+\_\+stop\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-flag to signal execution threads to stop. 
-
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!execution\_thread\_pool\_@{execution\_thread\_pool\_}}
-\index{execution\_thread\_pool\_@{execution\_thread\_pool\_}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{execution\_thread\_pool\_}{execution\_thread\_pool\_}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::thread$>$ capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::execution\+\_\+thread\+\_\+pool\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-dictionary of threads that executes the execute function 
-
-\Hypertarget{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}\label{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e} 
-\index{capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}!mutex\_@{mutex\_}}
-\index{mutex\_@{mutex\_}!capabilities2\_runner::ThreadTriggerRunner@{capabilities2\_runner::ThreadTriggerRunner}}
-\doxysubsubsection{\texorpdfstring{mutex\_}{mutex\_}}
-{\footnotesize\ttfamily std\+::mutex capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner\+::mutex\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-mutex for threadpool synchronisation. 
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{threadtrigger__runner_8hpp}{threadtrigger\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.md5
deleted file mode 100644
index 93ad2a7..0000000
--- a/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-5e5970a1b1546aaf03dcd02ab0f240ee
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1ThreadTriggerRunner__coll__graph.pdf
deleted file mode 100644
index 5f6812aad265be1a58f85d98bbd6896b4fd01a58..0000000000000000000000000000000000000000
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diff --git a/docs/latex/classcapabilities2__runner_1_1TopicRunner.tex b/docs/latex/classcapabilities2__runner_1_1TopicRunner.tex
deleted file mode 100644
index bcd3804..0000000
--- a/docs/latex/classcapabilities2__runner_1_1TopicRunner.tex
+++ /dev/null
@@ -1,345 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::Topic\+Runner\texorpdfstring{$<$}{<} TopicT \texorpdfstring{$>$}{>} Class Template Reference}
-\hypertarget{classcapabilities2__runner_1_1TopicRunner}{}\label{classcapabilities2__runner_1_1TopicRunner}\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-
-
-Topic runner base class.  
-
-
-
-
-{\ttfamily \#include "{}topic\+\_\+runner.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::Topic\+Runner\texorpdfstring{$<$}{<} TopicT \texorpdfstring{$>$}{>}\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=215pt]{classcapabilities2__runner_1_1TopicRunner__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::Topic\+Runner\texorpdfstring{$<$}{<} TopicT \texorpdfstring{$>$}{>}\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=332pt]{classcapabilities2__runner_1_1TopicRunner__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_ac99cd688150e5cfe539e69866e01ae20}{Topic\+Runner}} ()
-\begin{DoxyCompactList}\small\item\em Constructor which needs to be empty due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a485da884c40ea98cef38f74ba5b27684}{init\+\_\+subscriber}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&topic\+\_\+name)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the topic runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659}{stop}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id="{}"{}) override
-\begin{DoxyCompactList}\small\item\em stop function to cease functionality and shutdown \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{Thread\+Trigger\+Runner}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\texorpdfstring{$\sim$}{\string~}\+Thread\+Trigger\+Runner}} ()
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \&parameters, const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{Runner\+Base}} ()
-\item 
-\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\texorpdfstring{$\sim$}{\string~}\+Runner\+Base}} ()=default
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config, const std\+::string \&bond\+\_\+id)=0
-\begin{DoxyCompactList}\small\item\em start the runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\+\_\+base}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Initializer function for initializing the base runner in place of constructor due to plugin semantics. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aaa8cf2feec5aa8c1b10dcd49f0cc114a}{enable\+\_\+events}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ events)
-\begin{DoxyCompactList}\small\item\em enable events system for this runner \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7a66fa34cdf7a2868dfb9f1d8f8d65ca}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, std\+::function$<$ void(const std\+::string \&, const std\+::string \&, const std\+::string \&, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}})$>$ callback)
-\begin{DoxyCompactList}\small\item\em make Event\+Node\+::add\+\_\+connection public method on runner api. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_aa43dcda95ec5bbfae42229acb621527a}{get\+\_\+package\+\_\+name}} ()
-\begin{DoxyCompactList}\small\item\em get the package name to which the runner belong to. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9f51d46e66d0e3e33677fc6b41a7ab2b}{get\+\_\+interface}} () const
-\begin{DoxyCompactList}\small\item\em get the interface of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ae6b41bc7b4e1ed845c8ef865ea76feaf}{get\+\_\+provider}} () const
-\begin{DoxyCompactList}\small\item\em get the provider of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abdb647861aa50def64cb7005e1234d5c}{get\+\_\+started\+\_\+by}} () const
-\begin{DoxyCompactList}\small\item\em get the starter of the runner. \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5ec5051ab90eb6d67890b9a56ac78c66}{get\+\_\+pid}} () const
-\begin{DoxyCompactList}\small\item\em get the pid of the runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{Event\+Node}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\texorpdfstring{$\sim$}{\string~}\+Event\+Node}} ()=default
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\+\_\+event}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, const uint8\+\_\+t \&event\+\_\+type, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit an event from this event node to all matching connections \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6}{execution}} (\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters, const std\+::string \&thread\+\_\+id) override
-\begin{DoxyCompactList}\small\item\em Trigger process to be executed. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3}{callback}} (const typename Topic\+T\+::\+Shared\+Ptr \&msg)
-\begin{DoxyCompactList}\small\item\em Callback to be executed when receiving a message. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\+\_\+on\+\_\+started}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+started event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\+\_\+on\+\_\+stopped}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+stopped event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\+\_\+on\+\_\+failure}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+failure event parameters with new data if available. \end{DoxyCompactList}\item 
-virtual \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\+\_\+on\+\_\+success}} ()
-\begin{DoxyCompactList}\small\item\em Update on\+\_\+success event parameters with new data if available. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\+\_\+resource\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&resource\+\_\+type, const std\+::string \&msg\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a resource name by data type from the config. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\+\_\+parameter\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&param\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a parameter name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\+\_\+topic\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&topic\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a topic name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\+\_\+service\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&srv\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get a service name by type. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\+\_\+action\+\_\+name\+\_\+by\+\_\+type}} (const std\+::string \&action\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em Get the action name by type object. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\+\_\+first\+\_\+resource\+\_\+name}} (const std\+::string \&resource\+\_\+type) const
-\begin{DoxyCompactList}\small\item\em get first name of a given resource \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\+\_\+first\+\_\+parameter\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first parameter name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\+\_\+first\+\_\+topic\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first topic name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\+\_\+first\+\_\+service\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first service name. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\+\_\+first\+\_\+action\+\_\+name}} () const
-\begin{DoxyCompactList}\small\item\em Get the first action name. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\+\_\+started}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STARTED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\+\_\+stopped}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit STOPPED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\+\_\+succeeded}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit SUCCEEDED event \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\+\_\+failed}} (const std\+::string \&bond\+\_\+id, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters=\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}())
-\begin{DoxyCompactList}\small\item\em emit FAILED event \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Member Functions inherited from \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\+\_\+source}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&src)
-\begin{DoxyCompactList}\small\item\em Set the source object. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\+\_\+event\+\_\+emitter}} (std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}} $>$ event\+\_\+emitter)
-\begin{DoxyCompactList}\small\item\em event emitter for this event node \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\+\_\+connection}} (const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \&type, const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&target, \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} event\+\_\+cb)
-\begin{DoxyCompactList}\small\item\em make \doxylink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{Event\+Node\+::add\+\_\+connection} public method on runner api. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\+\_\+connection}} (const std\+::string \&connection\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a connection by its id. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\+\_\+connections}} ()
-\begin{DoxyCompactList}\small\item\em clear all connections from this event node \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection $>$ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\+\_\+connections}} () const
-\begin{DoxyCompactList}\small\item\em List all connections from this event node. \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\+\_\+connection}} (const std\+::string \&connection\+\_\+id) const
-\begin{DoxyCompactList}\small\item\em Check if a connection exists. \end{DoxyCompactList}\item 
-size\+\_\+t \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\+\_\+count}} () const
-\begin{DoxyCompactList}\small\item\em current connection count \end{DoxyCompactList}\item 
-const std\+::string \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\+\_\+id}} () const
-\begin{DoxyCompactList}\small\item\em unique id of this event node \end{DoxyCompactList}\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability \& \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\+\_\+source}} () const
-\begin{DoxyCompactList}\small\item\em source capability of this event node \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\+\_\+event\+\_\+emitter\+\_\+set}} () const
-\begin{DoxyCompactList}\small\item\em event emitter is set on this node \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Subscription$<$ TopicT $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}{subscription\+\_\+}}
-\begin{DoxyCompactList}\small\item\em parameter to be used in the on\+\_\+started event emission \end{DoxyCompactList}\item 
-Topic\+T\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}{latest\+\_\+message\+\_\+}}
-\begin{DoxyCompactList}\small\item\em parameter to store the latest message received in the callback for use in the trigger execution \end{DoxyCompactList}\item 
-std\+::condition\+\_\+variable \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}{cv\+\_\+}}
-\begin{DoxyCompactList}\small\item\em condition variable and mutex for synchronizing the callback and trigger execution \end{DoxyCompactList}\item 
-std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0}{block\+\_\+mutex\+\_\+}}
-\item 
-bool \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\+\_\+}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ std\+::string, std\+::thread $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\+\_\+thread\+\_\+pool\+\_\+}}
-\begin{DoxyCompactList}\small\item\em dictionary of threads that executes the execute function \end{DoxyCompactList}\item 
-std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\+\_\+}}
-\begin{DoxyCompactList}\small\item\em mutex for threadpool synchronisation. \end{DoxyCompactList}\item 
-std\+::atomic$<$ bool $>$ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\+\_\+should\+\_\+stop\+\_\+}}
-\begin{DoxyCompactList}\small\item\em flag to signal execution threads to stop. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}
-\begin{DoxyCompactItemize}
-\item 
-rclcpp\+::\+Node\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\+\_\+}}
-\begin{DoxyCompactList}\small\item\em shared pointer to the capabilities node Allows to use ros node related functionalities \end{DoxyCompactList}\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\+\_\+config\+\_\+}}
-\begin{DoxyCompactList}\small\item\em run\+\_\+config\+\_\+ runner configuration \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Static Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract bond\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\item 
-static const std\+::string \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\+\_\+from\+\_\+thread\+\_\+id}} (const std\+::string \&thread\+\_\+id)
-\begin{DoxyCompactList}\small\item\em helper function to extract instance\+\_\+id from thread\+\_\+id \end{DoxyCompactList}\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\subsubsection*{template$<$typename TopicT$>$\newline
-class capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}
-Topic runner base class. 
-
-Create an topic subsriber for data grabbing capability 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_ac99cd688150e5cfe539e69866e01ae20}\label{classcapabilities2__runner_1_1TopicRunner_ac99cd688150e5cfe539e69866e01ae20} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!TopicRunner@{TopicRunner}}
-\index{TopicRunner@{TopicRunner}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{TopicRunner()}{TopicRunner()}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::\+Topic\+Runner (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Constructor which needs to be empty due to plugin semantics. 
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3}\label{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!callback@{callback}}
-\index{callback@{callback}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{callback()}{callback()}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::callback (\begin{DoxyParamCaption}\item[{const typename Topic\+T\+::\+Shared\+Ptr \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-
-
-Callback to be executed when receiving a message. 
-
-This function is used grab the messages from the callback queue into a class parameter so that it can be used later on dering trigger
-
-
-\begin{DoxyParams}{Parameters}
-{\em msg} & message parameter \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6}\label{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!execution@{execution}}
-\index{execution@{execution}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{execution()}{execution()}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::execution (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters,  }\item[{const std\+::string \&}]{thread\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Trigger process to be executed. 
-
-This method utilizes paramters set via the \doxylink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger()} function
-
-
-\begin{DoxyParams}{Parameters}
-{\em parameters} & pointer to tinyxml2\+::\+XMLElement that contains parameters \\
-\hline
-{\em thread\+\_\+id} & unique identifier for the execution thread \\
-\hline
-\end{DoxyParams}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}.
-
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a485da884c40ea98cef38f74ba5b27684}\label{classcapabilities2__runner_1_1TopicRunner_a485da884c40ea98cef38f74ba5b27684} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!init\_subscriber@{init\_subscriber}}
-\index{init\_subscriber@{init\_subscriber}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{init\_subscriber()}{init\_subscriber()}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::init\+\_\+subscriber (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}} \&}]{run\+\_\+config,  }\item[{const std\+::string \&}]{topic\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-Initializer function for initializing the topic runner in place of constructor due to plugin semantics. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & shared pointer to the capabilities node. Allows to use ros node related functionalities \\
-\hline
-{\em run\+\_\+config} & runner configuration loaded from the yaml file \\
-\hline
-{\em topic\+\_\+name} & topic name used in the yaml file, used to load specific configuration from the run\+\_\+config \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659}\label{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!stop@{stop}}
-\index{stop@{stop}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{stop()}{stop()}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-virtual void \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::stop (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{instance\+\_\+id = {\ttfamily "{}"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-stop function to cease functionality and shutdown 
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{capabilities2\+\_\+runner\+::\+Runner\+Base}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0}\label{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!block\_mutex\_@{block\_mutex\_}}
-\index{block\_mutex\_@{block\_mutex\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{block\_mutex\_}{block\_mutex\_}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-std\+::mutex \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::block\+\_\+mutex\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}\label{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!completed\_@{completed\_}}
-\index{completed\_@{completed\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{completed\_}{completed\_}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-bool \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::completed\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}\label{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!cv\_@{cv\_}}
-\index{cv\_@{cv\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{cv\_}{cv\_}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-std\+::condition\+\_\+variable \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::cv\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-condition variable and mutex for synchronizing the callback and trigger execution 
-
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}\label{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!latest\_message\_@{latest\_message\_}}
-\index{latest\_message\_@{latest\_message\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{latest\_message\_}{latest\_message\_}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-Topic\+T\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::latest\+\_\+message\+\_\+\hspace{0.3cm}{\ttfamily [mutable]}, {\ttfamily [protected]}}
-
-
-
-parameter to store the latest message received in the callback for use in the trigger execution 
-
-\Hypertarget{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}\label{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71} 
-\index{capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}!subscription\_@{subscription\_}}
-\index{subscription\_@{subscription\_}!capabilities2\_runner::TopicRunner$<$ TopicT $>$@{capabilities2\_runner::TopicRunner$<$ TopicT $>$}}
-\doxysubsubsection{\texorpdfstring{subscription\_}{subscription\_}}
-{\footnotesize\ttfamily template$<$typename TopicT $>$ \\
-rclcpp\+::\+Subscription$<$TopicT$>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}$<$ TopicT $>$\+::subscription\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-
-
-parameter to be used in the on\+\_\+started event emission 
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{topic__runner_8hpp}{topic\+\_\+runner.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.md5 b/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.md5
deleted file mode 100644
index 735b5b0..0000000
--- a/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-a92e44c949b18872de2cc9e1af27b824
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.pdf b/docs/latex/classcapabilities2__runner_1_1TopicRunner__coll__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/classcapabilities2__server_1_1BondCache.tex b/docs/latex/classcapabilities2__server_1_1BondCache.tex
deleted file mode 100644
index 01ee235..0000000
--- a/docs/latex/classcapabilities2__server_1_1BondCache.tex
+++ /dev/null
@@ -1,176 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::Bond\+Cache Class Reference}
-\hypertarget{classcapabilities2__server_1_1BondCache}{}\label{classcapabilities2__server_1_1BondCache}\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-
-
-bond cache class  
-
-
-
-
-{\ttfamily \#include "{}bond\+\_\+cache.\+hpp"{}}
-
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a48efeffaf9fb7570b52c79487eed3f0f}{Bond\+Cache}} (const std\+::string \&bonds\+\_\+topic="{}/capabilities/bond"{})
-\begin{DoxyCompactList}\small\item\em Construct a Bond Cache with a specific bond topic. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}{add\+\_\+bond}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Add a bond to the cache. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}{remove\+\_\+bond}} (const std\+::string \&bond\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a bond id from the cache for all capabilities. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af3825f2898c0ed831a7f89b85d6742c5}{remove\+\_\+bond}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Remove a bond id from a specific capability. \end{DoxyCompactList}\item 
-const std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5}{get\+\_\+capabilities}} (const std\+::string \&bond\+\_\+id)
-\item 
-const std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728}{get\+\_\+bonds}} (const std\+::string \&capability)
-\item 
-bool \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}{exists}} (const std\+::string \&capability)
-\item 
-bool \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7db63a73651b43fa55eb444f49d62b26}{exists}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266}{start}} (const std\+::string \&bond\+\_\+id, rclcpp\+::\+Node\+::\+Shared\+Ptr node, std\+::function$<$ void(void)$>$ on\+\_\+broken, std\+::function$<$ void(void)$>$ on\+\_\+formed)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}{bonds\+\_\+topic\+\_\+}}
-\item 
-std\+::map$<$ std\+::string, std\+::vector$<$ std\+::string $>$ $>$ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}{bond\+\_\+cache\+\_\+}}
-\item 
-std\+::map$<$ std\+::string, std\+::unique\+\_\+ptr$<$ bond\+::\+Bond $>$ $>$ \mbox{\hyperlink{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}{live\+\_\+bonds\+\_\+}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-bond cache class 
-
-keep track of bonds established by clients and associated resources this is used to manage the lifecycle of capabilities based on client bonds a capability can have multiple bonds from different clients 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__server_1_1BondCache_a48efeffaf9fb7570b52c79487eed3f0f}\label{classcapabilities2__server_1_1BondCache_a48efeffaf9fb7570b52c79487eed3f0f} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!BondCache@{BondCache}}
-\index{BondCache@{BondCache}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{BondCache()}{BondCache()}}
-{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Bond\+Cache\+::\+Bond\+Cache (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bonds\+\_\+topic = {\ttfamily "{}/capabilities/bond"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Construct a Bond Cache with a specific bond topic. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em bonds\+\_\+topic} & \\
-\hline
-\end{DoxyParams}
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555}\label{classcapabilities2__server_1_1BondCache_a95f5c2beb3e72240154de125ff0c3555} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!add\_bond@{add\_bond}}
-\index{add\_bond@{add\_bond}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{add\_bond()}{add\_bond()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Bond\+Cache\+::add\+\_\+bond (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Add a bond to the cache. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & \\
-\hline
-{\em bond\+\_\+id} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa}\label{classcapabilities2__server_1_1BondCache_a0cfb5d5535e4a3608593c3093364baaa} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!exists@{exists}}
-\index{exists@{exists}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{exists()}{exists()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Bond\+Cache\+::exists (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1BondCache_a7db63a73651b43fa55eb444f49d62b26}\label{classcapabilities2__server_1_1BondCache_a7db63a73651b43fa55eb444f49d62b26} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!exists@{exists}}
-\index{exists@{exists}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{exists()}{exists()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Bond\+Cache\+::exists (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728}\label{classcapabilities2__server_1_1BondCache_a19639716efa05b956bff7c9ca583b728} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!get\_bonds@{get\_bonds}}
-\index{get\_bonds@{get\_bonds}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{get\_bonds()}{get\_bonds()}}
-{\footnotesize\ttfamily const std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Bond\+Cache\+::get\+\_\+bonds (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5}\label{classcapabilities2__server_1_1BondCache_ada688394effbf87bed480782d64fe8e5} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!get\_capabilities@{get\_capabilities}}
-\index{get\_capabilities@{get\_capabilities}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{get\_capabilities()}{get\_capabilities()}}
-{\footnotesize\ttfamily const std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Bond\+Cache\+::get\+\_\+capabilities (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46}\label{classcapabilities2__server_1_1BondCache_a59117ead721f4b608863ef3ce2228a46} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!remove\_bond@{remove\_bond}}
-\index{remove\_bond@{remove\_bond}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{remove\_bond()}{remove\_bond()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Bond\+Cache\+::remove\+\_\+bond (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Remove a bond id from the cache for all capabilities. 
-
-If a capability has no more bonds, it is removed from the cache
-
-
-\begin{DoxyParams}{Parameters}
-{\em bond\+\_\+id} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1BondCache_af3825f2898c0ed831a7f89b85d6742c5}\label{classcapabilities2__server_1_1BondCache_af3825f2898c0ed831a7f89b85d6742c5} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!remove\_bond@{remove\_bond}}
-\index{remove\_bond@{remove\_bond}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{remove\_bond()}{remove\_bond()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Bond\+Cache\+::remove\+\_\+bond (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Remove a bond id from a specific capability. 
-
-if the bond is used by another capability, it is not removed if the capability has no more bonds, it is removed from the cache
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & \\
-\hline
-{\em bond\+\_\+id} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266}\label{classcapabilities2__server_1_1BondCache_abb808c809ef2a79e4a8695f84bc47266} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!start@{start}}
-\index{start@{start}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{start()}{start()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Bond\+Cache\+::start (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{std\+::function$<$ void(void)$>$}]{on\+\_\+broken,  }\item[{std\+::function$<$ void(void)$>$}]{on\+\_\+formed }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e}\label{classcapabilities2__server_1_1BondCache_a7b2a6a067fe9dd8266d44e549f68849e} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!bond\_cache\_@{bond\_cache\_}}
-\index{bond\_cache\_@{bond\_cache\_}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{bond\_cache\_}{bond\_cache\_}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::vector$<$std\+::string$>$ $>$ capabilities2\+\_\+server\+::\+Bond\+Cache\+::bond\+\_\+cache\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461}\label{classcapabilities2__server_1_1BondCache_af926c1948de00a8c475580903f542461} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!bonds\_topic\_@{bonds\_topic\_}}
-\index{bonds\_topic\_@{bonds\_topic\_}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{bonds\_topic\_}{bonds\_topic\_}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::\+Bond\+Cache\+::bonds\+\_\+topic\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6}\label{classcapabilities2__server_1_1BondCache_a329d242a8477e10bfa914107920ffbc6} 
-\index{capabilities2\_server::BondCache@{capabilities2\_server::BondCache}!live\_bonds\_@{live\_bonds\_}}
-\index{live\_bonds\_@{live\_bonds\_}!capabilities2\_server::BondCache@{capabilities2\_server::BondCache}}
-\doxysubsubsection{\texorpdfstring{live\_bonds\_}{live\_bonds\_}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::unique\+\_\+ptr$<$bond\+::\+Bond$>$ $>$ capabilities2\+\_\+server\+::\+Bond\+Cache\+::live\+\_\+bonds\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{bond__cache_8hpp}{bond\+\_\+cache.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI.tex b/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI.tex
deleted file mode 100644
index 02fdc29..0000000
--- a/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI.tex
+++ /dev/null
@@ -1,396 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::Capabilities\+API Class Reference}
-\hypertarget{classcapabilities2__server_1_1CapabilitiesAPI}{}\label{classcapabilities2__server_1_1CapabilitiesAPI}\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-
-
-capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners  
-
-
-
-
-{\ttfamily \#include "{}capabilities\+\_\+api.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::Capabilities\+API\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=195pt]{classcapabilities2__server_1_1CapabilitiesAPI__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::Capabilities\+API\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=328pt]{classcapabilities2__server_1_1CapabilitiesAPI__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce}{Capabilities\+API}} ()
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}{connect}} (const std\+::string \&db\+\_\+file, rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr logging)
-\begin{DoxyCompactList}\small\item\em connect with the database file \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\+\_\+capability}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const std\+::string \&provider)
-\begin{DoxyCompactList}\small\item\em Start a capability. Internal function only. Do not used this function externally. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\+\_\+capability}} (const std\+::string \&capability)
-\begin{DoxyCompactList}\small\item\em Stop a capability. Internal function only. Do not used this function externally. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\+\_\+capability}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Free a capability after usage. This will remove the bond and callstop\+\_\+capability This function can be used externally. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}{trigger\+\_\+capability}} (const std\+::string \&bond\+\_\+id, const std\+::string \&capability, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters)
-\begin{DoxyCompactList}\small\item\em trigger a capability \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}{use\+\_\+capability}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const std\+::string \&provider, const std\+::string \&bond\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Use a capability. This will create a bond id for the requested instance and call start\+\_\+capability function can be used externally. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}{connect\+\_\+capability}} (const std\+::string \&bond\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&connection)
-\begin{DoxyCompactList}\small\item\em connect RUNNING capabilities together via event type \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}{add\+\_\+capability}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&spec)
-\item 
-std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03}{get\+\_\+interfaces}} ()
-\item 
-std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52}{get\+\_\+semantic\+\_\+interfaces}} (const std\+::string \&interface)
-\item 
-std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a}{get\+\_\+providers}} (const std\+::string \&interface, const bool \&include\+\_\+semantic)
-\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8}{get\+\_\+capability\+\_\+spec}} (const std\+::string \&resource)
-\begin{DoxyCompactList}\small\item\em Get the capability spec object for a given resource return the spec in yaml string format. \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8}{get\+\_\+capability\+\_\+specs}} ()
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f}{get\+\_\+remappings}} (const std\+::string \&capability\+\_\+spec, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$ res)
-\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Running\+Capability $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514}{get\+\_\+running\+\_\+capabilities}} ()
-\item 
-int \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c}{get\+\_\+pid}} (const std\+::string \&capability)
-\begin{DoxyCompactList}\small\item\em get pid of capability \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}{establish\+\_\+bond}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}{on\+\_\+bond\+\_\+established}} (const std\+::string \&bond\+\_\+id)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}{on\+\_\+bond\+\_\+broken}} (const std\+::string \&bond\+\_\+id)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\+\_\+}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002}{bind\+\_\+dependency}} (const std\+::string \&capability)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282}{unbind\+\_\+dependency}} (const std\+::string \&capability)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::unique\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}{cap\+\_\+db\+\_\+}}
-\item 
-rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}{logging\+\_\+}}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{Bond\+Cache}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}{bond\+\_\+cache\+\_\+}}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{Runner\+Cache}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}{runner\+\_\+cache\+\_\+}}
-\item 
-std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}{internal\+\_\+bond\+\_\+ids\+\_\+}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce}\label{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!CapabilitiesAPI@{CapabilitiesAPI}}
-\index{CapabilitiesAPI@{CapabilitiesAPI}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{CapabilitiesAPI()}{CapabilitiesAPI()}}
-{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Capabilities\+API\+::\+Capabilities\+API (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}\label{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!add\_capability@{add\_capability}}
-\index{add\_capability@{add\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{add\_capability()}{add\_capability()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::add\+\_\+capability (\begin{DoxyParamCaption}\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&}]{spec }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002}\label{classcapabilities2__server_1_1CapabilitiesAPI_a6c1be72e9e6d7c1391e85cf7fe60f002} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!bind\_dependency@{bind\_dependency}}
-\index{bind\_dependency@{bind\_dependency}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{bind\_dependency()}{bind\_dependency()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::bind\+\_\+dependency (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}\label{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!connect@{connect}}
-\index{connect@{connect}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{connect()}{connect()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::connect (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{db\+\_\+file,  }\item[{rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr}]{logging }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-connect with the database file 
-
-
-\begin{DoxyParams}{Parameters}
-{\em db\+\_\+file} & file path of the database file \\
-\hline
-{\em logging} & pointer to the node logging interface for logging \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}\label{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!connect\_capability@{connect\_capability}}
-\index{connect\_capability@{connect\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{connect\_capability()}{connect\_capability()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::connect\+\_\+capability (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&}]{connection }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-connect RUNNING capabilities together via event type 
-
-TODO\+: Allow connections for not-\/running capabilities by storing connections in the db FIXME\+: implement new event subsystem Each running capability is a node that can be connected to other capabilities these connections emit events when the capability states change \Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}\label{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!establish\_bond@{establish\_bond}}
-\index{establish\_bond@{establish\_bond}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{establish\_bond()}{establish\_bond()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Capabilities\+API\+::establish\+\_\+bond (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}\label{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!free\_capability@{free\_capability}}
-\index{free\_capability@{free\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{free\_capability()}{free\_capability()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::free\+\_\+capability (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Free a capability after usage. This will remove the bond and callstop\+\_\+capability This function can be used externally. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & capability name to be freed \\
-\hline
-{\em bond\+\_\+id} & bond\+\_\+id of the capability instance to be freed \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8}\label{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_capability\_spec@{get\_capability\_spec}}
-\index{get\_capability\_spec@{get\_capability\_spec}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{get\_capability\_spec()}{get\_capability\_spec()}}
-{\footnotesize\ttfamily const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+capability\+\_\+spec (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Get the capability spec object for a given resource return the spec in yaml string format. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em resource} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8}\label{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_capability\_specs@{get\_capability\_specs}}
-\index{get\_capability\_specs@{get\_capability\_specs}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{get\_capability\_specs()}{get\_capability\_specs()}}
-{\footnotesize\ttfamily std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+capability\+\_\+specs (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03}\label{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_interfaces@{get\_interfaces}}
-\index{get\_interfaces@{get\_interfaces}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{get\_interfaces()}{get\_interfaces()}}
-{\footnotesize\ttfamily std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c}\label{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_pid@{get\_pid}}
-\index{get\_pid@{get\_pid}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{get\_pid()}{get\_pid()}}
-{\footnotesize\ttfamily int capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+pid (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-get pid of capability 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & capability of which the pid is requested \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-value of pid 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a}\label{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_providers@{get\_providers}}
-\index{get\_providers@{get\_providers}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{get\_providers()}{get\_providers()}}
-{\footnotesize\ttfamily std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+providers (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface,  }\item[{const bool \&}]{include\+\_\+semantic }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f}\label{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_remappings@{get\_remappings}}
-\index{get\_remappings@{get\_remappings}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{get\_remappings()}{get\_remappings()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+remappings (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability\+\_\+spec,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514}\label{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_running\_capabilities@{get\_running\_capabilities}}
-\index{get\_running\_capabilities@{get\_running\_capabilities}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{get\_running\_capabilities()}{get\_running\_capabilities()}}
-{\footnotesize\ttfamily std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Running\+Capability $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+running\+\_\+capabilities (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52}\label{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!get\_semantic\_interfaces@{get\_semantic\_interfaces}}
-\index{get\_semantic\_interfaces@{get\_semantic\_interfaces}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces()}{get\_semantic\_interfaces()}}
-{\footnotesize\ttfamily std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::get\+\_\+semantic\+\_\+interfaces (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}\label{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!on\_bond\_broken@{on\_bond\_broken}}
-\index{on\_bond\_broken@{on\_bond\_broken}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{on\_bond\_broken()}{on\_bond\_broken()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::on\+\_\+bond\+\_\+broken (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}\label{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!on\_bond\_established@{on\_bond\_established}}
-\index{on\_bond\_established@{on\_bond\_established}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{on\_bond\_established()}{on\_bond\_established()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::on\+\_\+bond\+\_\+established (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}\label{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!start\_capability@{start\_capability}}
-\index{start\_capability@{start\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{start\_capability()}{start\_capability()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Capabilities\+API\+::start\+\_\+capability (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Start a capability. Internal function only. Do not used this function externally. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & ros node pointer of the ros server \\
-\hline
-{\em capability} & capability name to be started \\
-\hline
-{\em provider} & provider of the capability \\
-\hline
-{\em bond\+\_\+id} & bond\+\_\+id of the capability instance to be started\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-{\ttfamily true} if capability started successfully. else returns {\ttfamily false} 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}\label{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!stop\_capability@{stop\_capability}}
-\index{stop\_capability@{stop\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{stop\_capability()}{stop\_capability()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::stop\+\_\+capability (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Stop a capability. Internal function only. Do not used this function externally. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & capability name to be stopped \\
-\hline
-{\em bond\+\_\+id} & bond\+\_\+id of the capability instance to be stopped \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}\label{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!trigger\_capability@{trigger\_capability}}
-\index{trigger\_capability@{trigger\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{trigger\_capability()}{trigger\_capability()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::trigger\+\_\+capability (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-trigger a capability 
-
-This is a new function for a capability provider (runner) that is already started but has additional parameters to be triggered. This function can be used externally.
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & \\
-\hline
-{\em parameters} & \\
-\hline
-{\em bond\+\_\+id} & \\
-\hline
-{\em instance\+\_\+id} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282}\label{classcapabilities2__server_1_1CapabilitiesAPI_a1449c47e0248409b93a901b0836ca282} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!unbind\_dependency@{unbind\_dependency}}
-\index{unbind\_dependency@{unbind\_dependency}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{unbind\_dependency()}{unbind\_dependency()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+API\+::unbind\+\_\+dependency (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}\label{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!use\_capability@{use\_capability}}
-\index{use\_capability@{use\_capability}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{use\_capability()}{use\_capability()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Capabilities\+API\+::use\+\_\+capability (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{provider,  }\item[{const std\+::string \&}]{bond\+\_\+id }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Use a capability. This will create a bond id for the requested instance and call start\+\_\+capability function can be used externally. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & ros node pointer of the ros server \\
-\hline
-{\em capability} & capability name to be started \\
-\hline
-{\em provider} & provider of the capability \\
-\hline
-{\em bond\+\_\+id} & bond\+\_\+id for the capability\\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-{\ttfamily true} if capability started successfully. else returns {\ttfamily false} 
-\end{DoxyReturn}
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692}\label{classcapabilities2__server_1_1CapabilitiesAPI_a51bf4e23cd02446a33b25783342f8692} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!bond\_cache\_@{bond\_cache\_}}
-\index{bond\_cache\_@{bond\_cache\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{bond\_cache\_}{bond\_cache\_}}
-{\footnotesize\ttfamily \mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{Bond\+Cache}} capabilities2\+\_\+server\+::\+Capabilities\+API\+::bond\+\_\+cache\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95}\label{classcapabilities2__server_1_1CapabilitiesAPI_aa57dd46315cc8b11f23488353c00dc95} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!cap\_db\_@{cap\_db\_}}
-\index{cap\_db\_@{cap\_db\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{cap\_db\_}{cap\_db\_}}
-{\footnotesize\ttfamily std\+::unique\+\_\+ptr$<$\mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}}$>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::cap\+\_\+db\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}\label{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!event\_@{event\_}}
-\index{event\_@{event\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{event\_}{event\_}}
-{\footnotesize\ttfamily std\+::shared\+\_\+ptr$<$\mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}}$>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::event\+\_\+\hspace{0.3cm}{\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451}\label{classcapabilities2__server_1_1CapabilitiesAPI_a5c6b0cbb72426b457e5469285f7d4451} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!internal\_bond\_ids\_@{internal\_bond\_ids\_}}
-\index{internal\_bond\_ids\_@{internal\_bond\_ids\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{internal\_bond\_ids\_}{internal\_bond\_ids\_}}
-{\footnotesize\ttfamily std\+::vector$<$std\+::string$>$ capabilities2\+\_\+server\+::\+Capabilities\+API\+::internal\+\_\+bond\+\_\+ids\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2}\label{classcapabilities2__server_1_1CapabilitiesAPI_aed8b4cad33f58aa31b3ed1be0c48f5d2} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!logging\_@{logging\_}}
-\index{logging\_@{logging\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{logging\_}{logging\_}}
-{\footnotesize\ttfamily rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+API\+::logging\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2}\label{classcapabilities2__server_1_1CapabilitiesAPI_af88813815d1201f52e2e2f19b43068d2} 
-\index{capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}!runner\_cache\_@{runner\_cache\_}}
-\index{runner\_cache\_@{runner\_cache\_}!capabilities2\_server::CapabilitiesAPI@{capabilities2\_server::CapabilitiesAPI}}
-\doxysubsubsection{\texorpdfstring{runner\_cache\_}{runner\_cache\_}}
-{\footnotesize\ttfamily \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{Runner\+Cache}} capabilities2\+\_\+server\+::\+Capabilities\+API\+::runner\+\_\+cache\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__api_8hpp}{capabilities\+\_\+api.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.md5 b/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.md5
deleted file mode 100644
index 1146e84..0000000
--- a/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.md5
+++ /dev/null
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diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.pdf b/docs/latex/classcapabilities2__server_1_1CapabilitiesAPI__coll__graph.pdf
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diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesDB.tex b/docs/latex/classcapabilities2__server_1_1CapabilitiesDB.tex
deleted file mode 100644
index 78928ca..0000000
--- a/docs/latex/classcapabilities2__server_1_1CapabilitiesDB.tex
+++ /dev/null
@@ -1,415 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::Capabilities\+DB Class Reference}
-\hypertarget{classcapabilities2__server_1_1CapabilitiesDB}{}\label{classcapabilities2__server_1_1CapabilitiesDB}\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-
-
-{\ttfamily \#include "{}capabilities\+\_\+db.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::Capabilities\+DB\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=195pt]{classcapabilities2__server_1_1CapabilitiesDB__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::Capabilities\+DB\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=195pt]{classcapabilities2__server_1_1CapabilitiesDB__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6a06e320c5c1ac224f7879bbe05e6a8e}{Capabilities\+DB}} (const std\+::string db\+\_\+file="{}cache/capabilities.\+sqlite3"{})
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a40951e3346502f6e147865e1ab025e39}{\texorpdfstring{$\sim$}{\string~}\+Capabilities\+DB}} ()
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73}{insert\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&interface) override
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1}{insert\+\_\+semantic\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&semantic\+\_\+interface) override
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448}{insert\+\_\+provider}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&provider) override
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac}{get\+\_\+interface}} (const std\+::string \&name) override
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ae263c0a66dccf6f7cee043f8da2050a9}{get\+\_\+interfaces}} () override
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3}{get\+\_\+semantic\+\_\+interface}} (const std\+::string \&name) override
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ae5f180b570d6c8d57d3b7ed570fa2bc4}{get\+\_\+semantic\+\_\+interfaces}} () override
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}{get\+\_\+provider}} (const std\+::string \&name) override
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_abcb12877bac9acaa5b55f0517cd83c71}{get\+\_\+providers}} () override
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a7147928b1a095676069664c31f91deae}{get\+\_\+remappable}} (const std\+::string \&name) override
-\begin{DoxyCompactList}\small\item\em Get remappable model by name. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aa10f6716c7eb019bad310fa8e580880b}{update\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&interface) override
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a45dde34e7373e6aec64c1f78d673e0cb}{update\+\_\+semantic\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&semantic\+\_\+interface) override
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a74033ce662666907c361fa22fa9e80c2}{update\+\_\+provider}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&provider)
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d}{get\+\_\+providers\+\_\+by\+\_\+interface}} (const std\+::string \&interface\+\_\+name) override
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a}{get\+\_\+semantic\+\_\+interfaces\+\_\+by\+\_\+interface}} (const std\+::string \&interface\+\_\+name) override
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models\+::running\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b}{get\+\_\+running}} (const std\+::string \&provider\+\_\+name) override
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}{apply\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models\+::specification\+\_\+model\+\_\+t}} \&spec, const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \&remappable) override
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a9ce49d71065acc667a5ce863a9e1f2a2}{apply\+\_\+semantic\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} semantic) override
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3c6ed044e3cd0e60b5fcfac889ab0eea}{apply\+\_\+provider\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} provider) override
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76}{get\+\_\+run\+\_\+config}} (const std\+::string \&provider\+\_\+name) override
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{capabilities2\+\_\+server\+::\+DBBase}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2}{DBBase}} ()=default
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb}{\texorpdfstring{$\sim$}{\string~}\+DBBase}} ()=default
-\item 
-{\footnotesize template$<$typename T $>$ }\\bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{exists}} (const std\+::string \&resource\+\_\+name)
-\item 
-virtual bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af}{exists\+\_\+any}} (const std\+::string \&resource\+\_\+name)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df}{open}} () override
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67}{close}} () override
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}{exec}} (const std\+::string \&query)
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0}{create\+\_\+tables}} () override
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a665a94af8591b998356567340f9155b9}{to\+\_\+interface}} (sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}stmt)
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3eb0881736fa825daef5ec83e1d919be}{to\+\_\+semantic\+\_\+interface}} (sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}stmt)
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc}{to\+\_\+provider}} (sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}stmt)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Attributes}
-\begin{DoxyCompactItemize}
-\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}{db\+\_\+file\+\_\+}}
-\item 
-sqlite3 \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}{db\+\_\+}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a6a06e320c5c1ac224f7879bbe05e6a8e}\label{classcapabilities2__server_1_1CapabilitiesDB_a6a06e320c5c1ac224f7879bbe05e6a8e} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!CapabilitiesDB@{CapabilitiesDB}}
-\index{CapabilitiesDB@{CapabilitiesDB}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{CapabilitiesDB()}{CapabilitiesDB()}}
-{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Capabilities\+DB\+::\+Capabilities\+DB (\begin{DoxyParamCaption}\item[{const std\+::string}]{db\+\_\+file = {\ttfamily "{}cache/capabilities.sqlite3"{}} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a40951e3346502f6e147865e1ab025e39}\label{classcapabilities2__server_1_1CapabilitiesDB_a40951e3346502f6e147865e1ab025e39} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!````~CapabilitiesDB@{\texorpdfstring{$\sim$}{\string~}CapabilitiesDB}}
-\index{````~CapabilitiesDB@{\texorpdfstring{$\sim$}{\string~}CapabilitiesDB}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}CapabilitiesDB()}{\string~CapabilitiesDB()}}
-{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Capabilities\+DB\+::\texorpdfstring{$\sim$}{\string~}\+Capabilities\+DB (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a3c6ed044e3cd0e60b5fcfac889ab0eea}\label{classcapabilities2__server_1_1CapabilitiesDB_a3c6ed044e3cd0e60b5fcfac889ab0eea} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!apply\_provider\_remappings@{apply\_provider\_remappings}}
-\index{apply\_provider\_remappings@{apply\_provider\_remappings}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{apply\_provider\_remappings()}{apply\_provider\_remappings()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::apply\+\_\+provider\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}}}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}\label{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!apply\_remappings@{apply\_remappings}}
-\index{apply\_remappings@{apply\_remappings}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{apply\_remappings()}{apply\_remappings()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::apply\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models\+::specification\+\_\+model\+\_\+t}} \&}]{spec,  }\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \&}]{remappable }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a9ce49d71065acc667a5ce863a9e1f2a2}\label{classcapabilities2__server_1_1CapabilitiesDB_a9ce49d71065acc667a5ce863a9e1f2a2} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!apply\_semantic\_remappings@{apply\_semantic\_remappings}}
-\index{apply\_semantic\_remappings@{apply\_semantic\_remappings}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{apply\_semantic\_remappings()}{apply\_semantic\_remappings()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::apply\+\_\+semantic\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}}}]{semantic }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67}\label{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!close@{close}}
-\index{close@{close}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{close()}{close()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::close (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0}\label{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!create\_tables@{create\_tables}}
-\index{create\_tables@{create\_tables}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{create\_tables()}{create\_tables()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::create\+\_\+tables (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97}\label{classcapabilities2__server_1_1CapabilitiesDB_a3b40692ba92825e177d8e211369cfb97} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!exec@{exec}}
-\index{exec@{exec}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{exec()}{exec()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::exec (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{query }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [protected]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac}\label{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_interface@{get\_interface}}
-\index{get\_interface@{get\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_interface()}{get\_interface()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_ae263c0a66dccf6f7cee043f8da2050a9}\label{classcapabilities2__server_1_1CapabilitiesDB_ae263c0a66dccf6f7cee043f8da2050a9} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_interfaces@{get\_interfaces}}
-\index{get\_interfaces@{get\_interfaces}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_interfaces()}{get\_interfaces()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}\label{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_provider@{get\_provider}}
-\index{get\_provider@{get\_provider}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_provider()}{get\_provider()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+provider (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_abcb12877bac9acaa5b55f0517cd83c71}\label{classcapabilities2__server_1_1CapabilitiesDB_abcb12877bac9acaa5b55f0517cd83c71} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_providers@{get\_providers}}
-\index{get\_providers@{get\_providers}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_providers()}{get\_providers()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+providers (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d}\label{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_providers\_by\_interface@{get\_providers\_by\_interface}}
-\index{get\_providers\_by\_interface@{get\_providers\_by\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_providers\_by\_interface()}{get\_providers\_by\_interface()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+providers\+\_\+by\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a7147928b1a095676069664c31f91deae}\label{classcapabilities2__server_1_1CapabilitiesDB_a7147928b1a095676069664c31f91deae} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_remappable@{get\_remappable}}
-\index{get\_remappable@{get\_remappable}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_remappable()}{get\_remappable()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+remappable (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Get remappable model by name. 
-
-remappable models are either semantic interfaces or providers
-
-
-\begin{DoxyParams}{Parameters}
-{\em name} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-\doxylink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t} 
-\end{DoxyReturn}
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76}\label{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_run\_config@{get\_run\_config}}
-\index{get\_run\_config@{get\_run\_config}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_run\_config()}{get\_run\_config()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+run\+\_\+config (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{provider\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b}\label{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_running@{get\_running}}
-\index{get\_running@{get\_running}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_running()}{get\_running()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models\+::running\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+running (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{provider\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3}\label{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_semantic\_interface@{get\_semantic\_interface}}
-\index{get\_semantic\_interface@{get\_semantic\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_semantic\_interface()}{get\_semantic\_interface()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_ae5f180b570d6c8d57d3b7ed570fa2bc4}\label{classcapabilities2__server_1_1CapabilitiesDB_ae5f180b570d6c8d57d3b7ed570fa2bc4} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_semantic\_interfaces@{get\_semantic\_interfaces}}
-\index{get\_semantic\_interfaces@{get\_semantic\_interfaces}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces()}{get\_semantic\_interfaces()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+semantic\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a}\label{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!get\_semantic\_interfaces\_by\_interface@{get\_semantic\_interfaces\_by\_interface}}
-\index{get\_semantic\_interfaces\_by\_interface@{get\_semantic\_interfaces\_by\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces\_by\_interface()}{get\_semantic\_interfaces\_by\_interface()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+Capabilities\+DB\+::get\+\_\+semantic\+\_\+interfaces\+\_\+by\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73}\label{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!insert\_interface@{insert\_interface}}
-\index{insert\_interface@{insert\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{insert\_interface()}{insert\_interface()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::insert\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448}\label{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!insert\_provider@{insert\_provider}}
-\index{insert\_provider@{insert\_provider}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{insert\_provider()}{insert\_provider()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::insert\+\_\+provider (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1}\label{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!insert\_semantic\_interface@{insert\_semantic\_interface}}
-\index{insert\_semantic\_interface@{insert\_semantic\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{insert\_semantic\_interface()}{insert\_semantic\_interface()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::insert\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&}]{semantic\+\_\+interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df}\label{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!open@{open}}
-\index{open@{open}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{open()}{open()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::open (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [protected]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a665a94af8591b998356567340f9155b9}\label{classcapabilities2__server_1_1CapabilitiesDB_a665a94af8591b998356567340f9155b9} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!to\_interface@{to\_interface}}
-\index{to\_interface@{to\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{to\_interface()}{to\_interface()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::to\+\_\+interface (\begin{DoxyParamCaption}\item[{sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}}]{stmt }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc}\label{classcapabilities2__server_1_1CapabilitiesDB_ac6c2407ebde5f7debcf32bc064f8c0bc} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!to\_provider@{to\_provider}}
-\index{to\_provider@{to\_provider}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{to\_provider()}{to\_provider()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::to\+\_\+provider (\begin{DoxyParamCaption}\item[{sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}}]{stmt }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a3eb0881736fa825daef5ec83e1d919be}\label{classcapabilities2__server_1_1CapabilitiesDB_a3eb0881736fa825daef5ec83e1d919be} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!to\_semantic\_interface@{to\_semantic\_interface}}
-\index{to\_semantic\_interface@{to\_semantic\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{to\_semantic\_interface()}{to\_semantic\_interface()}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::to\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{sqlite3\+\_\+stmt \texorpdfstring{$\ast$}{*}}]{stmt }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_aa10f6716c7eb019bad310fa8e580880b}\label{classcapabilities2__server_1_1CapabilitiesDB_aa10f6716c7eb019bad310fa8e580880b} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!update\_interface@{update\_interface}}
-\index{update\_interface@{update\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{update\_interface()}{update\_interface()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::update\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a74033ce662666907c361fa22fa9e80c2}\label{classcapabilities2__server_1_1CapabilitiesDB_a74033ce662666907c361fa22fa9e80c2} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!update\_provider@{update\_provider}}
-\index{update\_provider@{update\_provider}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{update\_provider()}{update\_provider()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::update\+\_\+provider (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a45dde34e7373e6aec64c1f78d673e0cb}\label{classcapabilities2__server_1_1CapabilitiesDB_a45dde34e7373e6aec64c1f78d673e0cb} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!update\_semantic\_interface@{update\_semantic\_interface}}
-\index{update\_semantic\_interface@{update\_semantic\_interface}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{update\_semantic\_interface()}{update\_semantic\_interface()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+Capabilities\+DB\+::update\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&}]{semantic\+\_\+interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}}
-
-
-
-Implements \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5}{capabilities2\+\_\+server\+::\+DBBase}}.
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1}\label{classcapabilities2__server_1_1CapabilitiesDB_a23dfb4f5d456df66de81b0dd2b9face1} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!db\_@{db\_}}
-\index{db\_@{db\_}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{db\_}{db\_}}
-{\footnotesize\ttfamily sqlite3\texorpdfstring{$\ast$}{*} capabilities2\+\_\+server\+::\+Capabilities\+DB\+::db\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d}\label{classcapabilities2__server_1_1CapabilitiesDB_a67c5398900d16d720335f8eb4294316d} 
-\index{capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}!db\_file\_@{db\_file\_}}
-\index{db\_file\_@{db\_file\_}!capabilities2\_server::CapabilitiesDB@{capabilities2\_server::CapabilitiesDB}}
-\doxysubsubsection{\texorpdfstring{db\_file\_}{db\_file\_}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Capabilities\+DB\+::db\+\_\+file\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__db_8hpp}{capabilities\+\_\+db.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesDB__coll__graph.md5 b/docs/latex/classcapabilities2__server_1_1CapabilitiesDB__coll__graph.md5
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diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesServer.tex b/docs/latex/classcapabilities2__server_1_1CapabilitiesServer.tex
deleted file mode 100644
index c89bcac..0000000
--- a/docs/latex/classcapabilities2__server_1_1CapabilitiesServer.tex
+++ /dev/null
@@ -1,428 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::Capabilities\+Server Class Reference}
-\hypertarget{classcapabilities2__server_1_1CapabilitiesServer}{}\label{classcapabilities2__server_1_1CapabilitiesServer}\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-
-
-capabilities server  
-
-
-
-
-{\ttfamily \#include "{}capabilities\+\_\+server.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::Capabilities\+Server\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=290pt]{classcapabilities2__server_1_1CapabilitiesServer__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::Capabilities\+Server\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{classcapabilities2__server_1_1CapabilitiesServer__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aacf69c819dfe2d31895bd6a4b7831aea}{Capabilities\+Server}} (const rclcpp\+::\+Node\+Options \&options=rclcpp\+::\+Node\+Options())
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e}{initialize}} ()
-\begin{DoxyCompactList}\small\item\em Initializes the capabilities server node. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7}{establish\+\_\+bond\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e}{start\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d}{stop\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3}{trigger\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04}{free\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ab351057325bd9c62bbd25657061505d6}{use\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a03500d304d5fef27e356b30b5d23dece}{connect\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a71a42e1eaa2a7b030b8e0b1c90609315}{register\+\_\+capability\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a1eee46a1f8874823530823183406e082}{get\+\_\+interfaces\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae3299cfc91495fdff2fc8eb1513e7804}{get\+\_\+semantic\+\_\+interfaces\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_afd5d1ff380148dbc66a57e04e92109e0}{get\+\_\+providers\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aed01fea6038bf10c20f4e23325e7b411}{get\+\_\+capability\+\_\+spec\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a8bc0d2808af84412e1696f768366c114}{get\+\_\+capability\+\_\+specs\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a71728f43b140a67280d2eec2a18f00e4}{get\+\_\+remappings\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$ res)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ad25368b49818a71d8bb5aefb64975fb5}{get\+\_\+running\+\_\+capabilities\+\_\+cb}} (const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities\+::\+Request $>$ req, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities\+::\+Response $>$ res)
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{capabilities2\+\_\+server\+::\+Capabilities\+API}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a7e33013361270175186e7e23fe7342ce}{Capabilities\+API}} ()
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a84971555f626b74b3236c61bd2bf0ef2}{connect}} (const std\+::string \&db\+\_\+file, rclcpp\+::node\+\_\+interfaces\+::\+Node\+Logging\+Interface\+::\+Shared\+Ptr logging)
-\begin{DoxyCompactList}\small\item\em connect with the database file \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_aaf69b498cc0fcc66267032c8a0a1504c}{start\+\_\+capability}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const std\+::string \&provider)
-\begin{DoxyCompactList}\small\item\em Start a capability. Internal function only. Do not used this function externally. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e106040d8bec5321e809c3666601600}{stop\+\_\+capability}} (const std\+::string \&capability)
-\begin{DoxyCompactList}\small\item\em Stop a capability. Internal function only. Do not used this function externally. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a02d27d28503b5b56cf5aa3556e1a2118}{free\+\_\+capability}} (const std\+::string \&capability, const std\+::string \&bond\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Free a capability after usage. This will remove the bond and callstop\+\_\+capability This function can be used externally. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6de8e860c63da9acde97c4b5cd7a5a5}{trigger\+\_\+capability}} (const std\+::string \&bond\+\_\+id, const std\+::string \&capability, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters)
-\begin{DoxyCompactList}\small\item\em trigger a capability \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a419ed80ae9a32f0d89518b0750ade73c}{use\+\_\+capability}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const std\+::string \&provider, const std\+::string \&bond\+\_\+id)
-\begin{DoxyCompactList}\small\item\em Use a capability. This will create a bond id for the requested instance and call start\+\_\+capability function can be used externally. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ae6e049a500dc2554322475a1b4e89c21}{connect\+\_\+capability}} (const std\+::string \&bond\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&connection)
-\begin{DoxyCompactList}\small\item\em connect RUNNING capabilities together via event type \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a226adbcdbb5b497953a2dd61d418a7de}{add\+\_\+capability}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&spec)
-\item 
-std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acd27a3b8a5655712120d8f60e6e21a03}{get\+\_\+interfaces}} ()
-\item 
-std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad0323e4febb7e96405a0473e39e58d52}{get\+\_\+semantic\+\_\+interfaces}} (const std\+::string \&interface)
-\item 
-std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_ad6f151b6a272325d92aeb7704ded093a}{get\+\_\+providers}} (const std\+::string \&interface, const bool \&include\+\_\+semantic)
-\item 
-const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_af2ad7408ac8e69d5cf4d8bb503fd37e8}{get\+\_\+capability\+\_\+spec}} (const std\+::string \&resource)
-\begin{DoxyCompactList}\small\item\em Get the capability spec object for a given resource return the spec in yaml string format. \end{DoxyCompactList}\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a89ca5565eac4c99553fb79e7e8c332c8}{get\+\_\+capability\+\_\+specs}} ()
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a0c1bbfe23a34eb6adef90747bba2b34f}{get\+\_\+remappings}} (const std\+::string \&capability\+\_\+spec, std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$ res)
-\item 
-std\+::vector$<$ capabilities2\+\_\+msgs\+::msg\+::\+Running\+Capability $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a35a9b49bc2b1fdcf0311264905f59514}{get\+\_\+running\+\_\+capabilities}} ()
-\item 
-int \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a25529ea4994cd0e839500fff111b620c}{get\+\_\+pid}} (const std\+::string \&capability)
-\begin{DoxyCompactList}\small\item\em get pid of capability \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a9d25868abf2647c2e77aad620b270c3b}{establish\+\_\+bond}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_acfc34192e7ebdf7bd32bb720eba44953}{on\+\_\+bond\+\_\+established}} (const std\+::string \&bond\+\_\+id)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a8af0a6969caee569e51664a7258927ba}{on\+\_\+bond\+\_\+broken}} (const std\+::string \&bond\+\_\+id)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a58c477d3ba7423b273778842fe156dcc}{load\+\_\+capabilities}} (const std\+::string \&package\+\_\+path)
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a5e0231cf2f4d4c16ec057e5603b0efd1}{parse\+\_\+package\+\_\+xml}} (const std\+::string \&package\+\_\+xml, tinyxml2\+::\+XMLDocument \&doc)
-\begin{DoxyCompactList}\small\item\em parse package.\+xml file \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a38bec3f55aab20fb4ef4be05ff20ee20}{load\+\_\+spec\+\_\+content}} (const std\+::string \&spec\+\_\+file, capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&capability\+\_\+spec)
-\begin{DoxyCompactList}\small\item\em load capability spec content from a file \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Attributes}
-\begin{DoxyCompactItemize}
-\item 
-double \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a6e8b97337893a97daa58e3f0c11bb565}{loop\+\_\+hz\+\_\+}}
-\item 
-rclcpp\+::\+Publisher$<$ capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa850ac5910b408d86b73b7bc04d82134}{event\+\_\+pub\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a4d626b97ce07ce813f045f334e0672bf}{establish\+\_\+bond\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a1a04b3d8e38c3e738d6dad3e9f90ed32}{start\+\_\+capability\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aee406dd808d0277a3d1babfbaf5d0dee}{stop\+\_\+capability\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a0e28a32f07cadfecd641727cf7d6df9a}{free\+\_\+capability\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a234c5773e90eebb05bd36fe2025f5503}{connect\+\_\+capability\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ab479dbd4ed2028355725f553dca81d4e}{trigger\+\_\+capability\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a152c07656d903772602e01a23b717c94}{use\+\_\+capability\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a12ab12a8447c6333dd2383534e2268bb}{register\+\_\+capability\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aa7b2bb889301337796e782ea00d788a9}{get\+\_\+interfaces\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ae9b834509054095c04cc7f9d1557ec96}{get\+\_\+semantic\+\_\+interfaces\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a755cc7001a6739ae422492a9b6d4f4e3}{get\+\_\+providers\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a8286d3d3b6ad3eefef8bb91abcf349a2}{get\+\_\+capability\+\_\+spec\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_aad26d9c4b7948bff89e9dfc54dae3b33}{get\+\_\+capability\+\_\+specs\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c}{get\+\_\+remappings\+\_\+srv\+\_\+}}
-\item 
-rclcpp\+::\+Service$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities $>$\+::\+Shared\+Ptr \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer_ac358c10e20544260cb65ad6fd3a31c8d}{get\+\_\+running\+\_\+capabilities\+\_\+srv\+\_\+}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Additional Inherited Members}
-\doxysubsection*{Protected Attributes inherited from \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{capabilities2\+\_\+server\+::\+Capabilities\+API}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI_a1e3645b59e7641e486143354562ccfc3}{event\+\_\+}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-capabilities server 
-
-Capabilities server node that provides a ROS service capabilities API for managing capabilities. implements the \doxylink{classcapabilities2__server_1_1CapabilitiesAPI}{Capabilities\+API} interface for core capabilities functionality. 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aacf69c819dfe2d31895bd6a4b7831aea}\label{classcapabilities2__server_1_1CapabilitiesServer_aacf69c819dfe2d31895bd6a4b7831aea} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!CapabilitiesServer@{CapabilitiesServer}}
-\index{CapabilitiesServer@{CapabilitiesServer}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{CapabilitiesServer()}{CapabilitiesServer()}}
-{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Capabilities\+Server\+::\+Capabilities\+Server (\begin{DoxyParamCaption}\item[{const rclcpp\+::\+Node\+Options \&}]{options = {\ttfamily rclcpp\+:\+:NodeOptions()} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a03500d304d5fef27e356b30b5d23dece}\label{classcapabilities2__server_1_1CapabilitiesServer_a03500d304d5fef27e356b30b5d23dece} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!connect\_capability\_cb@{connect\_capability\_cb}}
-\index{connect\_capability\_cb@{connect\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{connect\_capability\_cb()}{connect\_capability\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::connect\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7}\label{classcapabilities2__server_1_1CapabilitiesServer_aa55cf315d13a4bbbff41439a4acb6eb7} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!establish\_bond\_cb@{establish\_bond\_cb}}
-\index{establish\_bond\_cb@{establish\_bond\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{establish\_bond\_cb()}{establish\_bond\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::establish\+\_\+bond\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04}\label{classcapabilities2__server_1_1CapabilitiesServer_ae855a537f8007233ab225e22fb5eca04} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!free\_capability\_cb@{free\_capability\_cb}}
-\index{free\_capability\_cb@{free\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{free\_capability\_cb()}{free\_capability\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::free\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aed01fea6038bf10c20f4e23325e7b411}\label{classcapabilities2__server_1_1CapabilitiesServer_aed01fea6038bf10c20f4e23325e7b411} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_capability\_spec\_cb@{get\_capability\_spec\_cb}}
-\index{get\_capability\_spec\_cb@{get\_capability\_spec\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_capability\_spec\_cb()}{get\_capability\_spec\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+capability\+\_\+spec\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a8bc0d2808af84412e1696f768366c114}\label{classcapabilities2__server_1_1CapabilitiesServer_a8bc0d2808af84412e1696f768366c114} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_capability\_specs\_cb@{get\_capability\_specs\_cb}}
-\index{get\_capability\_specs\_cb@{get\_capability\_specs\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_capability\_specs\_cb()}{get\_capability\_specs\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+capability\+\_\+specs\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a1eee46a1f8874823530823183406e082}\label{classcapabilities2__server_1_1CapabilitiesServer_a1eee46a1f8874823530823183406e082} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_interfaces\_cb@{get\_interfaces\_cb}}
-\index{get\_interfaces\_cb@{get\_interfaces\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_interfaces\_cb()}{get\_interfaces\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+interfaces\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_afd5d1ff380148dbc66a57e04e92109e0}\label{classcapabilities2__server_1_1CapabilitiesServer_afd5d1ff380148dbc66a57e04e92109e0} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_providers\_cb@{get\_providers\_cb}}
-\index{get\_providers\_cb@{get\_providers\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_providers\_cb()}{get\_providers\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+providers\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a71728f43b140a67280d2eec2a18f00e4}\label{classcapabilities2__server_1_1CapabilitiesServer_a71728f43b140a67280d2eec2a18f00e4} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_remappings\_cb@{get\_remappings\_cb}}
-\index{get\_remappings\_cb@{get\_remappings\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_remappings\_cb()}{get\_remappings\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+remappings\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ad25368b49818a71d8bb5aefb64975fb5}\label{classcapabilities2__server_1_1CapabilitiesServer_ad25368b49818a71d8bb5aefb64975fb5} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_running\_capabilities\_cb@{get\_running\_capabilities\_cb}}
-\index{get\_running\_capabilities\_cb@{get\_running\_capabilities\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_running\_capabilities\_cb()}{get\_running\_capabilities\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+running\+\_\+capabilities\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ae3299cfc91495fdff2fc8eb1513e7804}\label{classcapabilities2__server_1_1CapabilitiesServer_ae3299cfc91495fdff2fc8eb1513e7804} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_semantic\_interfaces\_cb@{get\_semantic\_interfaces\_cb}}
-\index{get\_semantic\_interfaces\_cb@{get\_semantic\_interfaces\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces\_cb()}{get\_semantic\_interfaces\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+semantic\+\_\+interfaces\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e}\label{classcapabilities2__server_1_1CapabilitiesServer_ae560f31a113bbf9b1be05ec49c04e04e} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!initialize@{initialize}}
-\index{initialize@{initialize}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{initialize()}{initialize()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::initialize (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Initializes the capabilities server node. 
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a58c477d3ba7423b273778842fe156dcc}\label{classcapabilities2__server_1_1CapabilitiesServer_a58c477d3ba7423b273778842fe156dcc} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!load\_capabilities@{load\_capabilities}}
-\index{load\_capabilities@{load\_capabilities}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{load\_capabilities()}{load\_capabilities()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::load\+\_\+capabilities (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{package\+\_\+path }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a38bec3f55aab20fb4ef4be05ff20ee20}\label{classcapabilities2__server_1_1CapabilitiesServer_a38bec3f55aab20fb4ef4be05ff20ee20} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!load\_spec\_content@{load\_spec\_content}}
-\index{load\_spec\_content@{load\_spec\_content}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{load\_spec\_content()}{load\_spec\_content()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::load\+\_\+spec\+\_\+content (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{spec\+\_\+file,  }\item[{capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Spec \&}]{capability\+\_\+spec }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
-
-
-
-load capability spec content from a file 
-
-
-\begin{DoxyParams}{Parameters}
-{\em spec\+\_\+file} & \\
-\hline
-{\em capability\+\_\+spec} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a5e0231cf2f4d4c16ec057e5603b0efd1}\label{classcapabilities2__server_1_1CapabilitiesServer_a5e0231cf2f4d4c16ec057e5603b0efd1} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!parse\_package\_xml@{parse\_package\_xml}}
-\index{parse\_package\_xml@{parse\_package\_xml}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{parse\_package\_xml()}{parse\_package\_xml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::parse\+\_\+package\+\_\+xml (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{package\+\_\+xml,  }\item[{tinyxml2\+::\+XMLDocument \&}]{doc }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [private]}}
-
-
-
-parse package.\+xml file 
-
-
-\begin{DoxyParams}{Parameters}
-{\em package\+\_\+xml} & \\
-\hline
-{\em doc} & \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a71a42e1eaa2a7b030b8e0b1c90609315}\label{classcapabilities2__server_1_1CapabilitiesServer_a71a42e1eaa2a7b030b8e0b1c90609315} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!register\_capability\_cb@{register\_capability\_cb}}
-\index{register\_capability\_cb@{register\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{register\_capability\_cb()}{register\_capability\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::register\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e}\label{classcapabilities2__server_1_1CapabilitiesServer_a60a3176ebff35a89d8066a80e533637e} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!start\_capability\_cb@{start\_capability\_cb}}
-\index{start\_capability\_cb@{start\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{start\_capability\_cb()}{start\_capability\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::start\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d}\label{classcapabilities2__server_1_1CapabilitiesServer_aa23ec591bffe34a5b29a317de882c61d} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!stop\_capability\_cb@{stop\_capability\_cb}}
-\index{stop\_capability\_cb@{stop\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{stop\_capability\_cb()}{stop\_capability\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::stop\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3}\label{classcapabilities2__server_1_1CapabilitiesServer_a88e047d3b8f4947f2f89160eac2b34e3} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!trigger\_capability\_cb@{trigger\_capability\_cb}}
-\index{trigger\_capability\_cb@{trigger\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{trigger\_capability\_cb()}{trigger\_capability\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::trigger\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ab351057325bd9c62bbd25657061505d6}\label{classcapabilities2__server_1_1CapabilitiesServer_ab351057325bd9c62bbd25657061505d6} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!use\_capability\_cb@{use\_capability\_cb}}
-\index{use\_capability\_cb@{use\_capability\_cb}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{use\_capability\_cb()}{use\_capability\_cb()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Capabilities\+Server\+::use\+\_\+capability\+\_\+cb (\begin{DoxyParamCaption}\item[{const std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability\+::\+Request $>$}]{req,  }\item[{std\+::shared\+\_\+ptr$<$ capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability\+::\+Response $>$}]{res }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a234c5773e90eebb05bd36fe2025f5503}\label{classcapabilities2__server_1_1CapabilitiesServer_a234c5773e90eebb05bd36fe2025f5503} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!connect\_capability\_srv\_@{connect\_capability\_srv\_}}
-\index{connect\_capability\_srv\_@{connect\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{connect\_capability\_srv\_}{connect\_capability\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Connect\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::connect\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a4d626b97ce07ce813f045f334e0672bf}\label{classcapabilities2__server_1_1CapabilitiesServer_a4d626b97ce07ce813f045f334e0672bf} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!establish\_bond\_srv\_@{establish\_bond\_srv\_}}
-\index{establish\_bond\_srv\_@{establish\_bond\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{establish\_bond\_srv\_}{establish\_bond\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Establish\+Bond$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::establish\+\_\+bond\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aa850ac5910b408d86b73b7bc04d82134}\label{classcapabilities2__server_1_1CapabilitiesServer_aa850ac5910b408d86b73b7bc04d82134} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!event\_pub\_@{event\_pub\_}}
-\index{event\_pub\_@{event\_pub\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{event\_pub\_}{event\_pub\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Publisher$<$capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Stamped$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::event\+\_\+pub\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a0e28a32f07cadfecd641727cf7d6df9a}\label{classcapabilities2__server_1_1CapabilitiesServer_a0e28a32f07cadfecd641727cf7d6df9a} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!free\_capability\_srv\_@{free\_capability\_srv\_}}
-\index{free\_capability\_srv\_@{free\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{free\_capability\_srv\_}{free\_capability\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Free\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::free\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a8286d3d3b6ad3eefef8bb91abcf349a2}\label{classcapabilities2__server_1_1CapabilitiesServer_a8286d3d3b6ad3eefef8bb91abcf349a2} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_capability\_spec\_srv\_@{get\_capability\_spec\_srv\_}}
-\index{get\_capability\_spec\_srv\_@{get\_capability\_spec\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_capability\_spec\_srv\_}{get\_capability\_spec\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Spec$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+capability\+\_\+spec\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aad26d9c4b7948bff89e9dfc54dae3b33}\label{classcapabilities2__server_1_1CapabilitiesServer_aad26d9c4b7948bff89e9dfc54dae3b33} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_capability\_specs\_srv\_@{get\_capability\_specs\_srv\_}}
-\index{get\_capability\_specs\_srv\_@{get\_capability\_specs\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_capability\_specs\_srv\_}{get\_capability\_specs\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Capability\+Specs$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+capability\+\_\+specs\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aa7b2bb889301337796e782ea00d788a9}\label{classcapabilities2__server_1_1CapabilitiesServer_aa7b2bb889301337796e782ea00d788a9} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_interfaces\_srv\_@{get\_interfaces\_srv\_}}
-\index{get\_interfaces\_srv\_@{get\_interfaces\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_interfaces\_srv\_}{get\_interfaces\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Interfaces$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+interfaces\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a755cc7001a6739ae422492a9b6d4f4e3}\label{classcapabilities2__server_1_1CapabilitiesServer_a755cc7001a6739ae422492a9b6d4f4e3} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_providers\_srv\_@{get\_providers\_srv\_}}
-\index{get\_providers\_srv\_@{get\_providers\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_providers\_srv\_}{get\_providers\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Providers$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+providers\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c}\label{classcapabilities2__server_1_1CapabilitiesServer_a493ae61330a2da82fd4991055fdc2a2c} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_remappings\_srv\_@{get\_remappings\_srv\_}}
-\index{get\_remappings\_srv\_@{get\_remappings\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_remappings\_srv\_}{get\_remappings\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Remappings$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+remappings\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ac358c10e20544260cb65ad6fd3a31c8d}\label{classcapabilities2__server_1_1CapabilitiesServer_ac358c10e20544260cb65ad6fd3a31c8d} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_running\_capabilities\_srv\_@{get\_running\_capabilities\_srv\_}}
-\index{get\_running\_capabilities\_srv\_@{get\_running\_capabilities\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_running\_capabilities\_srv\_}{get\_running\_capabilities\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Running\+Capabilities$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+running\+\_\+capabilities\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ae9b834509054095c04cc7f9d1557ec96}\label{classcapabilities2__server_1_1CapabilitiesServer_ae9b834509054095c04cc7f9d1557ec96} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!get\_semantic\_interfaces\_srv\_@{get\_semantic\_interfaces\_srv\_}}
-\index{get\_semantic\_interfaces\_srv\_@{get\_semantic\_interfaces\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces\_srv\_}{get\_semantic\_interfaces\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Get\+Semantic\+Interfaces$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::get\+\_\+semantic\+\_\+interfaces\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a6e8b97337893a97daa58e3f0c11bb565}\label{classcapabilities2__server_1_1CapabilitiesServer_a6e8b97337893a97daa58e3f0c11bb565} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!loop\_hz\_@{loop\_hz\_}}
-\index{loop\_hz\_@{loop\_hz\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{loop\_hz\_}{loop\_hz\_}}
-{\footnotesize\ttfamily double capabilities2\+\_\+server\+::\+Capabilities\+Server\+::loop\+\_\+hz\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a12ab12a8447c6333dd2383534e2268bb}\label{classcapabilities2__server_1_1CapabilitiesServer_a12ab12a8447c6333dd2383534e2268bb} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!register\_capability\_srv\_@{register\_capability\_srv\_}}
-\index{register\_capability\_srv\_@{register\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{register\_capability\_srv\_}{register\_capability\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Register\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::register\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a1a04b3d8e38c3e738d6dad3e9f90ed32}\label{classcapabilities2__server_1_1CapabilitiesServer_a1a04b3d8e38c3e738d6dad3e9f90ed32} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!start\_capability\_srv\_@{start\_capability\_srv\_}}
-\index{start\_capability\_srv\_@{start\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{start\_capability\_srv\_}{start\_capability\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Start\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::start\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_aee406dd808d0277a3d1babfbaf5d0dee}\label{classcapabilities2__server_1_1CapabilitiesServer_aee406dd808d0277a3d1babfbaf5d0dee} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!stop\_capability\_srv\_@{stop\_capability\_srv\_}}
-\index{stop\_capability\_srv\_@{stop\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{stop\_capability\_srv\_}{stop\_capability\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Stop\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::stop\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_ab479dbd4ed2028355725f553dca81d4e}\label{classcapabilities2__server_1_1CapabilitiesServer_ab479dbd4ed2028355725f553dca81d4e} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!trigger\_capability\_srv\_@{trigger\_capability\_srv\_}}
-\index{trigger\_capability\_srv\_@{trigger\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{trigger\_capability\_srv\_}{trigger\_capability\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Trigger\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::trigger\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1CapabilitiesServer_a152c07656d903772602e01a23b717c94}\label{classcapabilities2__server_1_1CapabilitiesServer_a152c07656d903772602e01a23b717c94} 
-\index{capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}!use\_capability\_srv\_@{use\_capability\_srv\_}}
-\index{use\_capability\_srv\_@{use\_capability\_srv\_}!capabilities2\_server::CapabilitiesServer@{capabilities2\_server::CapabilitiesServer}}
-\doxysubsubsection{\texorpdfstring{use\_capability\_srv\_}{use\_capability\_srv\_}}
-{\footnotesize\ttfamily rclcpp\+::\+Service$<$capabilities2\+\_\+msgs\+::srv\+::\+Use\+Capability$>$\+::\+Shared\+Ptr capabilities2\+\_\+server\+::\+Capabilities\+Server\+::use\+\_\+capability\+\_\+srv\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__server_8hpp}{capabilities\+\_\+server.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesServer__coll__graph.md5 b/docs/latex/classcapabilities2__server_1_1CapabilitiesServer__coll__graph.md5
deleted file mode 100644
index 94ed922..0000000
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+++ /dev/null
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diff --git a/docs/latex/classcapabilities2__server_1_1CapabilitiesServer__coll__graph.pdf b/docs/latex/classcapabilities2__server_1_1CapabilitiesServer__coll__graph.pdf
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diff --git a/docs/latex/classcapabilities2__server_1_1DBBase.tex b/docs/latex/classcapabilities2__server_1_1DBBase.tex
deleted file mode 100644
index f0a454b..0000000
--- a/docs/latex/classcapabilities2__server_1_1DBBase.tex
+++ /dev/null
@@ -1,355 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::DBBase Class Reference}
-\hypertarget{classcapabilities2__server_1_1DBBase}{}\label{classcapabilities2__server_1_1DBBase}\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-
-
-{\ttfamily \#include "{}db\+\_\+base.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::DBBase\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=195pt]{classcapabilities2__server_1_1DBBase__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2}{DBBase}} ()=default
-\item 
-virtual \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb}{\texorpdfstring{$\sim$}{\string~}\+DBBase}} ()=default
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82}{insert\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&interface)=0
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134}{insert\+\_\+semantic\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&semantic\+\_\+interface)=0
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277}{insert\+\_\+provider}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&provider)=0
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}{get\+\_\+interface}} (const std\+::string \&name)=0
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882}{get\+\_\+interfaces}} ()=0
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}{get\+\_\+semantic\+\_\+interface}} (const std\+::string \&name)=0
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413}{get\+\_\+semantic\+\_\+interfaces}} ()=0
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}{get\+\_\+provider}} (const std\+::string \&name)=0
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b}{get\+\_\+providers}} ()=0
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f}{get\+\_\+remappable}} (const std\+::string \&name)=0
-\begin{DoxyCompactList}\small\item\em Get remappable model by name. \end{DoxyCompactList}\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399}{update\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&interface)=0
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5}{update\+\_\+semantic\+\_\+interface}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&semantic\+\_\+interface)=0
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9}{update\+\_\+provider}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&provider)=0
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92}{get\+\_\+providers\+\_\+by\+\_\+interface}} (const std\+::string \&interface\+\_\+name)=0
-\item 
-virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66}{get\+\_\+semantic\+\_\+interfaces\+\_\+by\+\_\+interface}} (const std\+::string \&interface\+\_\+name)=0
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models\+::running\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d}{get\+\_\+running}} (const std\+::string \&provider\+\_\+name)=0
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8}{apply\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models\+::specification\+\_\+model\+\_\+t}} \&spec, const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \&remappable)=0
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372}{apply\+\_\+semantic\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} semantic)=0
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc}{apply\+\_\+provider\+\_\+remappings}} (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} provider)=0
-\item 
-virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc}{get\+\_\+run\+\_\+config}} (const std\+::string \&provider\+\_\+name)=0
-\item 
-{\footnotesize template$<$typename T $>$ }\\bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{exists}} (const std\+::string \&resource\+\_\+name)
-\item 
-virtual bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af}{exists\+\_\+any}} (const std\+::string \&resource\+\_\+name)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Protected Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b}{open}} ()=0
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c}{close}} ()=0
-\item 
-virtual void \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a}{create\+\_\+tables}} ()=0
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2}\label{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!DBBase@{DBBase}}
-\index{DBBase@{DBBase}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{DBBase()}{DBBase()}}
-{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+DBBase\+::\+DBBase (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb}\label{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!````~DBBase@{\texorpdfstring{$\sim$}{\string~}DBBase}}
-\index{````~DBBase@{\texorpdfstring{$\sim$}{\string~}DBBase}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{\texorpdfstring{$\sim$}{\string~}DBBase()}{\string~DBBase()}}
-{\footnotesize\ttfamily virtual capabilities2\+\_\+server\+::\+DBBase\+::\texorpdfstring{$\sim$}{\string~}\+DBBase (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [virtual]}, {\ttfamily [default]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc}\label{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!apply\_provider\_remappings@{apply\_provider\_remappings}}
-\index{apply\_provider\_remappings@{apply\_provider\_remappings}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{apply\_provider\_remappings()}{apply\_provider\_remappings()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::apply\+\_\+provider\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}}}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a3c6ed044e3cd0e60b5fcfac889ab0eea}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8}\label{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!apply\_remappings@{apply\_remappings}}
-\index{apply\_remappings@{apply\_remappings}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{apply\_remappings()}{apply\_remappings()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::apply\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models\+::specification\+\_\+model\+\_\+t}} \&}]{spec,  }\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} \&}]{remappable }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f02b94abb740a6ef0fd43daf4c1e0a0}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372}\label{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!apply\_semantic\_remappings@{apply\_semantic\_remappings}}
-\index{apply\_semantic\_remappings@{apply\_semantic\_remappings}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{apply\_semantic\_remappings()}{apply\_semantic\_remappings()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::apply\+\_\+semantic\+\_\+remappings (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}}}]{semantic }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a9ce49d71065acc667a5ce863a9e1f2a2}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c}\label{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!close@{close}}
-\index{close@{close}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{close()}{close()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::close (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a969c480de1f0f537f67f4f0db0d1eb67}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a}\label{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!create\_tables@{create\_tables}}
-\index{create\_tables@{create\_tables}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{create\_tables()}{create\_tables()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::create\+\_\+tables (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_adc7238b52504f21326ff65d8d68c08f0}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}\label{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!exists@{exists}}
-\index{exists@{exists}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{exists()}{exists()}}
-{\footnotesize\ttfamily template$<$typename T $>$ \\
-bool capabilities2\+\_\+server\+::\+DBBase\+::exists (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af}\label{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!exists\_any@{exists\_any}}
-\index{exists\_any@{exists\_any}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{exists\_any()}{exists\_any()}}
-{\footnotesize\ttfamily virtual bool capabilities2\+\_\+server\+::\+DBBase\+::exists\+\_\+any (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [virtual]}}
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}\label{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_interface@{get\_interface}}
-\index{get\_interface@{get\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_interface()}{get\_interface()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a5f8e47a5091b45fe625723b13528b5ac}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882}\label{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_interfaces@{get\_interfaces}}
-\index{get\_interfaces@{get\_interfaces}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_interfaces()}{get\_interfaces()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ae263c0a66dccf6f7cee043f8da2050a9}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}\label{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_provider@{get\_provider}}
-\index{get\_provider@{get\_provider}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_provider()}{get\_provider()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+provider (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a0109b906d50a62d7408271780e9a8707}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b}\label{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_providers@{get\_providers}}
-\index{get\_providers@{get\_providers}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_providers()}{get\_providers()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+providers (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_abcb12877bac9acaa5b55f0517cd83c71}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92}\label{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_providers\_by\_interface@{get\_providers\_by\_interface}}
-\index{get\_providers\_by\_interface@{get\_providers\_by\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_providers\_by\_interface()}{get\_providers\_by\_interface()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+providers\+\_\+by\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a999ce91780aeeb0cd2f449eeb96a749d}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f}\label{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_remappable@{get\_remappable}}
-\index{get\_remappable@{get\_remappable}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_remappable()}{get\_remappable()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+remappable (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Get remappable model by name. 
-
-remappable models are either semantic interfaces or providers
-
-
-\begin{DoxyParams}{Parameters}
-{\em name} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-\doxylink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models\+::remappable\+\_\+base\+\_\+t} 
-\end{DoxyReturn}
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a7147928b1a095676069664c31f91deae}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc}\label{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_run\_config@{get\_run\_config}}
-\index{get\_run\_config@{get\_run\_config}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_run\_config()}{get\_run\_config()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+run\+\_\+config (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{provider\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6b3f7671a717e9fcc3eada08a914dd76}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d}\label{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_running@{get\_running}}
-\index{get\_running@{get\_running}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_running()}{get\_running()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models\+::running\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+running (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{provider\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a64d22db986833f277560784f956e328b}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}\label{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_semantic\_interface@{get\_semantic\_interface}}
-\index{get\_semantic\_interface@{get\_semantic\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_semantic\_interface()}{get\_semantic\_interface()}}
-{\footnotesize\ttfamily virtual \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a115b3d1151e5866ff968e96691b541a3}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413}\label{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_semantic\_interfaces@{get\_semantic\_interfaces}}
-\index{get\_semantic\_interfaces@{get\_semantic\_interfaces}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces()}{get\_semantic\_interfaces()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+semantic\+\_\+interfaces (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_ae5f180b570d6c8d57d3b7ed570fa2bc4}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66}\label{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!get\_semantic\_interfaces\_by\_interface@{get\_semantic\_interfaces\_by\_interface}}
-\index{get\_semantic\_interfaces\_by\_interface@{get\_semantic\_interfaces\_by\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{get\_semantic\_interfaces\_by\_interface()}{get\_semantic\_interfaces\_by\_interface()}}
-{\footnotesize\ttfamily virtual std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ capabilities2\+\_\+server\+::\+DBBase\+::get\+\_\+semantic\+\_\+interfaces\+\_\+by\+\_\+interface (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{interface\+\_\+name }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4f577301e5acdf73d56bbdc53ba21e5a}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82}\label{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!insert\_interface@{insert\_interface}}
-\index{insert\_interface@{insert\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{insert\_interface()}{insert\_interface()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::insert\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a2b35eba2ee6659c550ed36dd74f39f73}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277}\label{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!insert\_provider@{insert\_provider}}
-\index{insert\_provider@{insert\_provider}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{insert\_provider()}{insert\_provider()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::insert\+\_\+provider (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a6e9c623ecba7812750ee32864e1ed448}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134}\label{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!insert\_semantic\_interface@{insert\_semantic\_interface}}
-\index{insert\_semantic\_interface@{insert\_semantic\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{insert\_semantic\_interface()}{insert\_semantic\_interface()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::insert\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&}]{semantic\+\_\+interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a4703582a0735e3a22ed0019164c02ed1}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b}\label{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!open@{open}}
-\index{open@{open}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{open()}{open()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::open (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [protected]}, {\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aba9186d82c6c65188a80f9ac146df1df}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399}\label{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!update\_interface@{update\_interface}}
-\index{update\_interface@{update\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{update\_interface()}{update\_interface()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::update\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} \&}]{interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_aa10f6716c7eb019bad310fa8e580880b}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9}\label{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!update\_provider@{update\_provider}}
-\index{update\_provider@{update\_provider}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{update\_provider()}{update\_provider()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::update\+\_\+provider (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} \&}]{provider }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a74033ce662666907c361fa22fa9e80c2}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-\Hypertarget{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5}\label{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5} 
-\index{capabilities2\_server::DBBase@{capabilities2\_server::DBBase}!update\_semantic\_interface@{update\_semantic\_interface}}
-\index{update\_semantic\_interface@{update\_semantic\_interface}!capabilities2\_server::DBBase@{capabilities2\_server::DBBase}}
-\doxysubsubsection{\texorpdfstring{update\_semantic\_interface()}{update\_semantic\_interface()}}
-{\footnotesize\ttfamily virtual void capabilities2\+\_\+server\+::\+DBBase\+::update\+\_\+semantic\+\_\+interface (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} \&}]{semantic\+\_\+interface }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [pure virtual]}}
-
-
-
-Implemented in \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB_a45dde34e7373e6aec64c1f78d673e0cb}{capabilities2\+\_\+server\+::\+Capabilities\+DB}}.
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{db__base_8hpp}{db\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.md5 b/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.md5
deleted file mode 100644
index 59ca68d..0000000
--- a/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-a408cd23364f5fe29ce775881350ab14
\ No newline at end of file
diff --git a/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.pdf b/docs/latex/classcapabilities2__server_1_1DBBase__inherit__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/classcapabilities2__server_1_1RunnerCache.tex b/docs/latex/classcapabilities2__server_1_1RunnerCache.tex
deleted file mode 100644
index c99a53e..0000000
--- a/docs/latex/classcapabilities2__server_1_1RunnerCache.tex
+++ /dev/null
@@ -1,249 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::Runner\+Cache Class Reference}
-\hypertarget{classcapabilities2__server_1_1RunnerCache}{}\label{classcapabilities2__server_1_1RunnerCache}\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-
-
-runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use  
-
-
-
-
-{\ttfamily \#include "{}runner\+\_\+cache.\+hpp"{}}
-
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a54ca36d2ea36c95783ed042c1ab31b7f}{Runner\+Cache}} ()
-\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25}{add\+\_\+runner}} (rclcpp\+::\+Node\+::\+Shared\+Ptr node, const std\+::string \&capability, const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} \&run\+\_\+config)
-\begin{DoxyCompactList}\small\item\em Add a runner to the cache. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a}{trigger\+\_\+runner}} (const std\+::string \&bond\+\_\+id, const std\+::string \&capability, const std\+::string \&instance\+\_\+id, \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}} parameters)
-\begin{DoxyCompactList}\small\item\em Trigger a runner in the cache. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf}{add\+\_\+connection}} (const std\+::string \&capability, const std\+::string \&connection\+\_\+id, const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&connection, std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$ event\+\_\+emitter=nullptr)
-\begin{DoxyCompactList}\small\item\em Add state change connection between runners via an event. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c}{remove\+\_\+runner}} (const std\+::string \&capability)
-\begin{DoxyCompactList}\small\item\em Remove a given runner. \end{DoxyCompactList}\item 
-const std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb}{get\+\_\+running\+\_\+capabilities}} ()
-\begin{DoxyCompactList}\small\item\em Get a list of active runners in the cache. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}{provider}} (const std\+::string \&capability)
-\begin{DoxyCompactList}\small\item\em Get provider of capability. \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f}{started\+\_\+by}} (const std\+::string \&capability)
-\begin{DoxyCompactList}\small\item\em get started\+\_\+by of capability \end{DoxyCompactList}\item 
-const std\+::string \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}{pid}} (const std\+::string \&capability)
-\begin{DoxyCompactList}\small\item\em get pid of capability \end{DoxyCompactList}\item 
-bool \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}} (const std\+::string \&capability)
-\begin{DoxyCompactList}\small\item\em Check if a capability has a runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Private Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ std\+::string, std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} $>$ $>$ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\+\_\+cache\+\_\+}}
-\item 
-pluginlib\+::\+Class\+Loader$<$ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} $>$ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\+\_\+loader\+\_\+}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use 
-
-There are two main types of runners\+:
-\begin{DoxyEnumerate}
-\item launch file runner
-\item $<$resource type$>$ runner -\/ e.\+g. action, service, topic, etc. 
-\end{DoxyEnumerate}
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_a54ca36d2ea36c95783ed042c1ab31b7f}\label{classcapabilities2__server_1_1RunnerCache_a54ca36d2ea36c95783ed042c1ab31b7f} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!RunnerCache@{RunnerCache}}
-\index{RunnerCache@{RunnerCache}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{RunnerCache()}{RunnerCache()}}
-{\footnotesize\ttfamily capabilities2\+\_\+server\+::\+Runner\+Cache\+::\+Runner\+Cache (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf}\label{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!add\_connection@{add\_connection}}
-\index{add\_connection@{add\_connection}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{add\_connection()}{add\_connection()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Runner\+Cache\+::add\+\_\+connection (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{connection\+\_\+id,  }\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Connection \&}]{connection,  }\item[{std\+::shared\+\_\+ptr$<$ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}} $>$}]{event\+\_\+emitter = {\ttfamily nullptr} }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Add state change connection between runners via an event. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & capability from where the event originates \\
-\hline
-{\em connection\+\_\+id} & unique id for the connection \\
-\hline
-{\em connection} & connection options for the event \\
-\hline
-{\em event\+\_\+emitter} & event emitter to be used by this runner for emitting events on state changes to the target capability \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25}\label{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!add\_runner@{add\_runner}}
-\index{add\_runner@{add\_runner}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{add\_runner()}{add\_runner()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Runner\+Cache\+::add\+\_\+runner (\begin{DoxyParamCaption}\item[{rclcpp\+::\+Node\+::\+Shared\+Ptr}]{node,  }\item[{const std\+::string \&}]{capability,  }\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models\+::run\+\_\+config\+\_\+model\+\_\+t}} \&}]{run\+\_\+config }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Add a runner to the cache. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em node} & pointer to the origin node, generally the \doxylink{namespacecapabilities2__server}{capabilities2\+\_\+server} \\
-\hline
-{\em capability} & capability name to be loaded \\
-\hline
-{\em run\+\_\+config} & run\+\_\+config of the runner to be loaded \\
-\hline
-\end{DoxyParams}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb}\label{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!get\_running\_capabilities@{get\_running\_capabilities}}
-\index{get\_running\_capabilities@{get\_running\_capabilities}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{get\_running\_capabilities()}{get\_running\_capabilities()}}
-{\footnotesize\ttfamily const std\+::vector$<$ std\+::string $>$ capabilities2\+\_\+server\+::\+Runner\+Cache\+::get\+\_\+running\+\_\+capabilities (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Get a list of active runners in the cache. 
-
-\begin{DoxyReturn}{Returns}
-const std\+::vector$<$std\+::string$>$ of runners 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}\label{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!pid@{pid}}
-\index{pid@{pid}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{pid()}{pid()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Runner\+Cache\+::pid (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-get pid of capability 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & capability of which the pid is requested \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-value of pid 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}\label{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!provider@{provider}}
-\index{provider@{provider}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{provider()}{provider()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Runner\+Cache\+::provider (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Get provider of capability. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & capability of which the provider is requested \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-provider name 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c}\label{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!remove\_runner@{remove\_runner}}
-\index{remove\_runner@{remove\_runner}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{remove\_runner()}{remove\_runner()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Runner\+Cache\+::remove\+\_\+runner (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Remove a given runner. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & capability to be removed \\
-\hline
-{\em bond\+\_\+id} & bond\+\_\+id of the capability instance to be removed\\
-\hline
-\end{DoxyParams}
-This will stop the runner and remove it from the cache. If the runner is not found then an error is thrown. \Hypertarget{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}\label{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!running@{running}}
-\index{running@{running}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{running()}{running()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::\+Runner\+Cache\+::running (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Check if a capability has a runner. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-true 
-
-false 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f}\label{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!started\_by@{started\_by}}
-\index{started\_by@{started\_by}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{started\_by()}{started\_by()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::\+Runner\+Cache\+::started\+\_\+by (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{capability }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-get started\+\_\+by of capability 
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & capability of which the started\+\_\+by is requested \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-name of the started\+\_\+by 
-\end{DoxyReturn}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a}\label{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!trigger\_runner@{trigger\_runner}}
-\index{trigger\_runner@{trigger\_runner}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{trigger\_runner()}{trigger\_runner()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::\+Runner\+Cache\+::trigger\+\_\+runner (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{bond\+\_\+id,  }\item[{const std\+::string \&}]{capability,  }\item[{const std\+::string \&}]{instance\+\_\+id,  }\item[{\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}}]{parameters }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Trigger a runner in the cache. 
-
-xml parameters are used
-
-
-\begin{DoxyParams}{Parameters}
-{\em capability} & capability name to be loaded \\
-\hline
-{\em parameters} & parameters related to the runner in std\+::string form for compatibility across various runners \\
-\hline
-{\em bond\+\_\+id} & unique identifier for the group on connections associated with this runner trigger \\
-\hline
-{\em instance\+\_\+id} & unique identifier for the instance of the capability \\
-\hline
-\end{DoxyParams}
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}\label{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!runner\_cache\_@{runner\_cache\_}}
-\index{runner\_cache\_@{runner\_cache\_}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{runner\_cache\_}{runner\_cache\_}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::shared\+\_\+ptr$<$\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}$>$ $>$ capabilities2\+\_\+server\+::\+Runner\+Cache\+::runner\+\_\+cache\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-\Hypertarget{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}\label{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4} 
-\index{capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}!runner\_loader\_@{runner\_loader\_}}
-\index{runner\_loader\_@{runner\_loader\_}!capabilities2\_server::RunnerCache@{capabilities2\_server::RunnerCache}}
-\doxysubsubsection{\texorpdfstring{runner\_loader\_}{runner\_loader\_}}
-{\footnotesize\ttfamily pluginlib\+::\+Class\+Loader$<$\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}$>$ capabilities2\+\_\+server\+::\+Runner\+Cache\+::runner\+\_\+loader\+\_\+\hspace{0.3cm}{\ttfamily [private]}}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{runner__cache_8hpp}{runner\+\_\+cache.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar.tex b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar.tex
deleted file mode 100644
index a8e2d6f..0000000
--- a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar.tex
+++ /dev/null
@@ -1,71 +0,0 @@
-\doxysection{capability\+\_\+registrar.\+Capability\+Registrar Class Reference}
-\hypertarget{classcapability__registrar_1_1CapabilityRegistrar}{}\label{classcapability__registrar_1_1CapabilityRegistrar}\index{capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}}
-
-
-Inheritance diagram for capability\+\_\+registrar.\+Capability\+Registrar\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=243pt]{classcapability__registrar_1_1CapabilityRegistrar__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capability\+\_\+registrar.\+Capability\+Registrar\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=243pt]{classcapability__registrar_1_1CapabilityRegistrar__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-None \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar_a87ea80c65743c70b84f83db52f9271ab}{\+\_\+\+\_\+init\+\_\+\+\_\+}} (self)
-\item 
-\mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar_ace403fc5b5ae1f730ae85edf9e0fad82}{register\+\_\+capabilities}} (self, Register\+Capability.\+Request req)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar_a9be42b9cef7268d635d5d55bd3a5bc4b}{register\+\_\+client}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyVerb}Capability Registrar Node
-\end{DoxyVerb}
- 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{classcapability__registrar_1_1CapabilityRegistrar_a87ea80c65743c70b84f83db52f9271ab}\label{classcapability__registrar_1_1CapabilityRegistrar_a87ea80c65743c70b84f83db52f9271ab} 
-\index{capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}!\_\_init\_\_@{\_\_init\_\_}}
-\index{\_\_init\_\_@{\_\_init\_\_}!capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}}
-\doxysubsubsection{\texorpdfstring{\_\_init\_\_()}{\_\_init\_\_()}}
-{\footnotesize\ttfamily  None capability\+\_\+registrar.\+Capability\+Registrar.\+\_\+\+\_\+init\+\_\+\+\_\+ (\begin{DoxyParamCaption}\item[{}]{self }\end{DoxyParamCaption})}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{classcapability__registrar_1_1CapabilityRegistrar_ace403fc5b5ae1f730ae85edf9e0fad82}\label{classcapability__registrar_1_1CapabilityRegistrar_ace403fc5b5ae1f730ae85edf9e0fad82} 
-\index{capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}!register\_capabilities@{register\_capabilities}}
-\index{register\_capabilities@{register\_capabilities}!capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}}
-\doxysubsubsection{\texorpdfstring{register\_capabilities()}{register\_capabilities()}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+Capability\+Registrar.\+register\+\_\+capabilities (\begin{DoxyParamCaption}\item[{}]{self,  }\item[{Register\+Capability.\+Request}]{req }\end{DoxyParamCaption})}
-
-\begin{DoxyVerb}call register service with request
-\end{DoxyVerb}
- 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{classcapability__registrar_1_1CapabilityRegistrar_a9be42b9cef7268d635d5d55bd3a5bc4b}\label{classcapability__registrar_1_1CapabilityRegistrar_a9be42b9cef7268d635d5d55bd3a5bc4b} 
-\index{capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}!register\_client@{register\_client}}
-\index{register\_client@{register\_client}!capability\_registrar.CapabilityRegistrar@{capability\_registrar.CapabilityRegistrar}}
-\doxysubsubsection{\texorpdfstring{register\_client}{register\_client}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+Capability\+Registrar.\+register\+\_\+client}
-
-
-
-The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/scripts/\mbox{\hyperlink{capability__registrar_8py}{capability\+\_\+registrar.\+py}}\end{DoxyCompactItemize}
diff --git a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.md5 b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.md5
deleted file mode 100644
index ce65877..0000000
--- a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-19f6b645b966aad9b9c6368543dd2b20
\ No newline at end of file
diff --git a/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.pdf b/docs/latex/classcapability__registrar_1_1CapabilityRegistrar__coll__graph.pdf
deleted file mode 100644
index fb5cd9cfadca3e50ee899f05505989622d566a62..0000000000000000000000000000000000000000
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diff --git a/docs/latex/create__runners_8md.tex b/docs/latex/create__runners_8md.tex
deleted file mode 100644
index 89eeefb..0000000
--- a/docs/latex/create__runners_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/docs/create\+\_\+runners.md File Reference}
-\hypertarget{create__runners_8md}{}\label{create__runners_8md}\index{capabilities2\_runner/docs/create\_runners.md@{capabilities2\_runner/docs/create\_runners.md}}
diff --git a/docs/latex/db__base_8hpp.tex b/docs/latex/db__base_8hpp.tex
deleted file mode 100644
index ae098ee..0000000
--- a/docs/latex/db__base_8hpp.tex
+++ /dev/null
@@ -1,42 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/db\+\_\+base.hpp File Reference}
-\hypertarget{db__base_8hpp}{}\label{db__base_8hpp}\index{capabilities2\_server/include/capabilities2\_server/db\_base.hpp@{capabilities2\_server/include/capabilities2\_server/db\_base.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/interface.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/semantic\+\_\+interface.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/provider.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/remappable\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/running.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/run\+\_\+config.\+hpp$>$}\newline
-Include dependency graph for db\+\_\+base.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{db__base_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{db__base_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{capabilities2\+\_\+server\+::\+DBBase}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a6e3d2cbc55c111a6f09bb9adbbf91977}{capabilities2\+\_\+server\+::\+DBBase\+::exists$<$ models\+::interface\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
-\item 
-template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a01ea1d7937d31e53be0186ccbbded6cd}{capabilities2\+\_\+server\+::\+DBBase\+::exists$<$ models\+::semantic\+\_\+interface\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
-\item 
-template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a30c6a598ad096b7253c2b1217c9ddce6}{capabilities2\+\_\+server\+::\+DBBase\+::exists$<$ models\+::provider\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
-\end{DoxyCompactItemize}
diff --git a/docs/latex/db__base_8hpp__dep__incl.md5 b/docs/latex/db__base_8hpp__dep__incl.md5
deleted file mode 100644
index d99064c..0000000
--- a/docs/latex/db__base_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-8dd650f9c80213294b03e0cf52aa5cd6
\ No newline at end of file
diff --git a/docs/latex/db__base_8hpp__dep__incl.pdf b/docs/latex/db__base_8hpp__dep__incl.pdf
deleted file mode 100644
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diff --git a/docs/latex/db__base_8hpp_source.tex b/docs/latex/db__base_8hpp_source.tex
deleted file mode 100644
index 50b270e..0000000
--- a/docs/latex/db__base_8hpp_source.tex
+++ /dev/null
@@ -1,139 +0,0 @@
-\doxysection{db\+\_\+base.\+hpp}
-\hypertarget{db__base_8hpp_source}{}\label{db__base_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/db\_base.hpp@{capabilities2\_server/include/capabilities2\_server/db\_base.hpp}}
-\mbox{\hyperlink{db__base_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{interface_8hpp}{capabilities2\_server/models/interface.hpp}}>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{semantic__interface_8hpp}{capabilities2\_server/models/semantic\_interface.hpp}}>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{provider_8hpp}{capabilities2\_server/models/provider.hpp}}>}}
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{remappable__base_8hpp}{capabilities2\_server/models/remappable\_base.hpp}}>}}
-\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{running_8hpp}{capabilities2\_server/models/running.hpp}}>}}
-\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{run__config_8hpp}{capabilities2\_server/models/run\_config.hpp}}>}}
-\DoxyCodeLine{00010\ }
-\DoxyCodeLine{00011\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00012\ \{}
-\DoxyCodeLine{00013\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}}}
-\DoxyCodeLine{00014\ \{}
-\DoxyCodeLine{00015\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00016\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_acaffd52c473cbfe7d744ba9bd8a289b2}{DBBase}}()\ =\ \textcolor{keywordflow}{default};}
-\DoxyCodeLine{00017\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3243648e7ac9ee0a7cd3e4fb35c920cb}{\string~DBBase}}()\ =\ \textcolor{keywordflow}{default};}
-\DoxyCodeLine{00018\ }
-\DoxyCodeLine{00019\ \ \ \textcolor{comment}{/*\ inserters\ */}}
-\DoxyCodeLine{00020\ }
-\DoxyCodeLine{00021\ \ \ \textcolor{comment}{//\ insert\ interface}}
-\DoxyCodeLine{00022\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2e631fa1b823bdeb503e5b4ebdf09b82}{insert\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\&\ interface)\ =\ 0;}
-\DoxyCodeLine{00023\ }
-\DoxyCodeLine{00024\ \ \ \textcolor{comment}{//\ insert\ semantic\ interface}}
-\DoxyCodeLine{00025\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a26f67efa62c5964604f26ce926793134}{insert\_semantic\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\&\ semantic\_interface)\ =\ 0;}
-\DoxyCodeLine{00026\ }
-\DoxyCodeLine{00027\ \ \ \textcolor{comment}{//\ insert\ provider}}
-\DoxyCodeLine{00028\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a9c164a0de5d6fe507d5c1a4a55544277}{insert\_provider}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\&\ provider)\ =\ 0;}
-\DoxyCodeLine{00029\ }
-\DoxyCodeLine{00030\ \ \ \textcolor{comment}{/*\ getters\ */}}
-\DoxyCodeLine{00031\ }
-\DoxyCodeLine{00032\ \ \ \textcolor{comment}{//\ get\ interface}}
-\DoxyCodeLine{00033\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}{get\_interface}}(\textcolor{keyword}{const}\ std::string\&\ name)\ =\ 0;}
-\DoxyCodeLine{00034\ }
-\DoxyCodeLine{00035\ \ \ \textcolor{comment}{//\ get\ interfaces}}
-\DoxyCodeLine{00036\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::interface\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ab62ed1810957d69e7c95198337e3a882}{get\_interfaces}}()\ =\ 0;}
-\DoxyCodeLine{00037\ }
-\DoxyCodeLine{00038\ \ \ \textcolor{comment}{//\ get\ semantic\ interface}}
-\DoxyCodeLine{00039\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}{get\_semantic\_interface}}(\textcolor{keyword}{const}\ std::string\&\ name)\ =\ 0;}
-\DoxyCodeLine{00040\ }
-\DoxyCodeLine{00041\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces}}
-\DoxyCodeLine{00042\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::semantic\_interface\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aa568f8af482c3c94933baf37e4e94413}{get\_semantic\_interfaces}}()\ =\ 0;}
-\DoxyCodeLine{00043\ }
-\DoxyCodeLine{00044\ \ \ \textcolor{comment}{//\ get\ provider}}
-\DoxyCodeLine{00045\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}{get\_provider}}(\textcolor{keyword}{const}\ std::string\&\ name)\ =\ 0;}
-\DoxyCodeLine{00046\ }
-\DoxyCodeLine{00047\ \ \ \textcolor{comment}{//\ get\ providers}}
-\DoxyCodeLine{00048\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::provider\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a76d7ce342e2a4d5930717437a190ec5b}{get\_providers}}()\ =\ 0;}
-\DoxyCodeLine{00049\ }
-\DoxyCodeLine{00058\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models::remappable\_base\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1cdfd02055ff2da5da686e6f1a18d13f}{get\_remappable}}(\textcolor{keyword}{const}\ std::string\&\ name)\ =\ 0;}
-\DoxyCodeLine{00059\ }
-\DoxyCodeLine{00060\ \ \ \textcolor{comment}{/*\ updaters\ */}}
-\DoxyCodeLine{00061\ }
-\DoxyCodeLine{00062\ \ \ \textcolor{comment}{//\ update\ interface}}
-\DoxyCodeLine{00063\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8ef578c5c658448b2898eb8148c1c399}{update\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\&\ interface)\ =\ 0;}
-\DoxyCodeLine{00064\ }
-\DoxyCodeLine{00065\ \ \ \textcolor{comment}{//\ update\ semantic\ interface}}
-\DoxyCodeLine{00066\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a2f2ac558c6c1563e7f94c95594a04ef5}{update\_semantic\_interface}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\&\ semantic\_interface)\ =\ 0;}
-\DoxyCodeLine{00067\ }
-\DoxyCodeLine{00068\ \ \ \textcolor{comment}{//\ update\ provider}}
-\DoxyCodeLine{00069\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a422b18b726f0afedba3532d416ba77f9}{update\_provider}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\&\ provider)\ =\ 0;}
-\DoxyCodeLine{00070\ }
-\DoxyCodeLine{00071\ \ \ \textcolor{comment}{/*\ foreign\ keys\ */}}
-\DoxyCodeLine{00072\ }
-\DoxyCodeLine{00073\ \ \ \textcolor{comment}{//\ get\ providers\ by\ interface}}
-\DoxyCodeLine{00074\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::provider\_model\_t>\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a7e3aaa33b84b31afd25d2e60ff2b2e92}{get\_providers\_by\_interface}}(\textcolor{keyword}{const}\ std::string\&\ interface\_name)\ =\ 0;}
-\DoxyCodeLine{00075\ }
-\DoxyCodeLine{00076\ \ \ \textcolor{comment}{//\ get\ semantic\ interfaces\ by\ interface}}
-\DoxyCodeLine{00077\ \ \ \textcolor{keyword}{virtual}\ std::vector<models::semantic\_interface\_model\_t>}
-\DoxyCodeLine{00078\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a55534cfabcb9d0f6434c9384ba413c66}{get\_semantic\_interfaces\_by\_interface}}(\textcolor{keyword}{const}\ std::string\&\ interface\_name)\ =\ 0;}
-\DoxyCodeLine{00079\ }
-\DoxyCodeLine{00080\ \ \ \textcolor{comment}{//\ get\ running\ model\ from\ provider}}
-\DoxyCodeLine{00081\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{models::running\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a86052bfef2ad74e6d00ad4139509000d}{get\_running}}(\textcolor{keyword}{const}\ std::string\&\ provider\_name)\ =\ 0;}
-\DoxyCodeLine{00082\ }
-\DoxyCodeLine{00083\ \ \ \textcolor{comment}{//\ apply\ a\ remapping\ to\ a\ specification\ model}}
-\DoxyCodeLine{00084\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a3ce61c146ff1a5bbea444efc503fcac8}{apply\_remappings}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{models::specification\_model\_t}}\&\ spec,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{models::remappable\_base\_t}}\&\ remappable)\ =\ 0;}
-\DoxyCodeLine{00085\ }
-\DoxyCodeLine{00086\ \ \ \textcolor{comment}{//\ apply\ semantics\ to\ interface}}
-\DoxyCodeLine{00087\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8e6b541fd85a3a96fe9cf0f854786372}{apply\_semantic\_remappings}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models::semantic\_interface\_model\_t}}\ semantic)\ =\ 0;}
-\DoxyCodeLine{00088\ }
-\DoxyCodeLine{00089\ \ \ \textcolor{comment}{//\ apply\ provider\ remappings}}
-\DoxyCodeLine{00090\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models::interface\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a33858ef496c7de81c1b6a4f5fe047dcc}{apply\_provider\_remappings}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models::provider\_model\_t}}\ provider)\ =\ 0;}
-\DoxyCodeLine{00091\ }
-\DoxyCodeLine{00092\ \ \ \textcolor{comment}{//\ get\ run\ config\ model}}
-\DoxyCodeLine{00093\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a1baa8d0c23479b279f326cd46066aefc}{get\_run\_config}}(\textcolor{keyword}{const}\ std::string\&\ provider\_name)\ =\ 0;}
-\DoxyCodeLine{00094\ }
-\DoxyCodeLine{00095\ \ \ \textcolor{comment}{//\ exists\ in\ db\ templated\ by\ model\ type}}
-\DoxyCodeLine{00096\ \ \ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ T>}
-\DoxyCodeLine{00097\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{exists}}(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
-\DoxyCodeLine{00098\ \ \ \{}
-\DoxyCodeLine{00099\ \ \ \ \ \textcolor{comment}{//\ clearly\ not\ in\ db\ as\ it\ does\ not\ match\ a\ valid\ model\ type}}
-\DoxyCodeLine{00100\ \ \ \ \ \textcolor{keywordflow}{throw}\ std::runtime\_error(\textcolor{stringliteral}{"{}invalid\ model\ type"{}});}
-\DoxyCodeLine{00101\ \ \ \}}
-\DoxyCodeLine{00102\ }
-\DoxyCodeLine{00103\ \ \ \textcolor{comment}{//\ exists\ in\ db\ anywhere}}
-\DoxyCodeLine{00104\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a357eee3862ce2b244753561bf43247af}{exists\_any}}(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
-\DoxyCodeLine{00105\ \ \ \{}
-\DoxyCodeLine{00106\ \ \ \ \ \textcolor{comment}{//\ query\ all\ tables\ for\ name}}
-\DoxyCodeLine{00107\ \ \ \ \ \textcolor{comment}{//\ if\ name\ is\ in\ any\ table,\ then\ it\ exists}}
-\DoxyCodeLine{00108\ \ \ \ \ \textcolor{keywordflow}{return}\ !\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_abf14e11a090bdbe9fd96bc04f498b703}{get\_interface}}(resource\_name).\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty()\ ||}
-\DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \ \ \ !\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_af2568e0f4a1c256cb2e8388eb9e020ac}{get\_semantic\_interface}}(resource\_name).\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty()\ ||}
-\DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \ \ \ !\mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a87b94d8ecedda3792f2b69d669b82602}{get\_provider}}(resource\_name).\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty();}
-\DoxyCodeLine{00111\ \ \ \}}
-\DoxyCodeLine{00112\ }
-\DoxyCodeLine{00113\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00114\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a4f87c768118f852d3c0945d4d45d6c7b}{open}}()\ =\ 0;}
-\DoxyCodeLine{00115\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_ae00a3ede155478862be6f4ba8881ff9c}{close}}()\ =\ 0;}
-\DoxyCodeLine{00116\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_aee888f726ca6acde1dbd6d7bbb67cd4a}{create\_tables}}()\ =\ 0;}
-\DoxyCodeLine{00117\ \};}
-\DoxyCodeLine{00118\ }
-\DoxyCodeLine{00119\ \textcolor{comment}{//\ 'exists'\ template\ specializations}}
-\DoxyCodeLine{00120\ \textcolor{comment}{//\ interface\ exists\ in\ db}}
-\DoxyCodeLine{00121\ \textcolor{keyword}{template}\ <>}
-\DoxyCodeLine{00122\ \textcolor{keywordtype}{bool}\ DBBase::exists<models::interface\_model\_t>(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
-\DoxyCodeLine{00123\ \{}
-\DoxyCodeLine{00124\ \ \ \textcolor{keywordflow}{return}\ !get\_interface(resource\_name).header.name.empty();}
-\DoxyCodeLine{00125\ \}}
-\DoxyCodeLine{00126\ }
-\DoxyCodeLine{00127\ \textcolor{comment}{//\ semantic\ interface\ exists\ in\ db}}
-\DoxyCodeLine{00128\ \textcolor{keyword}{template}\ <>}
-\DoxyCodeLine{00129\ \textcolor{keywordtype}{bool}\ DBBase::exists<models::semantic\_interface\_model\_t>(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
-\DoxyCodeLine{00130\ \{}
-\DoxyCodeLine{00131\ \ \ \textcolor{keywordflow}{return}\ !get\_semantic\_interface(resource\_name).header.name.empty();}
-\DoxyCodeLine{00132\ \}}
-\DoxyCodeLine{00133\ }
-\DoxyCodeLine{00134\ \textcolor{comment}{//\ provider\ exists\ in\ db}}
-\DoxyCodeLine{00135\ \textcolor{keyword}{template}\ <>}
-\DoxyCodeLine{00136\ \textcolor{keywordtype}{bool}\ DBBase::exists<models::provider\_model\_t>(\textcolor{keyword}{const}\ std::string\&\ resource\_name)}
-\DoxyCodeLine{00137\ \{}
-\DoxyCodeLine{00138\ \ \ \textcolor{keywordflow}{return}\ !get\_provider(resource\_name).header.name.empty();}
-\DoxyCodeLine{00139\ \}}
-\DoxyCodeLine{00140\ }
-\DoxyCodeLine{00141\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/defineable__base_8hpp.tex b/docs/latex/defineable__base_8hpp.tex
deleted file mode 100644
index 1d943ea..0000000
--- a/docs/latex/defineable__base_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/defineable\+\_\+base.hpp File Reference}
-\hypertarget{defineable__base_8hpp}{}\label{defineable__base_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/defineable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/defineable\_base.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-Include dependency graph for defineable\+\_\+base.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=248pt]{defineable__base_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{defineable__base_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em defineable base \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/defineable__base_8hpp__dep__incl.md5 b/docs/latex/defineable__base_8hpp__dep__incl.md5
deleted file mode 100644
index c00e391..0000000
--- a/docs/latex/defineable__base_8hpp__dep__incl.md5
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diff --git a/docs/latex/defineable__base_8hpp__dep__incl.pdf b/docs/latex/defineable__base_8hpp__dep__incl.pdf
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diff --git a/docs/latex/defineable__base_8hpp_source.tex b/docs/latex/defineable__base_8hpp_source.tex
deleted file mode 100644
index 61b6fe7..0000000
--- a/docs/latex/defineable__base_8hpp_source.tex
+++ /dev/null
@@ -1,50 +0,0 @@
-\doxysection{defineable\+\_\+base.\+hpp}
-\hypertarget{defineable__base_8hpp_source}{}\label{defineable__base_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/defineable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/defineable\_base.hpp}}
-\mbox{\hyperlink{defineable__base_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
-\DoxyCodeLine{00005\ }
-\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00007\ \{}
-\DoxyCodeLine{00008\ }
-\DoxyCodeLine{00009\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00010\ \{}
-\DoxyCodeLine{00011\ }
-\DoxyCodeLine{00021\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{defineable\_base\_t}}}
-\DoxyCodeLine{00022\ \{}
-\DoxyCodeLine{00023\ \ \ \textcolor{comment}{//\ the\ definition\ stored\ as\ a\ string}}
-\DoxyCodeLine{00024\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\_str}}\ =\ \textcolor{stringliteral}{"{}"{}};\ \ \textcolor{comment}{//\ optional\ property}}
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-\DoxyCodeLine{00045\ \ \ \textcolor{comment}{//\ is\ the\ definition\ valid}}
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diff --git a/docs/latex/design_8md.tex b/docs/latex/design_8md.tex
deleted file mode 100644
index dd3088a..0000000
--- a/docs/latex/design_8md.tex
+++ /dev/null
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-\doxysection{docs/design.md File Reference}
-\hypertarget{design_8md}{}\label{design_8md}\index{docs/design.md@{docs/design.md}}
diff --git a/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3.tex b/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3.tex
deleted file mode 100644
index c122008..0000000
--- a/docs/latex/dir_07f685e2b6ccaff3fb10959c113272a3.tex
+++ /dev/null
@@ -1,16 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system Directory Reference}
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-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{get__capability__specs__runner_8hpp}{get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp}}
-\item 
-file \mbox{\hyperlink{input__multiplex__runner_8hpp}{input\+\_\+multiplex\+\_\+runner.\+hpp}}
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diff --git a/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7.tex b/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7.tex
deleted file mode 100644
index 421310a..0000000
--- a/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7.tex
+++ /dev/null
@@ -1,14 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/utils Directory Reference}
-\hypertarget{dir_0e99b85eded0c8f6d3453536b6b117b7}{}\label{dir_0e99b85eded0c8f6d3453536b6b117b7}\index{capabilities2\_server/include/capabilities2\_server/utils Directory Reference@{capabilities2\_server/include/capabilities2\_server/utils Directory Reference}}
-Directory dependency graph for utils\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=211pt]{dir_0e99b85eded0c8f6d3453536b6b117b7_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{sql__safe_8hpp}{sql\+\_\+safe.\+hpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7_dep.md5 b/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7_dep.md5
deleted file mode 100644
index 1cd22f1..0000000
--- a/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-2aad6527daf00c024bbdf31f63460524
\ No newline at end of file
diff --git a/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7_dep.pdf b/docs/latex/dir_0e99b85eded0c8f6d3453536b6b117b7_dep.pdf
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diff --git a/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd.tex b/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd.tex
deleted file mode 100644
index 7ac9632..0000000
--- a/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd.tex
+++ /dev/null
@@ -1,9 +0,0 @@
-\doxysection{capabilities2\+\_\+server/docs Directory Reference}
-\hypertarget{dir_133ae7d1cc60a71e0d0063bd4c4356bd}{}\label{dir_133ae7d1cc60a71e0d0063bd4c4356bd}\index{capabilities2\_server/docs Directory Reference@{capabilities2\_server/docs Directory Reference}}
-Directory dependency graph for docs\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=211pt]{dir_133ae7d1cc60a71e0d0063bd4c4356bd_dep}
-\end{center}
-\end{figure}
diff --git a/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd_dep.md5 b/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd_dep.md5
deleted file mode 100644
index aa6225c..0000000
--- a/docs/latex/dir_133ae7d1cc60a71e0d0063bd4c4356bd_dep.md5
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diff --git a/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437.tex b/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437.tex
deleted file mode 100644
index 78f4f45..0000000
--- a/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437.tex
+++ /dev/null
@@ -1,14 +0,0 @@
-\doxysection{capabilities2\+\_\+server/scripts Directory Reference}
-\hypertarget{dir_1ae2601ec6ef3e5d0cf6dc5201a27437}{}\label{dir_1ae2601ec6ef3e5d0cf6dc5201a27437}\index{capabilities2\_server/scripts Directory Reference@{capabilities2\_server/scripts Directory Reference}}
-Directory dependency graph for scripts\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=211pt]{dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{capability__registrar_8py}{capability\+\_\+registrar.\+py}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.md5 b/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.md5
deleted file mode 100644
index 7fbc375..0000000
--- a/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-e4f4be11b273880401f660f905b1fee9
\ No newline at end of file
diff --git a/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.pdf b/docs/latex/dir_1ae2601ec6ef3e5d0cf6dc5201a27437_dep.pdf
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diff --git a/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d.tex b/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d.tex
deleted file mode 100644
index 2c304c9..0000000
--- a/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d.tex
+++ /dev/null
@@ -1,36 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models Directory Reference}
-\hypertarget{dir_1bf5b06d15e554f4d54614040e1e0b2d}{}\label{dir_1bf5b06d15e554f4d54614040e1e0b2d}\index{capabilities2\_server/include/capabilities2\_server/models Directory Reference@{capabilities2\_server/include/capabilities2\_server/models Directory Reference}}
-Directory dependency graph for models\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=327pt]{dir_1bf5b06d15e554f4d54614040e1e0b2d_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{defineable__base_8hpp}{defineable\+\_\+base.\+hpp}}
-\item 
-file \mbox{\hyperlink{header_8hpp}{header.\+hpp}}
-\item 
-file \mbox{\hyperlink{interface_8hpp}{interface.\+hpp}}
-\item 
-file \mbox{\hyperlink{predicate_8hpp}{predicate.\+hpp}}
-\item 
-file \mbox{\hyperlink{predicateable__base_8hpp}{predicateable\+\_\+base.\+hpp}}
-\item 
-file \mbox{\hyperlink{provider_8hpp}{provider.\+hpp}}
-\item 
-file \mbox{\hyperlink{remappable__base_8hpp}{remappable\+\_\+base.\+hpp}}
-\item 
-file \mbox{\hyperlink{remapping_8hpp}{remapping.\+hpp}}
-\item 
-file \mbox{\hyperlink{resource_8hpp}{resource.\+hpp}}
-\item 
-file \mbox{\hyperlink{run__config_8hpp}{run\+\_\+config.\+hpp}}
-\item 
-file \mbox{\hyperlink{running_8hpp}{running.\+hpp}}
-\item 
-file \mbox{\hyperlink{semantic__interface_8hpp}{semantic\+\_\+interface.\+hpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.md5 b/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.md5
deleted file mode 100644
index 99968ee..0000000
--- a/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-9ba83c5b05526ff4badd49af76ecaf04
\ No newline at end of file
diff --git a/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.pdf b/docs/latex/dir_1bf5b06d15e554f4d54614040e1e0b2d_dep.pdf
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diff --git a/docs/latex/dir_49e56c817e5e54854c35e136979f97ca.tex b/docs/latex/dir_49e56c817e5e54854c35e136979f97ca.tex
deleted file mode 100644
index 69e5354..0000000
--- a/docs/latex/dir_49e56c817e5e54854c35e136979f97ca.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs Directory Reference}
-\hypertarget{dir_49e56c817e5e54854c35e136979f97ca}{}\label{dir_49e56c817e5e54854c35e136979f97ca}\index{docs Directory Reference@{docs Directory Reference}}
diff --git a/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e.tex b/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e.tex
deleted file mode 100644
index 7d3bbdc..0000000
--- a/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e.tex
+++ /dev/null
@@ -1,14 +0,0 @@
-\doxysection{capabilities2\+\_\+events/include Directory Reference}
-\hypertarget{dir_5d95c21bcb0e08e60d3c845ed072574e}{}\label{dir_5d95c21bcb0e08e60d3c845ed072574e}\index{capabilities2\_events/include Directory Reference@{capabilities2\_events/include Directory Reference}}
-Directory dependency graph for include\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=316pt]{dir_5d95c21bcb0e08e60d3c845ed072574e_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_930544a6b4d7294c7d05c1cc4fea3dca}{capabilities2\+\_\+events}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e_dep.md5 b/docs/latex/dir_5d95c21bcb0e08e60d3c845ed072574e_dep.md5
deleted file mode 100644
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diff --git a/docs/latex/dir_6050e924de42b382705ef17654b3c724.tex b/docs/latex/dir_6050e924de42b382705ef17654b3c724.tex
deleted file mode 100644
index 8207103..0000000
--- a/docs/latex/dir_6050e924de42b382705ef17654b3c724.tex
+++ /dev/null
@@ -1,9 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/docs Directory Reference}
-\hypertarget{dir_6050e924de42b382705ef17654b3c724}{}\label{dir_6050e924de42b382705ef17654b3c724}\index{capabilities2\_runner/docs Directory Reference@{capabilities2\_runner/docs Directory Reference}}
-Directory dependency graph for docs\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=212pt]{dir_6050e924de42b382705ef17654b3c724_dep}
-\end{center}
-\end{figure}
diff --git a/docs/latex/dir_6050e924de42b382705ef17654b3c724_dep.md5 b/docs/latex/dir_6050e924de42b382705ef17654b3c724_dep.md5
deleted file mode 100644
index 040c286..0000000
--- a/docs/latex/dir_6050e924de42b382705ef17654b3c724_dep.md5
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diff --git a/docs/latex/dir_665933740db5a645207bdff751686859.tex b/docs/latex/dir_665933740db5a645207bdff751686859.tex
deleted file mode 100644
index a6abc91..0000000
--- a/docs/latex/dir_665933740db5a645207bdff751686859.tex
+++ /dev/null
@@ -1,14 +0,0 @@
-\doxysection{capabilities2\+\_\+events/src Directory Reference}
-\hypertarget{dir_665933740db5a645207bdff751686859}{}\label{dir_665933740db5a645207bdff751686859}\index{capabilities2\_events/src Directory Reference@{capabilities2\_events/src Directory Reference}}
-Directory dependency graph for src\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=213pt]{dir_665933740db5a645207bdff751686859_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{uuid__generator_8cpp}{uuid\+\_\+generator.\+cpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_665933740db5a645207bdff751686859_dep.md5 b/docs/latex/dir_665933740db5a645207bdff751686859_dep.md5
deleted file mode 100644
index 2d6372d..0000000
--- a/docs/latex/dir_665933740db5a645207bdff751686859_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/docs/latex/dir_665933740db5a645207bdff751686859_dep.pdf b/docs/latex/dir_665933740db5a645207bdff751686859_dep.pdf
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diff --git a/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee.tex b/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee.tex
deleted file mode 100644
index e72bcea..0000000
--- a/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee.tex
+++ /dev/null
@@ -1,14 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include Directory Reference}
-\hypertarget{dir_6f42b610c7c0eba485562e9f42cf4eee}{}\label{dir_6f42b610c7c0eba485562e9f42cf4eee}\index{capabilities2\_server/include Directory Reference@{capabilities2\_server/include Directory Reference}}
-Directory dependency graph for include\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{dir_6f42b610c7c0eba485562e9f42cf4eee_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_e2dc497995eb2331d5f961bdf471e58c}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.md5 b/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.md5
deleted file mode 100644
index c4b71f2..0000000
--- a/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-46499678b1447c8f3fa16e05788285c8
\ No newline at end of file
diff --git a/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.pdf b/docs/latex/dir_6f42b610c7c0eba485562e9f42cf4eee_dep.pdf
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diff --git a/docs/latex/dir_893eca9b61704b59497c2543c6de837c.tex b/docs/latex/dir_893eca9b61704b59497c2543c6de837c.tex
deleted file mode 100644
index 5eae230..0000000
--- a/docs/latex/dir_893eca9b61704b59497c2543c6de837c.tex
+++ /dev/null
@@ -1,16 +0,0 @@
-\doxysection{capabilities2\+\_\+events Directory Reference}
-\hypertarget{dir_893eca9b61704b59497c2543c6de837c}{}\label{dir_893eca9b61704b59497c2543c6de837c}\index{capabilities2\_events Directory Reference@{capabilities2\_events Directory Reference}}
-Directory dependency graph for capabilities2\+\_\+events\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=279pt]{dir_893eca9b61704b59497c2543c6de837c_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_5d95c21bcb0e08e60d3c845ed072574e}{include}}
-\item 
-directory \mbox{\hyperlink{dir_665933740db5a645207bdff751686859}{src}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.md5 b/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.md5
deleted file mode 100644
index f59c6ea..0000000
--- a/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-325f3395e9f29edac64ea401a1684b42
\ No newline at end of file
diff --git a/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.pdf b/docs/latex/dir_893eca9b61704b59497c2543c6de837c_dep.pdf
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diff --git a/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123.tex b/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123.tex
deleted file mode 100644
index 3c3adae..0000000
--- a/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123.tex
+++ /dev/null
@@ -1,26 +0,0 @@
-\doxysection{capabilities2\+\_\+server/test Directory Reference}
-\hypertarget{dir_8f30a181762ec3f97d43f8f63bada123}{}\label{dir_8f30a181762ec3f97d43f8f63bada123}\index{capabilities2\_server/test Directory Reference@{capabilities2\_server/test Directory Reference}}
-Directory dependency graph for test\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=211pt]{dir_8f30a181762ec3f97d43f8f63bada123_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{call__establish__bond_8py}{call\+\_\+establish\+\_\+bond.\+py}}
-\item 
-file \mbox{\hyperlink{call__get__interfaces_8py}{call\+\_\+get\+\_\+interfaces.\+py}}
-\item 
-file \mbox{\hyperlink{call__get__providers_8py}{call\+\_\+get\+\_\+providers.\+py}}
-\item 
-file \mbox{\hyperlink{call__get__semantic__interfaces_8py}{call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+py}}
-\item 
-file \mbox{\hyperlink{call__get__specs_8py}{call\+\_\+get\+\_\+specs.\+py}}
-\item 
-file \mbox{\hyperlink{call__register__cap_8py}{call\+\_\+register\+\_\+cap.\+py}}
-\item 
-file \mbox{\hyperlink{test_8cpp}{test.\+cpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.md5 b/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.md5
deleted file mode 100644
index cbfeee4..0000000
--- a/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-49fb01eecf8b858207227ddb8ecd8c61
\ No newline at end of file
diff --git a/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.pdf b/docs/latex/dir_8f30a181762ec3f97d43f8f63bada123_dep.pdf
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diff --git a/docs/latex/dir_900be469113f2cf67da4bc73dceee489.tex b/docs/latex/dir_900be469113f2cf67da4bc73dceee489.tex
deleted file mode 100644
index d4f6166..0000000
--- a/docs/latex/dir_900be469113f2cf67da4bc73dceee489.tex
+++ /dev/null
@@ -1,21 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/src Directory Reference}
-\hypertarget{dir_900be469113f2cf67da4bc73dceee489}{}\label{dir_900be469113f2cf67da4bc73dceee489}\index{capabilities2\_runner/src Directory Reference@{capabilities2\_runner/src Directory Reference}}
-Directory dependency graph for src\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=231pt]{dir_900be469113f2cf67da4bc73dceee489_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_e205d21b7452bc93d523a35149c4724f}{system}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{dummy__runner_8cpp}{dummy\+\_\+runner.\+cpp}}
-\item 
-file \mbox{\hyperlink{launch__runner_8cpp}{launch\+\_\+runner.\+cpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.md5 b/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.md5
deleted file mode 100644
index 6d4df9f..0000000
--- a/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-a6ca01127c3918967280e6eb8eb6fa25
\ No newline at end of file
diff --git a/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.pdf b/docs/latex/dir_900be469113f2cf67da4bc73dceee489_dep.pdf
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diff --git a/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca.tex b/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca.tex
deleted file mode 100644
index 4e13184..0000000
--- a/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca.tex
+++ /dev/null
@@ -1,22 +0,0 @@
-\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events Directory Reference}
-\hypertarget{dir_930544a6b4d7294c7d05c1cc4fea3dca}{}\label{dir_930544a6b4d7294c7d05c1cc4fea3dca}\index{capabilities2\_events/include/capabilities2\_events Directory Reference@{capabilities2\_events/include/capabilities2\_events Directory Reference}}
-Directory dependency graph for capabilities2\+\_\+events\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=230pt]{dir_930544a6b4d7294c7d05c1cc4fea3dca_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{event__base_8hpp}{event\+\_\+base.\+hpp}}
-\item 
-file \mbox{\hyperlink{event__node_8hpp}{event\+\_\+node.\+hpp}}
-\item 
-file \mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}}
-\item 
-file \mbox{\hyperlink{published__event_8hpp}{published\+\_\+event.\+hpp}}
-\item 
-file \mbox{\hyperlink{uuid__generator_8hpp}{uuid\+\_\+generator.\+hpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.md5 b/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.md5
deleted file mode 100644
index 2937c96..0000000
--- a/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-b5e5581a7ea85ed97103fb6d05b147cc
\ No newline at end of file
diff --git a/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.pdf b/docs/latex/dir_930544a6b4d7294c7d05c1cc4fea3dca_dep.pdf
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diff --git a/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659.tex b/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659.tex
deleted file mode 100644
index 1c4f1de..0000000
--- a/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659.tex
+++ /dev/null
@@ -1,18 +0,0 @@
-\doxysection{capabilities2\+\_\+runner Directory Reference}
-\hypertarget{dir_ae9b8f7772f36f75ddf7a4660dc4c659}{}\label{dir_ae9b8f7772f36f75ddf7a4660dc4c659}\index{capabilities2\_runner Directory Reference@{capabilities2\_runner Directory Reference}}
-Directory dependency graph for capabilities2\+\_\+runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_6050e924de42b382705ef17654b3c724}{docs}}
-\item 
-directory \mbox{\hyperlink{dir_d596d1b13e10115fa0e063d9d8185b97}{include}}
-\item 
-directory \mbox{\hyperlink{dir_900be469113f2cf67da4bc73dceee489}{src}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.md5 b/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.md5
deleted file mode 100644
index e3ba6ef..0000000
--- a/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-cc9a57301092d32f1ff7fe0bac977640
\ No newline at end of file
diff --git a/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.pdf b/docs/latex/dir_ae9b8f7772f36f75ddf7a4660dc4c659_dep.pdf
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diff --git a/docs/latex/dir_b4e877ec4d217156391fc3055a1b9ea0.tex b/docs/latex/dir_b4e877ec4d217156391fc3055a1b9ea0.tex
deleted file mode 100644
index 357dfb2..0000000
--- a/docs/latex/dir_b4e877ec4d217156391fc3055a1b9ea0.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+msgs Directory Reference}
-\hypertarget{dir_b4e877ec4d217156391fc3055a1b9ea0}{}\label{dir_b4e877ec4d217156391fc3055a1b9ea0}\index{capabilities2\_msgs Directory Reference@{capabilities2\_msgs Directory Reference}}
diff --git a/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370.tex b/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370.tex
deleted file mode 100644
index c9549cf..0000000
--- a/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370.tex
+++ /dev/null
@@ -1,24 +0,0 @@
-\doxysection{capabilities2\+\_\+server Directory Reference}
-\hypertarget{dir_c3ebc9632501f3b8db76e200f637a370}{}\label{dir_c3ebc9632501f3b8db76e200f637a370}\index{capabilities2\_server Directory Reference@{capabilities2\_server Directory Reference}}
-Directory dependency graph for capabilities2\+\_\+server\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{dir_c3ebc9632501f3b8db76e200f637a370_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_133ae7d1cc60a71e0d0063bd4c4356bd}{docs}}
-\item 
-directory \mbox{\hyperlink{dir_6f42b610c7c0eba485562e9f42cf4eee}{include}}
-\item 
-directory \mbox{\hyperlink{dir_df8984be9ef6e64165c7bb103d37a24c}{launch}}
-\item 
-directory \mbox{\hyperlink{dir_1ae2601ec6ef3e5d0cf6dc5201a27437}{scripts}}
-\item 
-directory \mbox{\hyperlink{dir_f40596f2669028e01f470a477872f720}{src}}
-\item 
-directory \mbox{\hyperlink{dir_8f30a181762ec3f97d43f8f63bada123}{test}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370_dep.md5 b/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370_dep.md5
deleted file mode 100644
index 41f3df2..0000000
--- a/docs/latex/dir_c3ebc9632501f3b8db76e200f637a370_dep.md5
+++ /dev/null
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diff --git a/docs/latex/dir_c88f82dd231ae0856530de318d7cb819.tex b/docs/latex/dir_c88f82dd231ae0856530de318d7cb819.tex
deleted file mode 100644
index 8e92aa4..0000000
--- a/docs/latex/dir_c88f82dd231ae0856530de318d7cb819.tex
+++ /dev/null
@@ -1,35 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner Directory Reference}
-\hypertarget{dir_c88f82dd231ae0856530de318d7cb819}{}\label{dir_c88f82dd231ae0856530de318d7cb819}\index{capabilities2\_runner/include/capabilities2\_runner Directory Reference@{capabilities2\_runner/include/capabilities2\_runner Directory Reference}}
-Directory dependency graph for capabilities2\+\_\+runner\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=316pt]{dir_c88f82dd231ae0856530de318d7cb819_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_07f685e2b6ccaff3fb10959c113272a3}{system}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{action__runner_8hpp}{action\+\_\+runner.\+hpp}}
-\item 
-file \mbox{\hyperlink{encap__runner_8hpp}{encap\+\_\+runner.\+hpp}}
-\item 
-file \mbox{\hyperlink{launch__runner_8hpp}{launch\+\_\+runner.\+hpp}}
-\item 
-file \mbox{\hyperlink{multiplex__base__runner_8hpp}{multiplex\+\_\+base\+\_\+runner.\+hpp}}
-\item 
-file \mbox{\hyperlink{notrigger__runner_8hpp}{notrigger\+\_\+runner.\+hpp}}
-\item 
-file \mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}
-\item 
-file \mbox{\hyperlink{service__runner_8hpp}{service\+\_\+runner.\+hpp}}
-\item 
-file \mbox{\hyperlink{threadtrigger__runner_8hpp}{threadtrigger\+\_\+runner.\+hpp}}
-\item 
-file \mbox{\hyperlink{topic__runner_8hpp}{topic\+\_\+runner.\+hpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.md5 b/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.md5
deleted file mode 100644
index d053a52..0000000
--- a/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-2d407e7aaf0fe29ae7d1dd615cf994ef
\ No newline at end of file
diff --git a/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.pdf b/docs/latex/dir_c88f82dd231ae0856530de318d7cb819_dep.pdf
deleted file mode 100644
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diff --git a/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97.tex b/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97.tex
deleted file mode 100644
index 70648f4..0000000
--- a/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97.tex
+++ /dev/null
@@ -1,14 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include Directory Reference}
-\hypertarget{dir_d596d1b13e10115fa0e063d9d8185b97}{}\label{dir_d596d1b13e10115fa0e063d9d8185b97}\index{capabilities2\_runner/include Directory Reference@{capabilities2\_runner/include Directory Reference}}
-Directory dependency graph for include\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=314pt]{dir_d596d1b13e10115fa0e063d9d8185b97_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_c88f82dd231ae0856530de318d7cb819}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.md5 b/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.md5
deleted file mode 100644
index fd473d4..0000000
--- a/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.pdf b/docs/latex/dir_d596d1b13e10115fa0e063d9d8185b97_dep.pdf
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diff --git a/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c.tex b/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c.tex
deleted file mode 100644
index 1b70852..0000000
--- a/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c.tex
+++ /dev/null
@@ -1,16 +0,0 @@
-\doxysection{capabilities2\+\_\+server/launch Directory Reference}
-\hypertarget{dir_df8984be9ef6e64165c7bb103d37a24c}{}\label{dir_df8984be9ef6e64165c7bb103d37a24c}\index{capabilities2\_server/launch Directory Reference@{capabilities2\_server/launch Directory Reference}}
-Directory dependency graph for launch\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=211pt]{dir_df8984be9ef6e64165c7bb103d37a24c_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{capabilities2__server_8composed_8launch_8py}{capabilities2\+\_\+server.\+composed.\+launch.\+py}}
-\item 
-file \mbox{\hyperlink{capabilities2__server_8launch_8py}{capabilities2\+\_\+server.\+launch.\+py}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.md5 b/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.md5
deleted file mode 100644
index 9022674..0000000
--- a/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-19ad01e941229dbad9b1f9cc1b4dc18f
\ No newline at end of file
diff --git a/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.pdf b/docs/latex/dir_df8984be9ef6e64165c7bb103d37a24c_dep.pdf
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diff --git a/docs/latex/dir_e205d21b7452bc93d523a35149c4724f.tex b/docs/latex/dir_e205d21b7452bc93d523a35149c4724f.tex
deleted file mode 100644
index db45f82..0000000
--- a/docs/latex/dir_e205d21b7452bc93d523a35149c4724f.tex
+++ /dev/null
@@ -1,14 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/src/system Directory Reference}
-\hypertarget{dir_e205d21b7452bc93d523a35149c4724f}{}\label{dir_e205d21b7452bc93d523a35149c4724f}\index{capabilities2\_runner/src/system Directory Reference@{capabilities2\_runner/src/system Directory Reference}}
-Directory dependency graph for system\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=166pt]{dir_e205d21b7452bc93d523a35149c4724f_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{system__runners_8cpp}{system\+\_\+runners.\+cpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_e205d21b7452bc93d523a35149c4724f_dep.md5 b/docs/latex/dir_e205d21b7452bc93d523a35149c4724f_dep.md5
deleted file mode 100644
index e1b80d7..0000000
--- a/docs/latex/dir_e205d21b7452bc93d523a35149c4724f_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c.tex b/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c.tex
deleted file mode 100644
index 1c04ad8..0000000
--- a/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c.tex
+++ /dev/null
@@ -1,31 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server Directory Reference}
-\hypertarget{dir_e2dc497995eb2331d5f961bdf471e58c}{}\label{dir_e2dc497995eb2331d5f961bdf471e58c}\index{capabilities2\_server/include/capabilities2\_server Directory Reference@{capabilities2\_server/include/capabilities2\_server Directory Reference}}
-Directory dependency graph for capabilities2\+\_\+server\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{dir_e2dc497995eb2331d5f961bdf471e58c_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Directories}
-\begin{DoxyCompactItemize}
-\item 
-directory \mbox{\hyperlink{dir_1bf5b06d15e554f4d54614040e1e0b2d}{models}}
-\item 
-directory \mbox{\hyperlink{dir_0e99b85eded0c8f6d3453536b6b117b7}{utils}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{bond__cache_8hpp}{bond\+\_\+cache.\+hpp}}
-\item 
-file \mbox{\hyperlink{capabilities__api_8hpp}{capabilities\+\_\+api.\+hpp}}
-\item 
-file \mbox{\hyperlink{capabilities__db_8hpp}{capabilities\+\_\+db.\+hpp}}
-\item 
-file \mbox{\hyperlink{capabilities__server_8hpp}{capabilities\+\_\+server.\+hpp}}
-\item 
-file \mbox{\hyperlink{db__base_8hpp}{db\+\_\+base.\+hpp}}
-\item 
-file \mbox{\hyperlink{runner__cache_8hpp}{runner\+\_\+cache.\+hpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c_dep.md5 b/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c_dep.md5
deleted file mode 100644
index 460621e..0000000
--- a/docs/latex/dir_e2dc497995eb2331d5f961bdf471e58c_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-c024819c039841a43fe3dcb5f7d488a5
\ No newline at end of file
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diff --git a/docs/latex/dir_f40596f2669028e01f470a477872f720.tex b/docs/latex/dir_f40596f2669028e01f470a477872f720.tex
deleted file mode 100644
index 75feec2..0000000
--- a/docs/latex/dir_f40596f2669028e01f470a477872f720.tex
+++ /dev/null
@@ -1,16 +0,0 @@
-\doxysection{capabilities2\+\_\+server/src Directory Reference}
-\hypertarget{dir_f40596f2669028e01f470a477872f720}{}\label{dir_f40596f2669028e01f470a477872f720}\index{capabilities2\_server/src Directory Reference@{capabilities2\_server/src Directory Reference}}
-Directory dependency graph for src\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=211pt]{dir_f40596f2669028e01f470a477872f720_dep}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Files}
-\begin{DoxyCompactItemize}
-\item 
-file \mbox{\hyperlink{capabilities__server__component_8cpp}{capabilities\+\_\+server\+\_\+component.\+cpp}}
-\item 
-file \mbox{\hyperlink{capabilities__server__node_8cpp}{capabilities\+\_\+server\+\_\+node.\+cpp}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.md5 b/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.md5
deleted file mode 100644
index 194a5f6..0000000
--- a/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.md5
+++ /dev/null
@@ -1 +0,0 @@
-e2104e947ac22883338a39457c92fd71
\ No newline at end of file
diff --git a/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.pdf b/docs/latex/dir_f40596f2669028e01f470a477872f720_dep.pdf
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diff --git a/docs/latex/dummy__runner_8cpp.tex b/docs/latex/dummy__runner_8cpp.tex
deleted file mode 100644
index 00da76c..0000000
--- a/docs/latex/dummy__runner_8cpp.tex
+++ /dev/null
@@ -1,21 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/src/dummy\+\_\+runner.cpp File Reference}
-\hypertarget{dummy__runner_8cpp}{}\label{dummy__runner_8cpp}\index{capabilities2\_runner/src/dummy\_runner.cpp@{capabilities2\_runner/src/dummy\_runner.cpp}}
-{\ttfamily \#include $<$pluginlib/class\+\_\+list\+\_\+macros.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
-Include dependency graph for dummy\+\_\+runner.\+cpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{dummy__runner_8cpp__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}
-\begin{DoxyCompactList}\small\item\em Dummy runner. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/dummy__runner_8cpp__incl.md5 b/docs/latex/dummy__runner_8cpp__incl.md5
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diff --git a/docs/latex/encap__runner_8hpp.tex b/docs/latex/encap__runner_8hpp.tex
deleted file mode 100644
index a87c99a..0000000
--- a/docs/latex/encap__runner_8hpp.tex
+++ /dev/null
@@ -1,21 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/encap\+\_\+runner.hpp File Reference}
-\hypertarget{encap__runner_8hpp}{}\label{encap__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/encap\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/encap\_runner.hpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+runner/notrigger\+\_\+action\+\_\+runner.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/action/capability.\+hpp$>$}\newline
-Include dependency graph for encap\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{encap__runner_8hpp__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner$<$ Action\+T $>$}}
-\begin{DoxyCompactList}\small\item\em encapsulated capability runner \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/encap__runner_8hpp__incl.md5 b/docs/latex/encap__runner_8hpp__incl.md5
deleted file mode 100644
index d5235d2..0000000
--- a/docs/latex/encap__runner_8hpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-ad43f6210c72abe4707856a08ca8f18a
\ No newline at end of file
diff --git a/docs/latex/encap__runner_8hpp__incl.pdf b/docs/latex/encap__runner_8hpp__incl.pdf
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diff --git a/docs/latex/encap__runner_8hpp_source.tex b/docs/latex/encap__runner_8hpp_source.tex
deleted file mode 100644
index 10c1aa8..0000000
--- a/docs/latex/encap__runner_8hpp_source.tex
+++ /dev/null
@@ -1,64 +0,0 @@
-\doxysection{encap\+\_\+runner.\+hpp}
-\hypertarget{encap__runner_8hpp_source}{}\label{encap__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/encap\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/encap\_runner.hpp}}
-\mbox{\hyperlink{encap__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <capabilities2\_runner/notrigger\_action\_runner.hpp>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/action/capability.hpp>}}
-\DoxyCodeLine{00005\ }
-\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00007\ \{}
-\DoxyCodeLine{00008\ }
-\DoxyCodeLine{00020\ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ ActionT>}
-\DoxyCodeLine{00021\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{EnCapRunner}}\ :\ \textcolor{keyword}{public}\ NoTriggerActionRunner<ActionT>}
-\DoxyCodeLine{00022\ \{}
-\DoxyCodeLine{00023\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00024\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a0bbf60f7f885bc1dddffe90635854bad}{EnCapRunner}}()\ :\ NoTriggerActionRunner()}
-\DoxyCodeLine{00025\ \ \ \{}
-\DoxyCodeLine{00026\ \ \ \}}
-\DoxyCodeLine{00027\ }
-\DoxyCodeLine{00040\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7782f8488a37196d1246fef965c75443}{init\_encapsulated\_action}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,}
-\DoxyCodeLine{00041\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ action\_name,\ std::function<\textcolor{keywordtype}{void}(Event\&)>\ print)}
-\DoxyCodeLine{00042\ \ \ \{}
-\DoxyCodeLine{00043\ \ \ \ \ \textcolor{comment}{//\ init\ the\ base\ action\ runner}}
-\DoxyCodeLine{00044\ \ \ \ \ init\_action(node,\ run\_config,\ action\_name,\ print);}
-\DoxyCodeLine{00045\ }
-\DoxyCodeLine{00046\ \ \ \ \ \textcolor{comment}{//\ create\ an\ encapsulating\ action\ server}}
-\DoxyCodeLine{00047\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\_action\_}}\ =\ rclcpp\_action::create\_server<capabilities2\_msgs::action::Capability>(}
-\DoxyCodeLine{00048\ \ \ \ \ \ \ \ \ node\_,\ \textcolor{stringliteral}{"{}\string~/encap/"{}}\ +\ get\_provider(),}
-\DoxyCodeLine{00049\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55}{EnCapRunner::handle\_goal}},\ \textcolor{keyword}{this},\ std::placeholders::\_1,\ std::placeholders::\_2),}
-\DoxyCodeLine{00050\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43}{EnCapRunner::handle\_cancel}},\ \textcolor{keyword}{this},\ std::placeholders::\_1),}
-\DoxyCodeLine{00051\ \ \ \ \ \ \ \ \ std::bind(\&\mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58}{EnCapRunner::handle\_accepted}},\ \textcolor{keyword}{this},\ std::placeholders::\_1));}
-\DoxyCodeLine{00052\ \ \ \}}
-\DoxyCodeLine{00053\ }
-\DoxyCodeLine{00060\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a68e87f8c49301e1e001c232a80fa2f16}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00061\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00062\ \ \ \ \ \textcolor{comment}{//\ stop\ the\ encapsulating\ action\ server}}
-\DoxyCodeLine{00063\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\_action\_}}-\/>cancel\_all\_goals();}
-\DoxyCodeLine{00064\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\_action\_}}.reset();}
-\DoxyCodeLine{00065\ }
-\DoxyCodeLine{00066\ \ \ \ \ \textcolor{comment}{//\ stop\ the\ base\ class}}
-\DoxyCodeLine{00067\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner_a0417718f4ad7a9318169a14abb182fa5}{ActionRunner::stop}}(bond\_id,\ instance\_id);}
-\DoxyCodeLine{00068\ }
-\DoxyCodeLine{00069\ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
-\DoxyCodeLine{00070\ \ \ \ \ emit\_stopped(bond\_id,\ instance\_id,\ param\_on\_stopped());}
-\DoxyCodeLine{00071\ \ \ \}}
-\DoxyCodeLine{00072\ }
-\DoxyCodeLine{00073\ \ \ \textcolor{comment}{//\ encapsulated\ action\ server\ related\ functions}}
-\DoxyCodeLine{00080\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_abdb6db0942e157b1776dff2cea32de55}{handle\_goal}}(\textcolor{keyword}{const}\ rclcpp\_action::GoalUUID\&\ uuid,}
-\DoxyCodeLine{00081\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<const\ capabilities2\_msgs::action::Capability::Goal>\ goal);}
-\DoxyCodeLine{00082\ }
-\DoxyCodeLine{00088\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a25706ef80e4653174c2160d92c6b2d43}{handle\_cancel}}(}
-\DoxyCodeLine{00089\ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::shared\_ptr<rclcpp\_action::ServerGoalHandle<capabilities2\_msgs::action::Capability>>\ goal\_handle);}
-\DoxyCodeLine{00090\ }
-\DoxyCodeLine{00096\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_ab198a797528098b90802453b8878dc58}{handle\_accepted}}(}
-\DoxyCodeLine{00097\ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::shared\_ptr<rclcpp\_action::ServerGoalHandle<capabilities2\_msgs::action::Capability>>\ goal\_handle);}
-\DoxyCodeLine{00098\ }
-\DoxyCodeLine{00099\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00101\ \ \ std::shared\_ptr<rclcpp\_action::Server<capabilities2\_msgs::action::Capability>>\ \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner_a7b6879449e5623ebc4cf78a5e8c9dd02}{encap\_action\_}};}
-\DoxyCodeLine{00102\ \};}
-\DoxyCodeLine{00103\ }
-\DoxyCodeLine{00104\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/etoc_doxygen.sty b/docs/latex/etoc_doxygen.sty
deleted file mode 100644
index 5f7e127..0000000
--- a/docs/latex/etoc_doxygen.sty
+++ /dev/null
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-%% License: LPPL 1.3c
-%% Copyright (C) 2012-2023 Jean-Francois B. <user jfbu at github>
-\NeedsTeXFormat{LaTeX2e}[2003/12/01]
-\ProvidesPackage{etoc_doxygen}[2023/07/01 v1.2b Completely customisable TOCs (JFB)]
-\newif\ifEtoc@oldLaTeX
-\@ifl@t@r\fmtversion{2020/10/01}
-  {}
-  {\Etoc@oldLaTeXtrue
-   \PackageInfo{etoc}{Old LaTeX (\fmtversion) detected!\MessageBreak
-   Since 1.1a (2023/01/14), etoc prefers LaTeX at least\MessageBreak
-   as recent as 2020-10-01, for reasons of the .toc file,\MessageBreak
-   and used to require it (from 1.1a to 1.2).\MessageBreak
-   This etoc (1.2b) does not *require* it, but has not been\MessageBreak
-   tested thoroughly on old LaTeX (especially if document\MessageBreak
-   does not use hyperref) and retrofitting was done only\MessageBreak
-   on basis of author partial remembrances of old context.\MessageBreak
-   Reported}}
-\RequirePackage{kvoptions}
-\SetupKeyvalOptions{prefix=Etoc@}
-\newif\ifEtoc@lof
-\DeclareVoidOption{lof}{\Etoc@loftrue
-  \PackageInfo{etoc}{Experimental support for \string\locallistoffigures.\MessageBreak
-                     Barely tested, use at own risk}%
-}
-\newif\ifEtoc@lot
-\DeclareVoidOption{lot}{\Etoc@lottrue
-  \PackageInfo{etoc}{Experimental support for \string\locallistoftables.\MessageBreak
-                     Barely tested, use at own risk}%
-}
-\@ifclassloaded{memoir}{
-\PackageInfo{etoc}
-   {As this is with memoir class, all `...totoc' options\MessageBreak
-    are set true by default.  Reported}
-\DeclareBoolOption[true]{maintoctotoc}
-\DeclareBoolOption[true]{localtoctotoc}
-\DeclareBoolOption[true]{localloftotoc}
-\DeclareBoolOption[true]{locallottotoc}
-}{
-\DeclareBoolOption[false]{maintoctotoc}
-\DeclareBoolOption[false]{localtoctotoc}
-\DeclareBoolOption[false]{localloftotoc}
-\DeclareBoolOption[false]{locallottotoc}
-}
-\DeclareBoolOption[true]{ouroboros}
-\DeclareBoolOption[false]{deeplevels}
-\DeclareDefaultOption{\PackageWarning{etoc}{Option `\CurrentOption' is unknown.}}
-\ProcessKeyvalOptions*
-\DisableKeyvalOption[action=error,package=etoc]{etoc}{lof}
-\DisableKeyvalOption[action=error,package=etoc]{etoc}{lot}
-\DisableKeyvalOption[action=error,package=etoc]{etoc}{deeplevels}
-\def\etocsetup#1{\setkeys{etoc}{#1}}
-\def\etocifmaintoctotoc{\ifEtoc@maintoctotoc
-                           \expandafter\@firstoftwo
-                         \else
-                           \expandafter\@secondoftwo
-                         \fi}
-\def\etociflocaltoctotoc{\ifEtoc@localtoctotoc
-                           \expandafter\@firstoftwo
-                         \else
-                           \expandafter\@secondoftwo
-                         \fi}
-\def\etociflocalloftotoc{\ifEtoc@localloftotoc
-                           \expandafter\@firstoftwo
-                         \else
-                           \expandafter\@secondoftwo
-                         \fi}
-\def\etociflocallottotoc{\ifEtoc@locallottotoc
-                           \expandafter\@firstoftwo
-                         \else
-                           \expandafter\@secondoftwo
-                         \fi}
-\RequirePackage{multicol}
-\def\etoc@{\etoc@}
-\long\def\Etoc@gobtoetoc@ #1\etoc@{}
-\newtoks\Etoc@toctoks
-\def\Etoc@par{\par}
-\def\etocinline{\def\Etoc@par{}}
-\let\etocnopar\etocinline
-\def\etocdisplay{\def\Etoc@par{\par}}
-\let\Etoc@global\@empty
-\def\etocglobaldefs{\let\Etoc@global\global\let\tof@global\global}
-\def\etoclocaldefs {\let\Etoc@global\@empty\let\tof@global\@empty}
-\newif\ifEtoc@numbered
-\newif\ifEtoc@hyperref
-\newif\ifEtoc@parskip
-\newif\ifEtoc@tocwithid
-\newif\ifEtoc@standardlines
-\newif\ifEtoc@etocstyle
-\newif\ifEtoc@classstyle
-\newif\ifEtoc@keeporiginaltoc
-\newif\ifEtoc@skipprefix
-\newif\ifEtoc@isfirst
-\newif\ifEtoc@localtoc
-\newif\ifEtoc@skipthisone
-\newif\ifEtoc@stoptoc
-\newif\ifEtoc@notactive
-\newif\ifEtoc@mustclosegroup
-\newif\ifEtoc@isemptytoc
-\newif\ifEtoc@checksemptiness
-\def\etocchecksemptiness       {\Etoc@checksemptinesstrue }
-\def\etocdoesnotcheckemptiness {\Etoc@checksemptinessfalse }
-\newif\ifEtoc@notocifnotoc
-\def\etocnotocifnotoc {\Etoc@checksemptinesstrue\Etoc@notocifnotoctrue }
-\newcounter{etoc@tocid}
-\def\Etoc@tocext{toc}
-\def\Etoc@lofext{lof}
-\def\Etoc@lotext{lot}
-\let\Etoc@currext\Etoc@tocext
-\def\etocifislocal{\ifEtoc@localtoc\expandafter\@firstoftwo\else
-                                   \expandafter\@secondoftwo\fi
-                  }
-\def\etocifislocaltoc{\etocifislocal{\ifx\Etoc@currext\Etoc@tocext
-                                     \expandafter\@firstoftwo\else
-                                     \expandafter\@secondoftwo\fi}%
-                                    {\@secondoftwo}%
-                     }
-\def\etocifislocallof{\etocifislocal{\ifx\Etoc@currext\Etoc@lofext
-                                     \expandafter\@firstoftwo\else
-                                     \expandafter\@secondoftwo\fi}%
-                                    {\@secondoftwo}%
-                     }
-\def\etocifislocallot{\etocifislocal{\ifx\Etoc@currext\Etoc@lotext
-                                     \expandafter\@firstoftwo\else
-                                     \expandafter\@secondoftwo\fi}%
-                                    {\@secondoftwo}%
-                     }
-\expandafter\def\csname Etoc@-3@@\endcsname {-\thr@@}
-\expandafter\def\csname Etoc@-2@@\endcsname {-\tw@}
-\expandafter\let\csname Etoc@-1@@\endcsname \m@ne
-\expandafter\let\csname Etoc@0@@\endcsname  \z@
-\expandafter\let\csname Etoc@1@@\endcsname  \@ne
-\expandafter\let\csname Etoc@2@@\endcsname  \tw@
-\expandafter\let\csname Etoc@3@@\endcsname  \thr@@
-\expandafter\chardef\csname Etoc@4@@\endcsname  4
-\expandafter\chardef\csname Etoc@5@@\endcsname  5
-\expandafter\chardef\csname Etoc@6@@\endcsname  6
-\ifEtoc@deeplevels
-  \expandafter\chardef\csname Etoc@7@@\endcsname  7
-  \expandafter\chardef\csname Etoc@8@@\endcsname  8
-  \expandafter\chardef\csname Etoc@9@@\endcsname  9
-  \expandafter\chardef\csname Etoc@10@@\endcsname  10
-  \expandafter\chardef\csname Etoc@11@@\endcsname  11
-  \expandafter\chardef\csname Etoc@12@@\endcsname  12
-\fi
-\expandafter\let\expandafter\Etoc@maxlevel
-  \csname Etoc@\ifEtoc@deeplevels12\else6\fi @@\endcsname
-\edef\etocthemaxlevel{\number\Etoc@maxlevel}
-\@ifclassloaded{memoir}{\def\Etoc@minf{-\thr@@}}{\def\Etoc@minf{-\tw@}}
-\let\Etoc@none@@  \Etoc@minf
-\expandafter\let\expandafter\Etoc@all@@
-  \csname Etoc@\ifEtoc@deeplevels11\else5\fi @@\endcsname
-\let\Etoc@dolevels\@empty
-\def\Etoc@newlevel #1{\expandafter\def\expandafter\Etoc@dolevels\expandafter
-        {\Etoc@dolevels\Etoc@do{#1}}}
-\ifdefined\expanded
-  \def\etocsetlevel#1#2{\expanded{\noexpand\etoc@setlevel{#1}{#2}}}%
-\else
-   \def\etocsetlevel#1#2{{\edef\Etoc@tmp{\noexpand\etoc@setlevel{#1}{#2}}\expandafter}\Etoc@tmp}%
-\fi
-\def\etoc@setlevel#1#2{%
-   \edef\Etoc@tmp{\the\numexpr#2}%
-   \if1\ifnum\Etoc@tmp>\Etoc@maxlevel0\fi\unless\ifnum\Etoc@minf<\Etoc@tmp;\fi1%
-      \ifEtoc@deeplevels
-        \in@{.#1,}{.none,.all,.figure,.table,.-3,.-2,.-1,.0,.1,.2,.3,.4,.5,.6,%
-                                              .7,.8,.9,.10,.11,.12,}%
-      \else
-        \in@{.#1,}{.none,.all,.figure,.table,.-3,.-2,.-1,.0,.1,.2,.3,.4,.5,.6,}%
-      \fi
-      \ifin@\else\if\@car#1\@nil @\in@true\fi\fi
-      \ifin@
-         \PackageWarning{etoc}
-            {Sorry, but `#1' is forbidden as level name.\MessageBreak
-             \if\@car#1\@nil @%
-                (because of the @ as first character)\MessageBreak\fi
-             Reported}%
-      \else
-        \etocifunknownlevelTF{#1}{\Etoc@newlevel{#1}}{}%
-        \expandafter\let\csname Etoc@#1@@\expandafter\endcsname
-                        \csname Etoc@\Etoc@tmp @@\endcsname
-        \expandafter\edef\csname Etoc@@#1@@\endcsname
-                         {\expandafter\noexpand\csname Etoc@#1@@\endcsname}%
-        \expandafter\edef\csname toclevel@@#1\endcsname
-                         {\expandafter\noexpand\csname toclevel@#1\endcsname}%
-      \fi
-   \else
-      \PackageWarning{etoc}
-         {Argument `\detokenize{#2}' of \string\etocsetlevel\space should
-          represent one of\MessageBreak
-          \ifnum\Etoc@minf=-\thr@@-2, \fi-1, 0, 1, 2, \ifEtoc@deeplevels ...\else3, 4\fi,
-          \the\numexpr\Etoc@maxlevel-1, or \number\Etoc@maxlevel\space
-          but evaluates to \Etoc@tmp.\MessageBreak
-          The level of `#1' will be set to \number\Etoc@maxlevel.\MessageBreak
-          Tables of contents will ignore `#1' as long\MessageBreak
-          as its level is \number\Etoc@maxlevel\space (=\string\etocthemaxlevel).%
-          \MessageBreak
-          Reported}%
-      \etocifunknownlevelTF{#1}{\Etoc@newlevel{#1}}{}%
-      \expandafter\let\csname Etoc@#1@@\endcsname\Etoc@maxlevel
-   \fi
-}
-\def\etoclevel#1{\csname Etoc@#1@@\endcsname}
-\def\etocthelevel#1{\number\csname Etoc@#1@@\endcsname}
-\def\etocifunknownlevelTF#1{\@ifundefined{Etoc@#1@@}}
-\@ifclassloaded{memoir}{\etocsetlevel{book}{-2}}{}
-\etocsetlevel{part}{-1}
-\etocsetlevel{chapter}{0}
-\etocsetlevel{section}{1}
-\etocsetlevel{subsection}{2}
-\etocsetlevel{subsubsection}{3}
-\etocsetlevel{paragraph}{4}
-\etocsetlevel{subparagraph}{5}
-\ifdefined\c@chapter
-  \etocsetlevel{appendix}{0}
-\else
-  \etocsetlevel{appendix}{1}
-\fi
-\def\Etoc@do#1{\@namedef{l@@#1}{\csname l@#1\endcsname}}
-\Etoc@dolevels
-\let\Etoc@figure@@\Etoc@maxlevel
-\let\Etoc@table@@ \Etoc@maxlevel
-\let\Etoc@gobblethreeorfour\@gobblefour
-\ifdefined\@gobblethree
-  \let\Etoc@gobblethree\@gobblethree
-\else
-  \long\def\Etoc@gobblethree#1#2#3{}%
-\fi
-\AtBeginDocument{%
-\@ifpackageloaded{parskip}{\Etoc@parskiptrue}{}%
-\@ifpackageloaded{hyperref}
-    {\Etoc@hyperreftrue}
-    {\ifEtoc@oldLaTeX
-        \let\Etoc@gobblethreeorfour\Etoc@gobblethree
-        \let\Etoc@etoccontentsline@fourargs\Etoc@etoccontentsline@
-        \long\def\Etoc@etoccontentsline@#1#2#3{%
-            \Etoc@etoccontentsline@fourargs{#1}{#2}{#3}{}%
-        }%
-     \fi
-    }%
-}
-\def\etocskipfirstprefix {\global\Etoc@skipprefixtrue }
-\def\Etoc@updatestackofends#1\etoc@{\gdef\Etoc@stackofends{#1}}
-\def\Etoc@stackofends{{-3}{}}
-\def\Etoc@doendsandbegin{%
-    \expandafter\Etoc@traversestackofends\Etoc@stackofends\etoc@
-}
-\def\Etoc@traversestackofends#1{%
-  \ifnum#1>\Etoc@level
-    \csname Etoc@end@#1\endcsname
-    \expandafter\Etoc@traversestackofends
-  \else
-    \Etoc@traversestackofends@done{#1}%
-  \fi
-}
-\def\Etoc@traversestackofends@done#1#2{#2%
-  \ifnum#1<\Etoc@level
-    \csname Etoc@begin@\the\numexpr\Etoc@level\endcsname
-    \Etoc@global\Etoc@isfirsttrue
-    \edef\Etoc@tmp{{\the\numexpr\Etoc@level}}%
-  \else
-    \Etoc@global\Etoc@isfirstfalse
-    \let\Etoc@tmp\@empty
-  \fi
-  \expandafter\Etoc@updatestackofends\Etoc@tmp{#1}%
-}
-\def\Etoc@etoccontentsline #1{%
-  \let\Etoc@next\Etoc@gobblethreeorfour
-  \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel
-  \else
-   \Etoc@skipthisonefalse
-   \global\expandafter\let\expandafter\Etoc@level\csname Etoc@#1@@\endcsname
-   \if @\@car#1\@nil\else\global\let\Etoc@virtualtop\Etoc@level\fi
-   \ifEtoc@localtoc
-    \ifEtoc@stoptoc
-      \Etoc@skipthisonetrue
-    \else
-     \ifEtoc@notactive
-       \Etoc@skipthisonetrue
-     \else
-      \unless\ifnum\Etoc@level>\etoclocaltop
-        \Etoc@skipthisonetrue
-        \global\Etoc@stoptoctrue
-      \fi
-     \fi
-    \fi
-   \fi
-   \ifEtoc@skipthisone
-   \else
-    \unless\ifnum\Etoc@level>\c@tocdepth
-     \ifEtoc@standardlines
-         \let\Etoc@next\Etoc@savedcontentsline
-     \else
-         \let\Etoc@next\Etoc@etoccontentsline@
-     \fi
-    \fi
-   \fi
-  \fi
-  \Etoc@next{#1}%
-}
-\def\Etoc@etoccontentsline@ #1#2#3#4{%
-    \Etoc@doendsandbegin
-    \Etoc@global\edef\Etoc@prefix  {\expandafter\noexpand
-         \csname Etoc@prefix@\the\numexpr\Etoc@level\endcsname }%
-    \Etoc@global\edef\Etoc@contents{\expandafter\noexpand
-         \csname Etoc@contents@\the\numexpr\Etoc@level\endcsname }%
-    \ifEtoc@skipprefix \Etoc@global\def\Etoc@prefix{\@empty}\fi
-    \global\Etoc@skipprefixfalse
-    \Etoc@lxyz{#2}{#3}{#4}%
-    \Etoc@prefix
-    \Etoc@contents
-}
-\def\Etoc@lxyz #1#2#3{%
-    \ifEtoc@hyperref
-       \Etoc@global\def\etocthelink##1{\hyperlink{#3}{##1}}%
-    \else
-       \Etoc@global\let\etocthelink\@firstofone
-    \fi
-    \Etoc@global\def\etocthepage {#2}%
-    \ifEtoc@hyperref
-       \ifx\etocthepage\@empty
-         \Etoc@global\let\etocthelinkedpage\@empty
-       \else
-         \Etoc@global\def\etocthelinkedpage{\hyperlink {#3}{#2}}%
-       \fi
-    \else
-       \Etoc@global\let\etocthelinkedpage\etocthepage
-    \fi
-    \Etoc@global\def\etocthename{#1}%
-    \futurelet\Etoc@getnb@token\Etoc@@getnb #1\hspace\etoc@
-    \ifEtoc@hyperref
-      \def\Etoc@tmp##1##2{\Etoc@global\def##2{\hyperlink{#3}{##1}}}%
-      \expandafter\Etoc@tmp\expandafter{\etocthename}\etocthelinkedname
-      \ifEtoc@numbered
-         \expandafter\Etoc@tmp\expandafter{\etocthenumber}\etocthelinkednumber
-      \else
-         \Etoc@global\let\etocthelinkednumber\@empty
-      \fi
-    \else
-      \Etoc@global\let\etocthelinkedname  \etocthename
-      \Etoc@global\let\etocthelinkednumber\etocthenumber
-    \fi
-    \Etoc@global\expandafter\let\csname etoclink \endcsname  \etocthelink
-    \Etoc@global\expandafter\let\csname etocname \endcsname  \etocthename
-    \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthenumber
-    \Etoc@global\expandafter\let\csname etocpage \endcsname  \etocthepage
-    \ifEtoc@hyperref
-      \Etoc@lxyz@linktoc
-    \fi
-}
-\def\Etoc@lxyz@linktoc{%
-    \ifcase\Hy@linktoc
-    \or
-      \Etoc@global\expandafter\let\csname etocname   \endcsname\etocthelinkedname
-      \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthelinkednumber
-    \or % page
-      \Etoc@global\expandafter\let\csname etocpage   \endcsname\etocthelinkedpage
-    \else % all
-      \Etoc@global\expandafter\let\csname etocname   \endcsname\etocthelinkedname
-      \Etoc@global\expandafter\let\csname etocnumber \endcsname\etocthelinkednumber
-      \Etoc@global\expandafter\let\csname etocpage   \endcsname\etocthelinkedpage
-    \fi
-}
-\def\Etoc@@getnb {%
-    \let\Etoc@next\Etoc@getnb
-    \ifx\Etoc@getnb@token\@sptoken\let\Etoc@next\Etoc@getnb@nonbr\fi
-    \ifx\Etoc@getnb@token\bgroup  \let\Etoc@next\Etoc@getnb@nonbr\fi
-    \Etoc@next
-}
-\def\Etoc@getnb #1{%
-    \in@{#1}{\numberline\chapternumberline\partnumberline\booknumberline}%
-    \ifin@
-       \let\Etoc@next\Etoc@getnb@nmbrd
-    \else
-       \ifnum\Etoc@level=\m@ne
-           \let\Etoc@next\Etoc@@getit
-       \else
-           \let\Etoc@next\Etoc@getnb@nonbr
-       \fi
-       \in@{#1}{\nonumberline}%
-       \ifin@
-         \let\Etoc@next\Etoc@getnb@nonumberline
-       \fi
-    \fi
-    \Etoc@next #1%
-}
-\def\Etoc@getnb@nmbrd #1#2{%
-    \Etoc@global\Etoc@numberedtrue
-    \Etoc@global\def\etocthenumber {#2}%
-    \Etoc@getnb@nmbrd@getname\@empty
-}%
-\def\Etoc@getnb@nmbrd@getname #1\hspace\etoc@ {%
-    \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{#1}%
-}
-\def\Etoc@getnb@nonbr #1\etoc@ {%
-    \Etoc@global\Etoc@numberedfalse
-    \Etoc@global\let\etocthenumber \@empty
-}
-\def\Etoc@getnb@nonumberline #1\hspace\etoc@ {%
-    \Etoc@global\Etoc@numberedfalse
-    \Etoc@global\let\etocthenumber \@empty
-    \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{\@gobble#1}%
-}
-\def\Etoc@@getit #1\hspace#2{%
-    \ifx\etoc@#2%
-      \Etoc@global\Etoc@numberedfalse
-      \Etoc@global\let\etocthenumber \@empty
-    \else
-      \Etoc@global\Etoc@numberedtrue
-      \Etoc@global\def\etocthenumber {#1}%
-      \expandafter\Etoc@getit@getname \expandafter\@empty
-    \fi
-}
-\def\Etoc@getit@getname #1\hspace\etoc@ {%
-    \Etoc@global\expandafter\def\expandafter\etocthename\expandafter{#1}%
-}
-\let\etocthename   \@empty
-\let\etocthenumber \@empty
-\let\etocthepage   \@empty
-\let\etocthelinkedname   \@empty
-\let\etocthelinkednumber \@empty
-\let\etocthelinkedpage   \@empty
-\let\etocthelink   \@firstofone
-\DeclareRobustCommand*{\etocname}  {}
-\DeclareRobustCommand*{\etocnumber}{}
-\DeclareRobustCommand*{\etocpage}  {}
-\DeclareRobustCommand*{\etoclink}  {\@firstofone}
-\DeclareRobustCommand*{\etocifnumbered}
-   {\ifEtoc@numbered\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
-\expandafter\let\expandafter\etocxifnumbered\csname etocifnumbered \endcsname
-\DeclareRobustCommand*{\etociffirst}
-   {\ifEtoc@isfirst\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi}
-\expandafter\let\expandafter\etocxiffirst\csname etociffirst \endcsname
-\def\Etoc@readtoc {%
-  \ifeof \Etoc@tf
-  \else
-     \read \Etoc@tf to \Etoc@buffer
-     \Etoc@toctoks=\expandafter\expandafter\expandafter
-       {\expandafter\the\expandafter\Etoc@toctoks\Etoc@buffer}%
-     \expandafter\Etoc@readtoc
-  \fi
-}
-\Etoc@toctoks {}% (superfluous, but for clarity)
-\AtBeginDocument{\IfFileExists{\jobname.toc}
-    {{\endlinechar=\m@ne
-      \makeatletter
-      \newread\Etoc@tf
-      \openin\Etoc@tf\@filef@und
-      \Etoc@readtoc
-      \global\Etoc@toctoks=\expandafter{\the\Etoc@toctoks}%
-      \closein\Etoc@tf}}
-    {\typeout{No file \jobname.toc.}}}
-\def\Etoc@openouttoc{%
-  \ifEtoc@hyperref
-   \ifx\hyper@last\@undefined
-    \IfFileExists{\jobname .toc}
-      {\Hy@WarningNoLine
-         {old toc file detected; run LaTeX again (cheers from `etoc')}%
-       \global\Etoc@toctoks={}%
-      }
-      {}%
-   \fi
-  \fi
-  \if@filesw
-   \newwrite \tf@toc
-   \immediate \openout \tf@toc \jobname .toc\relax
-  \fi
-  \global\let\Etoc@openouttoc\empty
-}
-\def\Etoc@toctoc{%
-  \gdef\Etoc@stackofends{{-3}{}}%
-  \global\let\Etoc@level\Etoc@minf
-  \global\let\Etoc@virtualtop\Etoc@minf
-  \the\Etoc@toctoks
-  \ifEtoc@notactive
-  \else
-   \gdef\Etoc@level{-\thr@@}%
-   \Etoc@doendsandbegin
-  \fi
-}
-\def\Etoc@@startlocaltoc#1#2{%
-    \ifEtoc@localtoc
-       \ifnum #1=#2\relax
-          \global\let\etoclocaltop\Etoc@virtualtop
-          \Etoc@@startlocaltochook
-          \etoclocaltableofcontentshook
-          \ifEtoc@etocstyle
-              \etocetoclocaltocmaketitle
-          \fi
-          \ifx\Etoc@aftertitlehook\@empty
-          \else
-            \ifEtoc@localtoctotoc
-              \ifEtoc@ouroboros
-              \else
-                \let\Etoc@tmp\contentsline
-                \def\contentsline{\let\contentsline\Etoc@tmp\Etoc@gobblethreeorfour}%
-              \fi
-            \fi
-          \fi
-          \global\Etoc@notactivefalse
-       \fi
-    \fi
-}
-\let\etoc@startlocaltoc\@gobble
-\let\Etoc@@startlocaltoc@toc\Etoc@@startlocaltoc
-\let\Etoc@@startlocaltochook\@empty
-\unless\ifEtoc@deeplevels
-  \def\etocdivisionnameatlevel#1{%
-    \ifcase\numexpr#1\relax
-             \ifdefined\c@chapter chapter\else section\fi%
-         \or section%
-         \or subsection%
-         \or subsubsection%
-         \or paragraph%
-         \or subparagraph%
-         \or empty%
-    \else\ifnum\numexpr#1<\m@ne
-             book%
-         \else
-             part%
-         \fi
-    \fi
-  }
-\else
-  \def\etocdivisionnameatlevel#1{%
-    \ifcase\numexpr#1\relax
-             \ifdefined\c@chapter chapter\else section\fi%
-         \or section%
-         \or subsection%
-         \or subsubsection%
-         \or subsubsubsection%
-         \or subsubsubsubsection%
-         \or subsubsubsubsubsection%
-         \or subsubsubsubsubsubsection%
-         \or paragraph%
-         \or subparagraph%
-    \else\ifnum\numexpr#1>\z@
-             empty%
-         \else\ifnum\numexpr#1=\m@ne
-             part%
-         \else
-             book%
-         \fi\fi
-    \fi
-  }
-\fi
-\def\etoclocalheadtotoc#1#2{\addcontentsline{toc}{@#1}{#2}}
-\def\etocglobalheadtotoc{\addcontentsline{toc}}
-\providecommand*\UseName{\@nameuse}
-\def\etocetoclocaltocmaketitle{%
-    \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\localcontentsname}%
-    \if@noskipsec\leavevmode\par\fi
-    \etociflocaltoctotoc
-      {\etocifisstarred
-         {}% star variant, do not add to toc
-         {\etoclocalheadtotoc
-           {\etocdivisionnameatlevel{\etoclocaltop+1}}%
-           {\localcontentsname}%
-         }%
-      }%
-      {}%
-}%
-\def\localcontentsname  {\contentsname}%
-\let\etoclocaltableofcontentshook\@empty
-\if1\ifEtoc@lof0\fi\ifEtoc@lot0\fi1%
-\else
-\AtBeginDocument{%
-  \let\Etoc@originaladdcontentsline\addcontentsline
-  \def\addcontentsline{\Etoc@hackedaddcontentsline}%
-}%
-\fi
-\ifEtoc@lof
-  \ifEtoc@lot
-    \def\Etoc@hackedaddcontentsline#1{%
-      \expanded{\noexpand\in@{.#1,}}{.lof,.lot,}%
-      \ifin@\expandafter\Etoc@hackedaddcontentsline@i
-      \else\expandafter\Etoc@originaladdcontentsline
-      \fi {#1}}
-  \else
-    \def\Etoc@hackedaddcontentsline#1{%
-      \expanded{\noexpand\in@{.#1,}}{.lof,}%
-      \ifin@\expandafter\Etoc@hackedaddcontentsline@i
-      \else\expandafter\Etoc@originaladdcontentsline
-      \fi {#1}}
-  \fi
-\else
-  \def\Etoc@hackedaddcontentsline#1{%
-    \expanded{\noexpand\in@{.#1,}}{.lot,}%
-    \ifin@\expandafter\Etoc@hackedaddcontentsline@i
-    \else\expandafter\Etoc@originaladdcontentsline
-    \fi {#1}}
-\fi
-\def\Etoc@hackedaddcontentsline@i#1#2#3{%
-    \expanded{\noexpand\in@{.#1;#2,}}{.lof;figure,.lot;table,}%
-    \ifin@
-    \addtocontents {toc}{%
-      \protect\contentsline{#2}{#3}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}%
-      \ifdefined\protected@file@percent\protected@file@percent\fi
-    }%
-    \fi
-    \Etoc@originaladdcontentsline{#1}{#2}{#3}%
-}
-\unless\ifdefined\expanded
-  \def\Etoc@hackedaddcontentsline#1{%
-    {\edef\Etoc@tmp{\noexpand\in@{.#1,}{\ifEtoc@lof.lof,\fi\ifEtoc@lot.lot,\fi}}\expandafter}%
-    \Etoc@tmp
-    \ifin@\expandafter\Etoc@hackedaddcontentsline@i
-    \else\expandafter\Etoc@originaladdcontentsline
-    \fi {#1}%
-  }
-  \def\Etoc@hackedaddcontentsline@i#1#2#3{%
-    {\edef\Etoc@tmp{\noexpand\in@{.#1;#2,}}\expandafter}%
-    \Etoc@tmp{.lof;figure,.lot;table,}%
-    \ifin@
-    \addtocontents {toc}{%
-      \protect\contentsline{#2}{#3}{\thepage}{\ifEtoc@hyperref\@currentHref\fi}%
-      \ifdefined\protected@file@percent\protected@file@percent\fi
-    }%
-    \fi
-    \Etoc@originaladdcontentsline{#1}{#2}{#3}%
-  }
-\fi
-\def\Etoc@@startlocallistof#1#2#3{%
-    \ifEtoc@localtoc
-       \ifnum #2=#3\relax
-          \global\let\etoclocaltop\Etoc@virtualtop
-          \global\Etoc@notactivefalse
-          \Etoc@@startlocaltochook
-          \csname etoclocallistof#1shook\endcsname
-          \ifEtoc@etocstyle
-              \csname etocetoclistof#1smaketitle\endcsname
-          \fi
-       \fi
-    \fi
-}
-\def\Etoc@@startlocallistof@setlevels#1{%
-          \ifnum\etoclocaltop<\z@
-              \expandafter\let\csname Etoc@#1@@\endcsname\@ne
-          \else
-              \expandafter\let\csname Etoc@#1@@\expandafter\endcsname
-                              \csname Etoc@\the\numexpr\etoclocaltop+\@ne @@\endcsname
-          \fi
-          \def\Etoc@do##1{%
-              \ifnum\etoclevel{##1}>\etoclocaltop
-                     \expandafter\let\csname Etoc@##1@@\endcsname\Etoc@maxlevel
-              \fi}%
-          \Etoc@dolevels
-}
-\def\etoclocallistoffigureshook{\etocstandardlines}
-\def\etoclocallistoftableshook {\etocstandardlines}
-\def\locallistfigurename{\listfigurename}
-\def\locallisttablename {\listtablename}
-\def\etocetoclistoffiguresmaketitle{%
-    \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\locallistfigurename}%
-    \ifnum\etoclocaltop>\tw@\mbox{}\par\fi
-    \etociflocalloftotoc
-      {\etocifisstarred
-         {}% star variant, do not add to toc
-         {\etoclocalheadtotoc
-           {\etocdivisionnameatlevel{\etoclocaltop+1}}%
-           {\locallistfigurename}%
-         }%
-      }%
-      {}%
-}%
-\def\etocetoclistoftablesmaketitle{%
-    \UseName{\etocdivisionnameatlevel{\etoclocaltop+1}}*{\locallisttablename}%
-    \ifnum\etoclocaltop>\tw@\mbox{}\par\fi
-    \etociflocallottotoc
-      {\etocifisstarred
-         {}% star variant, do not add to toc
-         {\etoclocalheadtotoc
-           {\etocdivisionnameatlevel{\etoclocaltop+1}}%
-           {\locallisttablename}%
-         }%
-      }%
-      {}%
-}%
-\let\Etoc@listofreset\@empty
-\ifEtoc@lof
-  \def\locallistoffigures{%
-      \def\Etoc@listofreset{%
-          \let\Etoc@currext\Etoc@tocext
-          \let\Etoc@@startlocaltoc\Etoc@@startlocaltoc@toc
-          \let\Etoc@@startlocaltochook\@empty
-          \let\Etoc@listofreset\@empty
-          \let\Etoc@listofhook\@empty
-          }%
-      \let\Etoc@currext\Etoc@lofext
-      \def\Etoc@@startlocaltoc{\Etoc@@startlocallistof{figure}}%
-      \def\Etoc@@startlocaltochook{\Etoc@@startlocallistof@setlevels{figure}}%
-      \def\Etoc@listofhook{%
-        \def\Etoc@do####1{%
-          \expandafter\let\csname Etoc@@####1@@\endcsname\Etoc@maxlevel
-        }%
-        \Etoc@dolevels
-      }%
-      \localtableofcontents
-  }
-\else
-  \def\locallistoffigures{%
-      \PackageError{etoc}{%
-        \string\locallistoffigures \on@line\space but\MessageBreak
-        package was loaded without `lof' option}%
-        {Try again with \string\usepackage[lof]{etoc}}%
-      }
-\fi
-\ifEtoc@lot
-  \def\locallistoftables{%
-      \def\Etoc@listofreset{%
-          \let\Etoc@currext\Etoc@tocext
-          \let\Etoc@@startlocaltoc\Etoc@@startlocaltoc@toc
-          \let\Etoc@@startlocaltochook\@empty
-          \let\Etoc@listofreset\@empty
-          \let\Etoc@listofhook\@empty
-          }%
-      \let\Etoc@currext\Etoc@lotext
-      \def\Etoc@@startlocaltoc{\Etoc@@startlocallistof{table}}%
-      \def\Etoc@@startlocaltochook{\Etoc@@startlocallistof@setlevels{table}}%
-      \def\Etoc@listofhook{%
-        \def\Etoc@do####1{%
-          \expandafter\let\csname Etoc@@####1@@\endcsname\Etoc@maxlevel
-        }%
-        \Etoc@dolevels
-      }%
-      \localtableofcontents
-  }
-\else
-  \def\locallistoftables{%
-      \PackageError{etoc}{%
-        \string\locallistoftable \on@line\space but\MessageBreak
-        package was loaded without `lot' option}%
-        {Try again with \string\usepackage[lot]{etoc}}%
-      }
-\fi
-\def\Etoc@checkifempty {%
-    \global\Etoc@isemptytoctrue
-    \global\Etoc@stoptocfalse
-    \global\let\Etoc@level\Etoc@minf
-    \global\let\Etoc@virtualtop\Etoc@minf
-    \gdef\Etoc@stackofends{{-3}{}}%
-    \begingroup
-      \ifEtoc@localtoc
-        \def\etoc@startlocaltoc##1{%
-          \ifnum##1=\Etoc@tocid\relax
-              \global\let\etoclocaltop\Etoc@virtualtop
-              \Etoc@@startlocaltochook
-              \global\Etoc@notactivefalse
-          \fi
-        }%
-        \let\contentsline\Etoc@testingcontentslinelocal
-      \else
-        \let\contentsline\Etoc@testingcontentsline
-      \fi
-      \Etoc@storetocdepth
-        \let\Etoc@setlocaltop@doendsandbegin\@empty
-        \the\Etoc@toctoks
-      \Etoc@restoretocdepth
-    \endgroup
-}
-\DeclareRobustCommand*\etocifwasempty
-  {\ifEtoc@isemptytoc\expandafter\@firstoftwo\else\expandafter\@secondoftwo\fi }
-\expandafter\let\expandafter\etocxifwasempty\csname etocifwasempty \endcsname
-\def\Etoc@testingcontentslinelocal #1{%
-  \ifEtoc@stoptoc
-  \else
-   \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel
-   \else
-    \global\expandafter\let\expandafter\Etoc@level\csname Etoc@#1@@\endcsname
-    \if @\@car#1\@nil\else\global\let\Etoc@virtualtop\Etoc@level\fi
-    \ifEtoc@notactive
-    \else
-     \ifnum\Etoc@level>\etoclocaltop
-      \unless\ifnum\Etoc@level>\c@tocdepth
-       \global\Etoc@isemptytocfalse
-       \global\Etoc@stoptoctrue
-      \fi
-     \else
-      \global\Etoc@stoptoctrue
-     \fi
-    \fi
-   \fi
-  \fi
-  \Etoc@gobblethreeorfour{}%
-}
-\def\Etoc@testingcontentsline #1{%
-  \ifEtoc@stoptoc
-  \else
-   \ifnum\csname Etoc@#1@@\endcsname=\Etoc@maxlevel
-   \else
-    \unless\ifnum\csname Etoc@#1@@\endcsname>\c@tocdepth
-     \global\Etoc@isemptytocfalse
-     \global\Etoc@stoptoctrue
-    \fi
-   \fi
-  \fi
-  \Etoc@gobblethreeorfour{}%
-}
-\def\Etoc@localtableofcontents#1{%
-    \gdef\etoclocaltop{-\@m}%
-    \Etoc@localtoctrue
-    \global\Etoc@isemptytocfalse
-    \edef\Etoc@tocid{#1}%
-    \ifnum\Etoc@tocid<\@ne
-      \setbox0\hbox{\ref{Unknown toc ref \@secondoftwo#1. \space Rerun LaTeX}}%
-      \global\Etoc@stoptoctrue
-      \gdef\etoclocaltop{-\thr@@}%
-      \Etoc@tableofcontents
-      \expandafter\Etoc@gobtoetoc@
-    \fi
-    \global\Etoc@notactivetrue
-    \ifEtoc@checksemptiness
-       \Etoc@checkifempty
-    \fi
-    \ifEtoc@isemptytoc
-       \ifEtoc@notactive
-         \setbox0\hbox{\ref{Unknown toc ID \number\Etoc@tocid. \space Rerun LaTeX}}%
-         \global\Etoc@isemptytocfalse
-         \global\Etoc@stoptoctrue
-         \gdef\etoclocaltop{-\thr@@}%
-         \Etoc@tableofcontents
-         \expandafter\expandafter\expandafter\Etoc@gobtoetoc@
-       \fi
-    \else
-       \global\Etoc@stoptocfalse
-       \global\Etoc@notactivetrue
-       \edef\etoc@startlocaltoc##1%
-           {\noexpand\Etoc@@startlocaltoc{##1}{\Etoc@tocid}}%
-       \Etoc@tableofcontents
-    \fi
-    \@gobble\etoc@
-    \endgroup\ifEtoc@mustclosegroup\endgroup\fi
-    \Etoc@tocdepthreset
-    \Etoc@listofreset
-    \etocaftertochook
-}% \Etoc@localtableofcontents
-\def\Etoc@getref #1{%
-    \@ifundefined{r@#1}
-         {0}
-         {\expandafter\Etoc@getref@i\romannumeral-`0%
-          \expandafter\expandafter\expandafter
-          \@car\csname r@#1\endcsname0\@nil\@etoc
-         }%
-}
-\def\Etoc@getref@i#1#2\@etoc{\ifnum9<1\string#1 #1#2\else 0\fi}
-\def\Etoc@ref#1{\Etoc@localtableofcontents{\Etoc@getref{#1}}}
-\def\Etoc@label#1{\label{#1}\futurelet\Etoc@nexttoken\Etoc@t@bleofcontents}
-\@firstofone{\def\Etoc@again} {\futurelet\Etoc@nexttoken\Etoc@t@bleofcontents}
-\def\Etoc@dothis #1#2\etoc@ {\fi #1}
-\def\Etoc@t@bleofcontents{%
-    \gdef\etoclocaltop{-\@M}%
-    \ifx\Etoc@nexttoken\label\Etoc@dothis{\expandafter\Etoc@label\@gobble}\fi
-    \ifx\Etoc@nexttoken\@sptoken\Etoc@dothis{\Etoc@again}\fi
-    \ifx\Etoc@nexttoken\ref\Etoc@dothis{\expandafter\Etoc@ref\@gobble}\fi
-    \ifEtoc@tocwithid\Etoc@dothis{\Etoc@localtableofcontents{\c@etoc@tocid}}\fi
-    \global\Etoc@isemptytocfalse
-    \ifEtoc@checksemptiness\Etoc@checkifempty\fi
-    \ifEtoc@isemptytoc
-     \ifEtoc@notocifnotoc
-      \expandafter\expandafter\expandafter\@gobble
-     \fi
-    \fi
-    \Etoc@tableofcontents
-    \endgroup
-    \ifEtoc@mustclosegroup\endgroup\fi
-    \Etoc@tocdepthreset
-    \Etoc@listofreset
-    \etocaftertochook
-    \@gobble\etoc@
-    }% \Etoc@t@bleofcontents
-\def\Etoc@table@fcontents{%
-    \refstepcounter{etoc@tocid}%
-    \Etoc@tocwithidfalse
-    \futurelet\Etoc@nexttoken\Etoc@t@bleofcontents
-}
-\def\Etoc@localtable@fcontents{%
-    \refstepcounter{etoc@tocid}%
-    \addtocontents{toc}{\string\etoc@startlocaltoc{\the\c@etoc@tocid}}%
-    \Etoc@tocwithidtrue
-    \futurelet\Etoc@nexttoken\Etoc@t@bleofcontents
-}
-\def\etoctableofcontents{%
-   \Etoc@openouttoc
-   \Etoc@tocdepthset
-   \begingroup
-      \@ifstar
-      {\let\Etoc@aftertitlehook\@empty\Etoc@table@fcontents}
-      {\def\Etoc@aftertitlehook{\etocaftertitlehook}\Etoc@table@fcontents}%
-}% \etoctableofcontents
-\def\etocifisstarred{\ifx\Etoc@aftertitlehook\@empty
-                         \expandafter\@firstoftwo\else
-                         \expandafter\@secondoftwo
-                     \fi}
-\let\etocoriginaltableofcontents\tableofcontents
-\let\tableofcontents\etoctableofcontents
-\let\Etoc@listofhook\@empty
-\newcommand*\localtableofcontents{%
-   \Etoc@openouttoc
-   \Etoc@tocdepthset
-   \begingroup
-      \Etoc@listofhook
-      \@ifstar
-      {\let\Etoc@aftertitlehook\@empty\Etoc@localtable@fcontents}
-      {\def\Etoc@aftertitlehook{\etocaftertitlehook}\Etoc@localtable@fcontents}%
-}% \localtableofcontents
-\newcommand*\localtableofcontentswithrelativedepth[1]{%
-   \def\Etoc@@startlocaltochook{%
-       \global\c@tocdepth\numexpr\etoclocaltop+#1\relax
-   }%
-   \def\Etoc@listofreset{\let\Etoc@@startlocaltochook\@empty
-                         \let\Etoc@listofreset\@empty}%
-   \localtableofcontents
-}% \localtableofcontentswithrelativedepth
-\newcommand\etocsettocstyle[2]{%
-   \Etoc@etocstylefalse
-   \Etoc@classstylefalse
-   \def\Etoc@tableofcontents@user@before{#1}%
-   \def\Etoc@tableofcontents@user@after {#2}%
-}%
-\def\etocstoretocstyleinto#1{%
-%%    \@ifdefinable#1{%
-      \edef#1{\noexpand\Etoc@etocstylefalse\noexpand\Etoc@classstylefalse
-              \def\noexpand\Etoc@tableofcontents@user@before{%
-                  \unexpanded\expandafter{\Etoc@tableofcontents@user@before}%
-                }%
-              \def\noexpand\Etoc@tableofcontents@user@after{%
-                  \unexpanded\expandafter{\Etoc@tableofcontents@user@after}%
-                }%
-             }%
-%%    }%
-}%
-\def\Etoc@tableofcontents {%
-    \Etoc@tableofcontents@etoc@before
-    \ifEtoc@localtoc\ifEtoc@etocstyle\expandafter\expandafter\expandafter\@gobble\fi\fi
-    \Etoc@tableofcontents@user@before
-    \Etoc@tableofcontents@contents
-    \ifEtoc@localtoc\ifEtoc@etocstyle\expandafter\expandafter\expandafter\@gobble\fi\fi
-    \Etoc@tableofcontents@user@after
-    \Etoc@tableofcontents@etoc@after
-    \@gobble\etoc@
-}
-\def\Etoc@tableofcontents@etoc@before{%
-    \ifnum\c@tocdepth>\Etoc@minf
-    \else
-     \expandafter\Etoc@gobtoetoc@
-    \fi
-    \Etoc@par
-    \Etoc@beforetitlehook
-    \etocbeforetitlehook
-    \Etoc@storetocdepth
-    \let\Etoc@savedcontentsline\contentsline
-    \let\contentsline\Etoc@etoccontentsline
-    \ifEtoc@standardlines
-    \else
-        \def\Etoc@do##1{%
-            \expandafter\def\csname etocsaved##1tocline\endcsname
-             {\PackageError{etoc}{%
-              \expandafter\string\csname etocsaved##1tocline\endcsname\space
-              has been deprecated\MessageBreak
-              at 1.1a and is removed at 1.2.\MessageBreak
-              Use \expandafter\string\csname l@##1\endcsname\space directly.\MessageBreak
-              Reported \on@line}%
-                                {I will use \expandafter\string
-              \csname l@##1\endcsname\space myself for this time.%
-                               }%
-              \csname l@##1\endcsname
-            }%
-        }%
-        \Etoc@dolevels
-    \fi
-}%
-\def\Etoc@tableofcontents@contents{%
-    \Etoc@tocdepthset
-    \ifEtoc@parskip\parskip\z@skip\fi
-    \Etoc@aftertitlehook
-    \gdef\etoclocaltop{-\thr@@}%
-    \Etoc@toctoc
-    \etocaftercontentshook
-}%
-\def\Etoc@tableofcontents@etoc@after{%
-    \@nobreakfalse
-    \Etoc@restoretocdepth
-    \ifx\Etoc@global\global
-     \@ifundefined{tof@finish}
-     {}
-     {\ifx\tof@finish\@empty
-      \else
-       \global\let\contentsline\Etoc@savedcontentsline
-      \fi
-     }%
-    \fi
-}
-\def\etocsetstyle#1{\ifcsname Etoc@#1@@\endcsname
-                      \expandafter\Etoc@setstyle@a
-                    \else
-                      \expandafter\Etoc@setstyle@error
-                    \fi {#1}%
-}
-\def\Etoc@setstyle@error #1{%
-    \PackageWarning{etoc}{`#1' is unknown to etoc. \space Did you\MessageBreak
-                    forget some \string\etocsetlevel{#1}{<level>}?\MessageBreak
-                    Reported}%
-    \@gobblefour
-}
-\def\Etoc@setstyle@a #1{%
-    \edef\Etoc@tmp{\the\numexpr\csname Etoc@#1@@\endcsname}%
-    \if1\unless\ifnum\Etoc@tmp<\Etoc@maxlevel 0\fi
-        \unless\ifnum\Etoc@tmp>\Etoc@minf 0\fi1%
-      \Etoc@standardlinesfalse
-      \expandafter\Etoc@setstyle@b\expandafter\Etoc@tmp
-    \else
-      \ifnum\Etoc@tmp=\Etoc@maxlevel
-        \in@{.#1,}{.figure,.table,}%
-        \ifin@
-           \PackageWarning{etoc}
-              {You can not use \string\etocsetstyle\space with `#1'.\MessageBreak
-               Check the package documentation (in particular about\MessageBreak
-               \string\etoclocallistoffigureshook/\string\etoclocallistoftableshook)%
-               \MessageBreak on how to customize
-               figure and table entries in local\MessageBreak lists. Reported}%
-        \else
-           \PackageInfo{etoc}
-              {Attempt to set the style of `#1',\MessageBreak
-               whose level is currently the maximal one \etocthemaxlevel,\MessageBreak
-               which is never displayed. \space This will be ignored\MessageBreak
-               but note that we do quit compatibility mode.\MessageBreak
-               Reported}%
-           \Etoc@standardlinesfalse
-        \fi
-      \else
-        \PackageWarning{etoc}{This should not happen.  Reported}%
-      \fi
-      \expandafter\@gobblefour
-    \fi
-}
-\long\def\Etoc@setstyle@b#1#2#3#4#5{%
-     \expandafter\def\csname Etoc@begin@#1\endcsname    {#2}%
-     \expandafter\def\csname Etoc@prefix@#1\endcsname   {#3}%
-     \expandafter\def\csname Etoc@contents@#1\endcsname {#4}%
-     \expandafter\def\csname Etoc@end@#1\endcsname      {#5}%
-}
-\def\Etoc@setstyle@e#1{%
-     \expandafter\let\csname Etoc@begin@#1\endcsname    \@empty
-     \expandafter\let\csname Etoc@prefix@#1\endcsname   \@empty
-     \expandafter\let\csname Etoc@contents@#1\endcsname \@empty
-     \expandafter\let\csname Etoc@end@#1\endcsname      \@empty
-}
-\def\Etoc@storelines@a#1{%
-   \noexpand\Etoc@setstyle@b{#1}%
-     {\expandafter\Etoc@expandonce\csname Etoc@begin@#1\endcsname}%
-     {\expandafter\Etoc@expandonce\csname Etoc@prefix@#1\endcsname}%
-     {\expandafter\Etoc@expandonce\csname Etoc@contents@#1\endcsname}%
-     {\expandafter\Etoc@expandonce\csname Etoc@end@#1\endcsname}%
-}
-\def\Etoc@expandonce#1{\unexpanded\expandafter{#1}}
-\def\etocstorelinestylesinto#1{%
-    \edef#1{\Etoc@storelines@a{-2}\Etoc@storelines@a{-1}\Etoc@storelines@a{0}%
-            \Etoc@storelines@a {1}\Etoc@storelines@a {2}\Etoc@storelines@a{3}%
-            \Etoc@storelines@a {4}\Etoc@storelines@a {5}%
-            \ifEtoc@deeplevels
-              \Etoc@storelines@a{6}\Etoc@storelines@a{7}\Etoc@storelines@a{8}%
-              \Etoc@storelines@a{9}\Etoc@storelines@a{10}\Etoc@storelines@a{11}%
-            \fi
-    }%
-}
-\def\etocstorethislinestyleinto#1#2{%
-    \edef#2{\expandafter\Etoc@storelines@a\expandafter{\number\etoclevel{#1}}}%
-}%
-\def\etocfontminustwo {\normalfont \LARGE \bfseries}
-\def\etocfontminusone {\normalfont \large \bfseries}
-\def\etocfontzero     {\normalfont \large \bfseries}
-\def\etocfontone      {\normalfont \normalsize \bfseries}
-\def\etocfonttwo      {\normalfont \normalsize}
-\def\etocfontthree    {\normalfont \footnotesize}
-\def\etocsepminustwo  {4ex \@plus .5ex \@minus .5ex}
-\def\etocsepminusone  {4ex \@plus .5ex \@minus .5ex}
-\def\etocsepzero      {2.5ex \@plus .4ex \@minus .4ex}
-\def\etocsepone       {1.5ex \@plus .3ex \@minus .3ex}
-\def\etocseptwo       {.5ex \@plus .1ex \@minus .1ex}
-\def\etocsepthree     {.25ex \@plus .05ex \@minus .05ex}
-\def\etocbaselinespreadminustwo {1}
-\def\etocbaselinespreadminusone {1}
-\def\etocbaselinespreadzero     {1}
-\def\etocbaselinespreadone      {1}
-\def\etocbaselinespreadtwo      {1}
-\def\etocbaselinespreadthree    {.9}
-\def\etocminustwoleftmargin  {1.5em plus 0.5fil}
-\def\etocminustworightmargin {1.5em plus -0.5fil}
-\def\etocminusoneleftmargin  {1em}
-\def\etocminusonerightmargin {1em}
-\def\etoctoclineleaders
-        {\hbox{\normalfont\normalsize\hb@xt@2ex {\hss.\hss}}}
-\def\etocabbrevpagename {p.~}
-\def\etocpartname       {Part}
-\def\etocbookname       {Book}
-\def\etocdefaultlines{%
-    \Etoc@standardlinesfalse
-    \etocdefaultlines@setbook
-    \etocdefaultlines@setpart
-    \etocdefaultlines@setchapter
-    \etocdefaultlines@setsection
-    \etocdefaultlines@setsubsection
-    \etocdefaultlines@setsubsubsection
-    \etocdefaultlines@setdeeperones
-}
-\def\etocnoprotrusion{\leavevmode\kern-\p@\kern\p@}
-\@ifclassloaded{memoir}{%
- \def\etocdefaultlines@setbook{%
- \Etoc@setstyle@b
-  {-2}%
-  {\addpenalty\@M\etocskipfirstprefix}
-  {\addpenalty\@secpenalty}
-  {\begingroup
-   \etocfontminustwo
-   \addvspace{\etocsepminustwo}%
-   \parindent \z@
-   \leftskip  \etocminustwoleftmargin
-   \rightskip \etocminustworightmargin
-   \parfillskip \@flushglue
-   \vbox{\etocifnumbered{\etoclink{\etocbookname\enspace\etocthenumber:\quad}}{}%
-         \etocname
-         \baselineskip\etocbaselinespreadminustwo\baselineskip
-         \par}%
-   \addpenalty\@M\addvspace{\etocsepminusone}%
-   \endgroup}
-  {}%
- }
- }{\let\etocdefaultlines@setbook\@empty}
-\def\etocdefaultlines@setpart{%
-\Etoc@setstyle@b
-  {-1}%
-  {\addpenalty\@M\etocskipfirstprefix}
-  {\addpenalty\@secpenalty}
-  {\begingroup
-   \etocfontminusone
-   \addvspace{\etocsepminusone}%
-   \parindent \z@
-   \leftskip  \etocminusoneleftmargin
-   \rightskip \etocminusonerightmargin
-   \parfillskip \@flushglue
-   \vbox{\etocifnumbered{\etoclink{\etocpartname\enspace\etocthenumber.\quad}}{}%
-         \etocname
-         \baselineskip\etocbaselinespreadminusone\baselineskip
-         \par}%
-   \addpenalty\@M\addvspace{\etocsepzero}%
-   \endgroup}
-  {}%
-}
-\def\etocdefaultlines@setchapter{%
-\Etoc@setstyle@b
-  {0}%
-  {\addpenalty\@M\etocskipfirstprefix}
-  {\addpenalty\@itempenalty}
-  {\begingroup
-   \etocfontzero
-   \addvspace{\etocsepzero}%
-   \parindent \z@ \parfillskip \@flushglue
-   \vbox{\etocifnumbered{\etocnumber.\enspace}{}\etocname
-         \baselineskip\etocbaselinespreadzero\baselineskip
-         \par}%
-   \endgroup}
-  {\addpenalty{-\@highpenalty}\addvspace{\etocsepminusone}}%
-}
-\def\etocdefaultlines@setsection{%
-\Etoc@setstyle@b
-  {1}%
-  {\addpenalty\@M\etocskipfirstprefix}
-  {\addpenalty\@itempenalty}
-  {\begingroup
-   \etocfontone
-   \addvspace{\etocsepone}%
-   \parindent \z@ \parfillskip \z@
-   \setbox\z@\vbox{\parfillskip\@flushglue
-                   \etocname\par
-                   \setbox\tw@\lastbox
-                   \global\setbox\@ne\hbox{\unhbox\tw@\ }}%
-   \dimen\z@=\wd\@ne
-   \setbox\z@=\etoctoclineleaders
-   \advance\dimen\z@\wd\z@
-   \etocifnumbered
-     {\setbox\tw@\hbox{\etocnumber, \etocabbrevpagename\etocpage\etocnoprotrusion}}
-     {\setbox\tw@\hbox{\etocabbrevpagename\etocpage\etocnoprotrusion}}%
-   \advance\dimen\z@\wd\tw@
-   \ifdim\dimen\z@ < \linewidth
-       \vbox{\etocname~%
-             \leaders\box\z@\hfil\box\tw@
-             \baselineskip\etocbaselinespreadone\baselineskip
-             \par}%
-   \else
-       \vbox{\etocname~%
-             \leaders\copy\z@\hfil\break
-             \hbox{}\leaders\box\z@\hfil\box\tw@
-             \baselineskip\etocbaselinespreadone\baselineskip
-             \par}%
-   \fi
-   \endgroup}
-  {\addpenalty\@secpenalty\addvspace{\etocsepzero}}%
-}
-\def\etocdefaultlines@setsubsection{%
-\Etoc@setstyle@b
-  {2}%
-  {\addpenalty\@medpenalty\etocskipfirstprefix}
-  {\addpenalty\@itempenalty}
-  {\begingroup
-   \etocfonttwo
-   \addvspace{\etocseptwo}%
-   \parindent \z@ \parfillskip \z@
-   \setbox\z@\vbox{\parfillskip\@flushglue
-                   \etocname\par\setbox\tw@\lastbox
-                   \global\setbox\@ne\hbox{\unhbox\tw@}}%
-   \dimen\z@=\wd\@ne
-   \setbox\z@=\etoctoclineleaders
-   \advance\dimen\z@\wd\z@
-   \etocifnumbered
-     {\setbox\tw@\hbox{\etocnumber, \etocabbrevpagename\etocpage\etocnoprotrusion}}
-     {\setbox\tw@\hbox{\etocabbrevpagename\etocpage\etocnoprotrusion}}%
-   \advance\dimen\z@\wd\tw@
-   \ifdim\dimen\z@ < \linewidth
-       \vbox{\etocname~%
-             \leaders\box\z@\hfil\box\tw@
-             \baselineskip\etocbaselinespreadtwo\baselineskip
-             \par}%
-   \else
-       \vbox{\etocname~%
-             \leaders\copy\z@\hfil\break
-             \hbox{}\leaders\box\z@\hfil\box\tw@
-             \baselineskip\etocbaselinespreadtwo\baselineskip
-             \par}%
-   \fi
-   \endgroup}
-  {\addpenalty\@secpenalty\addvspace{\etocsepone}}%
-}
-\def\etocdefaultlines@setsubsubsection{%
-\Etoc@setstyle@b
-  {3}%
-  {\addpenalty\@M
-   \etocfontthree
-   \vspace{\etocsepthree}%
-   \noindent
-   \etocskipfirstprefix}
-  {\allowbreak\,--\,}
-  {\etocname}
-  {.\hfil
-    \begingroup
-     \baselineskip\etocbaselinespreadthree\baselineskip
-     \par
-    \endgroup
-   \addpenalty{-\@highpenalty}}
-}
-\def\etocdefaultlines@setdeeperones{%
-\Etoc@setstyle@e{4}%
-\Etoc@setstyle@e{5}%
-\ifEtoc@deeplevels
-  \Etoc@setstyle@e{6}%
-  \Etoc@setstyle@e{7}%
-  \Etoc@setstyle@e{8}%
-  \Etoc@setstyle@e{9}%
-  \Etoc@setstyle@e{10}%
-  \Etoc@setstyle@e{11}%
-\fi
-}
-\def\etocabovetocskip{3.5ex \@plus 1ex \@minus .2ex}
-\def\etocbelowtocskip{3.5ex \@plus 1ex \@minus .2ex}
-\def\etoccolumnsep{2em}
-\def\etocmulticolsep{0ex}
-\def\etocmulticolpretolerance{-1}
-\def\etocmulticoltolerance{200}
-\def\etocdefaultnbcol{2}
-\def\etocinnertopsep{2ex}
-\newcommand\etocmulticolstyle[2][\etocdefaultnbcol]{%
-\etocsettocstyle
-   {\let\etocoldpar\par
-    \addvspace{\etocabovetocskip}%
-    \ifnum #1>\@ne
-          \expandafter\@firstoftwo
-    \else \expandafter\@secondoftwo
-    \fi
-    {\multicolpretolerance\etocmulticolpretolerance
-    \multicoltolerance\etocmulticoltolerance
-    \setlength{\columnsep}{\etoccolumnsep}%
-    \setlength{\multicolsep}{\etocmulticolsep}%
-    \begin{multicols}{#1}[#2\etocoldpar\addvspace{\etocinnertopsep}]}
-    {#2\ifvmode\else\begingroup\interlinepenalty\@M\parskip\z@skip
-                    \@@par\endgroup
-       \fi
-       \nobreak\addvspace{\etocinnertopsep}%
-       \pretolerance\etocmulticolpretolerance
-       \tolerance\etocmulticoltolerance}%
-   }%
-   {\ifnum #1>\@ne
-          \expandafter\@firstofone
-    \else \expandafter\@gobble
-    \fi
-    {\end{multicols}}%
-    \addvspace{\etocbelowtocskip}}%
-}
-\def\etocinnerbottomsep{3.5ex}
-\def\etocinnerleftsep{2em}
-\def\etocinnerrightsep{2em}
-\def\etoctoprule{\hrule}
-\def\etocleftrule{\vrule}
-\def\etocrightrule{\vrule}
-\def\etocbottomrule{\hrule}
-\def\etoctoprulecolorcmd{\relax}
-\def\etocbottomrulecolorcmd{\relax}
-\def\etocleftrulecolorcmd{\relax}
-\def\etocrightrulecolorcmd{\relax}
-\def\etoc@ruledheading #1{%
-   \hb@xt@\linewidth{\color@begingroup
-          \hss #1\hss\hskip-\linewidth
-          \etoctoprulecolorcmd\leaders\etoctoprule\hss
-          \phantom{#1}%
-          \leaders\etoctoprule\hss\color@endgroup}%
-          \nointerlineskip\nobreak\vskip\etocinnertopsep}
-\newcommand*\etocruledstyle[2][\etocdefaultnbcol]{%
-\etocsettocstyle
-   {\addvspace{\etocabovetocskip}%
-    \ifnum #1>\@ne
-          \expandafter\@firstoftwo
-    \else \expandafter\@secondoftwo
-    \fi
-       {\multicolpretolerance\etocmulticolpretolerance
-        \multicoltolerance\etocmulticoltolerance
-        \setlength{\columnsep}{\etoccolumnsep}%
-        \setlength{\multicolsep}{\etocmulticolsep}%
-        \begin{multicols}{#1}[\etoc@ruledheading{#2}]}
-       {\etoc@ruledheading{#2}%
-         \pretolerance\etocmulticolpretolerance
-         \tolerance\etocmulticoltolerance}}
-   {\ifnum #1>\@ne\expandafter\@firstofone
-         \else \expandafter\@gobble
-    \fi
-    {\end{multicols}}%
-    \addvspace{\etocbelowtocskip}}}
-\def\etocframedmphook{\relax}
-\long\def\etocbkgcolorcmd{\relax}
-\long\def\Etoc@relax{\relax}
-\newbox\etoc@framed@titlebox
-\newbox\etoc@framed@contentsbox
-\newcommand*\etocframedstyle[2][\etocdefaultnbcol]{%
-\etocsettocstyle{%
-    \addvspace{\etocabovetocskip}%
-    \sbox\z@{#2}%
-    \dimen\z@\dp\z@
-    \ifdim\wd\z@<\linewidth \dp\z@\z@ \else \dimen\z@\z@ \fi
-    \setbox\etoc@framed@titlebox=\hb@xt@\linewidth{\color@begingroup
-        \hss
-        \ifx\etocbkgcolorcmd\Etoc@relax
-        \else
-            \sbox\tw@{\color{white}%
-            \vrule\@width\wd\z@\@height\ht\z@\@depth\dimen\z@}%
-            \ifdim\wd\z@<\linewidth \dp\tw@\z@\fi
-            \box\tw@
-            \hskip-\wd\z@
-        \fi
-        \copy\z@
-        \hss
-        \hskip-\linewidth
-        \etoctoprulecolorcmd\leaders\etoctoprule\hss
-        \hskip\wd\z@
-        \etoctoprulecolorcmd\leaders\etoctoprule\hss\color@endgroup}%
-    \setbox\z@\hbox{\etocleftrule\etocrightrule}%
-    \dimen\tw@\linewidth\advance\dimen\tw@-\wd\z@
-        \advance\dimen\tw@-\etocinnerleftsep
-        \advance\dimen\tw@-\etocinnerrightsep
-    \setbox\etoc@framed@contentsbox=\vbox\bgroup
-        \hsize\dimen\tw@
-        \kern\dimen\z@
-        \vskip\etocinnertopsep
-        \hbox\bgroup
-        \begin{minipage}{\hsize}%
-        \etocframedmphook
-    \ifnum #1>\@ne
-          \expandafter\@firstoftwo
-    \else \expandafter\@secondoftwo
-    \fi
-        {\multicolpretolerance\etocmulticolpretolerance
-        \multicoltolerance\etocmulticoltolerance
-        \setlength{\columnsep}{\etoccolumnsep}%
-        \setlength{\multicolsep}{\etocmulticolsep}%
-        \begin{multicols}{#1}}
-        {\pretolerance\etocmulticolpretolerance
-         \tolerance\etocmulticoltolerance}}
-    {\ifnum #1>\@ne\expandafter\@firstofone
-         \else \expandafter\@gobble
-     \fi
-      {\end{multicols}\unskip }%
-    \end{minipage}%
-    \egroup
-    \vskip\etocinnerbottomsep
-    \egroup
-    \vbox{\hsize\linewidth
-        \ifx\etocbkgcolorcmd\Etoc@relax
-        \else
-            \kern\ht\etoc@framed@titlebox
-            \kern\dp\etoc@framed@titlebox
-            \hb@xt@\linewidth{\color@begingroup
-            \etocleftrulecolorcmd\etocleftrule
-            \etocbkgcolorcmd
-            \leaders\vrule
-                   \@height\ht\etoc@framed@contentsbox
-                   \@depth\dp\etoc@framed@contentsbox
-            \hss
-            \etocrightrulecolorcmd\etocrightrule
-            \color@endgroup}\nointerlineskip
-            \vskip-\dp\etoc@framed@contentsbox
-            \vskip-\ht\etoc@framed@contentsbox
-            \vskip-\dp\etoc@framed@titlebox
-            \vskip-\ht\etoc@framed@titlebox
-        \fi
-    \box\etoc@framed@titlebox\nointerlineskip
-    \hb@xt@\linewidth{\color@begingroup
-    {\etocleftrulecolorcmd\etocleftrule}%
-    \hss\box\etoc@framed@contentsbox\hss
-    \etocrightrulecolorcmd\etocrightrule\color@endgroup}
-    \nointerlineskip
-    \vskip\ht\etoc@framed@contentsbox
-    \vskip\dp\etoc@framed@contentsbox
-    \hb@xt@\linewidth{\color@begingroup\etocbottomrulecolorcmd
-          \leaders\etocbottomrule\hss\color@endgroup}}
-    \addvspace{\etocbelowtocskip}}}
-\newcommand\etoc@multicoltoc[2][\etocdefaultnbcol]{%
-    \etocmulticolstyle[#1]{#2}%
-    \tableofcontents}
-\newcommand\etoc@multicoltoci[2][\etocdefaultnbcol]{%
-    \etocmulticolstyle[#1]{#2}%
-    \tableofcontents*}
-\newcommand\etoc@local@multicoltoc[2][\etocdefaultnbcol]{%
-    \etocmulticolstyle[#1]{#2}%
-    \localtableofcontents}
-\newcommand\etoc@local@multicoltoci[2][\etocdefaultnbcol]{%
-    \etocmulticolstyle[#1]{#2}%
-    \localtableofcontents*}
-\newcommand*\etoc@ruledtoc[2][\etocdefaultnbcol]{%
-    \etocruledstyle[#1]{#2}%
-    \tableofcontents}
-\newcommand*\etoc@ruledtoci[2][\etocdefaultnbcol]{%
-    \etocruledstyle[#1]{#2}%
-    \tableofcontents*}
-\newcommand*\etoc@local@ruledtoc[2][\etocdefaultnbcol]{%
-    \etocruledstyle[#1]{#2}%
-    \localtableofcontents}
-\newcommand*\etoc@local@ruledtoci[2][\etocdefaultnbcol]{%
-    \etocruledstyle[#1]{#2}%
-    \localtableofcontents*}
-\newcommand*\etoc@framedtoc[2][\etocdefaultnbcol]{%
-    \etocframedstyle[#1]{#2}%
-    \tableofcontents}
-\newcommand*\etoc@framedtoci[2][\etocdefaultnbcol]{%
-    \etocframedstyle[#1]{#2}%
-    \tableofcontents*}
-\newcommand*\etoc@local@framedtoc[2][\etocdefaultnbcol]{%
-    \etocframedstyle[#1]{#2}%
-    \localtableofcontents}
-\newcommand*\etoc@local@framedtoci[2][\etocdefaultnbcol]{%
-    \etocframedstyle[#1]{#2}%
-    \localtableofcontents*}
-\def\etocmulticol{\begingroup
-    \Etoc@mustclosegrouptrue
-    \@ifstar
-    {\etoc@multicoltoci}
-    {\etoc@multicoltoc}}
-\def\etocruled{\begingroup
-    \Etoc@mustclosegrouptrue
-    \@ifstar
-    {\etoc@ruledtoci}
-    {\etoc@ruledtoc}}
-\def\etocframed{\begingroup
-    \Etoc@mustclosegrouptrue
-    \@ifstar
-    {\etoc@framedtoci}
-    {\etoc@framedtoc}}
-\def\etoclocalmulticol{\begingroup
-    \Etoc@mustclosegrouptrue
-    \@ifstar
-    {\etoc@local@multicoltoci}
-    {\etoc@local@multicoltoc}}
-\def\etoclocalruled{\begingroup
-    \Etoc@mustclosegrouptrue
-    \@ifstar
-    {\etoc@local@ruledtoci}
-    {\etoc@local@ruledtoc}}
-\def\etoclocalframed{\begingroup
-    \Etoc@mustclosegrouptrue
-    \@ifstar
-    {\etoc@local@framedtoci}
-    {\etoc@local@framedtoc}}
-\def\etocmemoirtoctotocfmt #1#2{%
-    \PackageWarning{etoc}
-        {\string\etocmemoirtoctotocfmt\space is deprecated.\MessageBreak
-         Use in its place \string\etocsettoclineforclasstoc,\MessageBreak
-         and \string\etocsettoclineforclasslistof{toc} (or {lof}, {lot}).
-         I will do this now.\MessageBreak
-         Reported}%
-    \etocsettoclineforclasstoc{#1}{#2}%
-    \etocsettoclineforclasslistof{toc}{#1}{#2}%
-}
-\def\etocsettoclineforclasstoc #1#2{%
-    \def\etocclassmaintocaddtotoc{\etocglobalheadtotoc{#1}{#2}}%
-}
-\def\etocsettoclineforclasslistof #1#2#3{%
-    \@namedef{etocclasslocal#1addtotoc}{\etoclocalheadtotoc{#2}{#3}}%
-}
-\let\etocclasslocaltocaddtotoc\@empty
-\let\etocclasslocallofaddtotoc\@empty
-\let\etocclasslocallotaddtotoc\@empty
-\ifdefined\c@chapter
-  \def\etocclasslocaltocmaketitle{\section*{\localcontentsname}}
-  \def\etocclasslocallofmaketitle{\section*{\locallistfigurename}}
-  \def\etocclasslocallotmaketitle{\section*{\locallisttablename}}
-  \etocsettoclineforclasstoc        {chapter}{\contentsname}
-  \etocsettoclineforclasslistof{toc}{section}{\localcontentsname}
-  \etocsettoclineforclasslistof{lof}{section}{\locallistfigurename}
-  \etocsettoclineforclasslistof{lot}{section}{\locallisttablename}
-\else
-  \def\etocclasslocaltocmaketitle{\subsection*{\localcontentsname}}%
-  \def\etocclasslocallofmaketitle{\subsection*{\locallistfigurename}}%
-  \def\etocclasslocallotmaketitle{\subsection*{\locallisttablename}}%
-  \etocsettoclineforclasstoc        {section}{\contentsname}
-  \etocsettoclineforclasslistof{toc}{subsection}{\localcontentsname}
-  \etocsettoclineforclasslistof{lof}{subsection}{\locallistfigurename}
-  \etocsettoclineforclasslistof{lot}{subsection}{\locallisttablename}
-\fi
-\def\etocclasslocalperhapsaddtotoc #1{%
-    \etocifisstarred
-      {}
-      {\csname ifEtoc@local#1totoc\endcsname
-         \csname etocclasslocal#1addtotoc\endcsname
-       \fi
-      }%
-}
-\def\etocarticlestyle{%
-    \etocsettocstyle
-    {\ifEtoc@localtoc
-       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
-       \etocclasslocalperhapsaddtotoc\Etoc@currext
-     \else
-       \section *{\contentsname
-                  \@mkboth {\MakeUppercase \contentsname}
-                           {\MakeUppercase \contentsname}}%
-       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
-     \fi
-    }
-    {}%
-}
-\def\etocarticlestylenomarks{%
-    \etocsettocstyle
-    {\ifEtoc@localtoc
-       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
-       \etocclasslocalperhapsaddtotoc\Etoc@currext
-     \else
-       \section *{\contentsname}%
-       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
-     \fi
-    }
-    {}%
-}
-\def\etocbookstyle{%
-    \etocsettocstyle
-    {\if@twocolumn \@restonecoltrue \onecolumn \else \@restonecolfalse \fi
-     \ifEtoc@localtoc
-       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
-       \etocclasslocalperhapsaddtotoc\Etoc@currext
-     \else
-       \chapter *{\contentsname
-                  \@mkboth {\MakeUppercase \contentsname}
-                           {\MakeUppercase \contentsname}}%
-       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
-     \fi
-    }%
-    {\if@restonecol \twocolumn \fi}%
-}
-\def\etocbookstylenomarks{%
-    \etocsettocstyle
-    {\if@twocolumn \@restonecoltrue \onecolumn \else \@restonecolfalse \fi
-     \ifEtoc@localtoc
-       \@nameuse{etocclasslocal\Etoc@currext maketitle}%
-       \etocclasslocalperhapsaddtotoc\Etoc@currext
-     \else
-       \chapter *{\contentsname}%
-       \etocifisstarred{}{\etocifmaintoctotoc{\etocclassmaintocaddtotoc}{}}%
-     \fi
-    }%
-    {\if@restonecol \twocolumn \fi}%
-}
-\let\etocreportstyle\etocbookstyle
-\let\etocreportstylenomarks\etocbookstylenomarks
-\def\etocmemoirstyle{%
-    \etocsettocstyle
-        {\ensureonecol \par \begingroup \phantomsection
-         \ifx\Etoc@aftertitlehook\@empty
-         \else
-           \ifmem@em@starred@listof
-           \else
-             \ifEtoc@localtoc
-                  \etocclasslocalperhapsaddtotoc\Etoc@currext
-             \else
-               \ifEtoc@maintoctotoc
-                  \etocclassmaintocaddtotoc
-               \fi
-             \fi
-           \fi
-         \fi
-         \ifEtoc@localtoc
-            \@namedef{@\Etoc@currext maketitle}{%
-               \@nameuse{etocclasslocal\Etoc@currext maketitle}%
-            }%
-         \fi
-         \@nameuse {@\Etoc@currext maketitle} %<< space token here from memoir code
-         \ifx\Etoc@aftertitlehook\@empty
-          \else
-          \Etoc@aftertitlehook \let \Etoc@aftertitlehook \relax
-         \fi
-         \parskip \cftparskip \@nameuse {cft\Etoc@currext beforelisthook}%
-        }%
-        {\@nameuse {cft\Etoc@currext afterlisthook}%
-         \endgroup\restorefromonecol
-        }%
-}
-\let\Etoc@beforetitlehook\@empty
-\if1\@ifclassloaded{scrartcl}0{\@ifclassloaded{scrbook}0{\@ifclassloaded{scrreprt}01}}%
-\expandafter\@gobble
-\else
-   \ifdefined\setuptoc
-     \def\Etoc@beforetitlehook{%
-         \ifEtoc@localtoc
-            \etocclasslocalperhapsaddtotoc\Etoc@currext
-            \setuptoc{\Etoc@currext}{leveldown}%
-         \else
-            \etocifisstarred{}{\etocifmaintoctotoc{\setuptoc{toc}{totoc}}}%
-         \fi
-     }%
-   \fi
-\expandafter\@firstofone
-\fi
-{\def\etocclasslocalperhapsaddtotoc #1{%
-    \etocifisstarred
-    {}%
-    {\csname ifEtoc@local#1totoc\endcsname
-      \setuptoc{\Etoc@currext}{totoc}%
-     \fi
-    }%
-  }%
-}
-\ifdefined\Iftocfeature
-  \def\etoc@Iftocfeature{\Iftocfeature}%
-\else
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diff --git a/docs/latex/event__base_8hpp.tex b/docs/latex/event__base_8hpp.tex
deleted file mode 100644
index 3988b45..0000000
--- a/docs/latex/event__base_8hpp.tex
+++ /dev/null
@@ -1,36 +0,0 @@
-\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/event\+\_\+base.hpp File Reference}
-\hypertarget{event__base_8hpp}{}\label{event__base_8hpp}\index{capabilities2\_events/include/capabilities2\_events/event\_base.hpp@{capabilities2\_events/include/capabilities2\_events/event\_base.hpp}}
-{\ttfamily \#include $<$stdexcept$>$}\newline
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$functional$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+parameters.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+code.\+hpp$>$}\newline
-Include dependency graph for event\+\_\+base.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{event__base_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{event__base_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{capabilities2\+\_\+events\+::event\+\_\+exception}}
-\begin{DoxyCompactList}\small\item\em event exception \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{capabilities2\+\_\+events\+::\+Event\+Base}}
-\begin{DoxyCompactList}\small\item\em event base class \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/event__base_8hpp__dep__incl.md5 b/docs/latex/event__base_8hpp__dep__incl.md5
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diff --git a/docs/latex/event__base_8hpp_source.tex b/docs/latex/event__base_8hpp_source.tex
deleted file mode 100644
index 7c006da..0000000
--- a/docs/latex/event__base_8hpp_source.tex
+++ /dev/null
@@ -1,80 +0,0 @@
-\doxysection{event\+\_\+base.\+hpp}
-\hypertarget{event__base_8hpp_source}{}\label{event__base_8hpp_source}\index{capabilities2\_events/include/capabilities2\_events/event\_base.hpp@{capabilities2\_events/include/capabilities2\_events/event\_base.hpp}}
-\mbox{\hyperlink{event__base_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <stdexcept>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <functional>}}
-\DoxyCodeLine{00006\ }
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
-\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__parameters_8hpp}{capabilities2\_events/event\_parameters.hpp}}>}}
-\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability.hpp>}}
-\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event.hpp>}}
-\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_code.hpp>}}
-\DoxyCodeLine{00012\ }
-\DoxyCodeLine{00013\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\_events}}}
-\DoxyCodeLine{00014\ \{}
-\DoxyCodeLine{00021\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{event\_exception}}\ :\ \textcolor{keyword}{public}\ std::runtime\_error}
-\DoxyCodeLine{00022\ \{}
-\DoxyCodeLine{00023\ \ \ \textcolor{keyword}{using\ }std::runtime\_error::runtime\_error;}
-\DoxyCodeLine{00024\ }
-\DoxyCodeLine{00025\ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception_ad7d805afcac28ab78f9323bd6a740962}{event\_exception}}(\textcolor{keyword}{const}\ std::string\&\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}})\ :\ std::runtime\_error(\mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}})}
-\DoxyCodeLine{00026\ \ \ \{}
-\DoxyCodeLine{00027\ \ \ \}}
-\DoxyCodeLine{00028\ }
-\DoxyCodeLine{00029\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keyword}{const}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}}()\ const\ noexcept\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00030\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00031\ \ \ \ \ \textcolor{keywordflow}{return}\ std::runtime\_error::what();}
-\DoxyCodeLine{00032\ \ \ \}}
-\DoxyCodeLine{00033\ \};}
-\DoxyCodeLine{00034\ }
-\DoxyCodeLine{00042\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{EventBase}}}
-\DoxyCodeLine{00043\ \{}
-\DoxyCodeLine{00044\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00045\ \ \ \textcolor{keyword}{typedef}\ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\_str\_t}};}
-\DoxyCodeLine{00046\ \ \ \textcolor{keyword}{typedef}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a76b5029a3a39b00c5a322b60c0562c97}{parameter\_t}};}
-\DoxyCodeLine{00047\ \ \ \textcolor{keyword}{typedef}\ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\_id\_t}};}
-\DoxyCodeLine{00048\ \ \ \textcolor{keyword}{typedef}\ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\_instance\_id\_t}};}
-\DoxyCodeLine{00049\ \ \ \textcolor{keyword}{typedef}\ std::function<void(\textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0d2aa907ed227b7b6042b698ed0bf77b}{access\_id\_t}}\&,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a62651f0f057c4b561ae19578ba5c5822}{capability\_str\_t}}\&,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ada022c0828aaa8cd023f4cebda9b8209}{target\_instance\_id\_t}}\&,\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{parameter\_t}})>\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\_callback\_t}};}
-\DoxyCodeLine{00050\ }
-\DoxyCodeLine{00051\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00052\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a19f418e37fa9e7c9fe06680b265ceeef}{EventBase}}()}
-\DoxyCodeLine{00053\ \ \ \{}
-\DoxyCodeLine{00054\ \ \ \}}
-\DoxyCodeLine{00055\ }
-\DoxyCodeLine{00056\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01410f9659983468b791d4aaf0c563f7}{\string~EventBase}}()\ =\ \textcolor{keywordflow}{default};}
-\DoxyCodeLine{00057\ }
-\DoxyCodeLine{00071\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{emit}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id,\ \textcolor{keyword}{const}\ uint8\_t\&\ event\_code,}
-\DoxyCodeLine{00072\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ source,}
-\DoxyCodeLine{00073\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ target,\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{event\_callback\_t}}\ callback)}
-\DoxyCodeLine{00074\ \ \ \{}
-\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ extract\ bond\_id\ from\ connection\_id\ (format:\ "{}bond\_id/instance\_id/target\_instance\_id"{})}}
-\DoxyCodeLine{00076\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ first\_pos\ =\ connection\_id.find(\textcolor{charliteral}{'/'});}
-\DoxyCodeLine{00077\ }
-\DoxyCodeLine{00078\ \ \ \ \ std::string\ bond\_id\ =\ (first\_pos\ !=\ std::string::npos)\ ?\ connection\_id.substr(0,\ first\_pos)\ :\ connection\_id;}
-\DoxyCodeLine{00079\ }
-\DoxyCodeLine{00080\ \ \ \ \ \textcolor{comment}{//\ do\ callback\ with\ bond\_id\ for\ access\ control}}
-\DoxyCodeLine{00081\ \ \ \ \ \textcolor{keywordflow}{if}\ (callback)}
-\DoxyCodeLine{00082\ \ \ \ \ \{}
-\DoxyCodeLine{00083\ \ \ \ \ \ \ callback(bond\_id,\ target.capability,\ target.instance\_id,\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}(target));}
-\DoxyCodeLine{00084\ \ \ \ \ \}}
-\DoxyCodeLine{00085\ \ \ \}}
-\DoxyCodeLine{00086\ }
-\DoxyCodeLine{00092\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_af933897ae9b7098b051cc1fcdb74968f}{on\_server\_ready}}(\textcolor{keyword}{const}\ std::string\&\ msg)\ =\ 0;}
-\DoxyCodeLine{00093\ }
-\DoxyCodeLine{00099\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a9a583f7cfb886ba392d2c76e83e30bfb}{on\_process\_launched}}(\textcolor{keyword}{const}\ std::string\&\ pid)\ =\ 0;}
-\DoxyCodeLine{00100\ }
-\DoxyCodeLine{00106\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a021776e08657b8cf8f1b1f9926201f97}{on\_process\_terminated}}(\textcolor{keyword}{const}\ std::string\&\ pid)\ =\ 0;}
-\DoxyCodeLine{00107\ }
-\DoxyCodeLine{00113\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_afad67998148a34956d1e68aa93c57ce0}{on\_triggered}}(\textcolor{keyword}{const}\ std::string\&\ trigger\_id)\ =\ 0;}
-\DoxyCodeLine{00114\ }
-\DoxyCodeLine{00121\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a6deb16537eaa81d11acf71bc47c1a900}{on\_connected}}(\textcolor{keyword}{const}\ std::string\&\ source,\ \textcolor{keyword}{const}\ std::string\&\ target)\ =\ 0;}
-\DoxyCodeLine{00122\ }
-\DoxyCodeLine{00129\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_ab49fc1628a210ce16cb2c9e79e27f528}{on\_disconnected}}(\textcolor{keyword}{const}\ std::string\&\ source,\ \textcolor{keyword}{const}\ std::string\&\ target)\ =\ 0;}
-\DoxyCodeLine{00130\ \};}
-\DoxyCodeLine{00131\ }
-\DoxyCodeLine{00132\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
-
-\end{DoxyCode}
diff --git a/docs/latex/event__node_8hpp.tex b/docs/latex/event__node_8hpp.tex
deleted file mode 100644
index a4e0b31..0000000
--- a/docs/latex/event__node_8hpp.tex
+++ /dev/null
@@ -1,38 +0,0 @@
-\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/event\+\_\+node.hpp File Reference}
-\hypertarget{event__node_8hpp}{}\label{event__node_8hpp}\index{capabilities2\_events/include/capabilities2\_events/event\_node.hpp@{capabilities2\_events/include/capabilities2\_events/event\_node.hpp}}
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$memory$>$}\newline
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/uuid\+\_\+generator.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+code.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+connection.\+hpp$>$}\newline
-Include dependency graph for event\+\_\+node.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{event__node_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{event__node_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\+\_\+events\+::\+Event\+Node}}
-\begin{DoxyCompactList}\small\item\em an event node is a source of an event \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe}}
-\begin{DoxyCompactList}\small\item\em event pipe structure \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/event__node_8hpp__dep__incl.md5 b/docs/latex/event__node_8hpp__dep__incl.md5
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diff --git a/docs/latex/event__node_8hpp_source.tex b/docs/latex/event__node_8hpp_source.tex
deleted file mode 100644
index 42ce0f3..0000000
--- a/docs/latex/event__node_8hpp_source.tex
+++ /dev/null
@@ -1,220 +0,0 @@
-\doxysection{event\+\_\+node.\+hpp}
-\hypertarget{event__node_8hpp_source}{}\label{event__node_8hpp_source}\index{capabilities2\_events/include/capabilities2\_events/event\_node.hpp@{capabilities2\_events/include/capabilities2\_events/event\_node.hpp}}
-\mbox{\hyperlink{event__node_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <memory>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <vector>}}
-\DoxyCodeLine{00007\ }
-\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
-\DoxyCodeLine{00009\ }
-\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{uuid__generator_8hpp}{capabilities2\_events/uuid\_generator.hpp}}>}}
-\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__base_8hpp}{capabilities2\_events/event\_base.hpp}}>}}
-\DoxyCodeLine{00012\ }
-\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability.hpp>}}
-\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_code.hpp>}}
-\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_connection.hpp>}}
-\DoxyCodeLine{00016\ }
-\DoxyCodeLine{00017\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\_events}}}
-\DoxyCodeLine{00018\ \{}
-\DoxyCodeLine{00025\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{EventNode}}}
-\DoxyCodeLine{00026\ \{}
-\DoxyCodeLine{00027\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00035\ \ \ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{EventPipe}}}
-\DoxyCodeLine{00036\ \ \ \{}
-\DoxyCodeLine{00037\ \ \ \ \ \textcolor{comment}{//\ connection\ type}}
-\DoxyCodeLine{00038\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventCode\ \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b}{type}};}
-\DoxyCodeLine{00039\ }
-\DoxyCodeLine{00040\ \ \ \ \ \textcolor{comment}{//\ connection\ target}}
-\DoxyCodeLine{00041\ \ \ \ \ capabilities2\_msgs::msg::Capability\ \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33}{target}};}
-\DoxyCodeLine{00042\ }
-\DoxyCodeLine{00043\ \ \ \ \ \textcolor{comment}{//\ event\ callback\ with\ signature:\ (capability,\ parameters,\ bond\_id)}}
-\DoxyCodeLine{00044\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{EventBase::event\_callback\_t}}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40}{callback}};}
-\DoxyCodeLine{00045\ \ \ \};}
-\DoxyCodeLine{00046\ }
-\DoxyCodeLine{00047\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00048\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a3cd9380c3e2739278c1601d844aa5fc9}{EventNode}}(std::shared\_ptr<EventBase>\ event\_emitter\ =\ \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{00049\ \ \ \ \ :\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}{id\_}}(\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}::gen\_uuid\_str()),\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}}(),\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}(event\_emitter),\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}()}
-\DoxyCodeLine{00050\ \ \ \{}
-\DoxyCodeLine{00051\ \ \ \}}
-\DoxyCodeLine{00052\ }
-\DoxyCodeLine{00053\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0e58130ead683f82e421ea373f670fd0}{\string~EventNode}}()\ =\ \textcolor{keywordflow}{default};}
-\DoxyCodeLine{00054\ }
-\DoxyCodeLine{00064\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,\ \textcolor{keyword}{const}\ uint8\_t\&\ event\_type,}
-\DoxyCodeLine{00065\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}())}
-\DoxyCodeLine{00066\ \ \ \{}
-\DoxyCodeLine{00067\ \ \ \ \ \textcolor{comment}{//\ check\ if\ event\ emitter\ is\ set}}
-\DoxyCodeLine{00068\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}})}
-\DoxyCodeLine{00069\ \ \ \ \ \{}
-\DoxyCodeLine{00070\ \ \ \ \ \ \ \textcolor{comment}{//\ No\ event\ emitter\ configured\ -\/\ silently\ skip}}
-\DoxyCodeLine{00071\ \ \ \ \ \ \ \textcolor{comment}{//\ This\ allows\ runners\ to\ work\ without\ event\ system\ if\ needed}}
-\DoxyCodeLine{00072\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00073\ \ \ \ \ \}}
-\DoxyCodeLine{00074\ }
-\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ check\ each\ connection}}
-\DoxyCodeLine{00076\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ [conn\_id,\ connection]\ :\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}})}
-\DoxyCodeLine{00077\ \ \ \ \ \{}
-\DoxyCodeLine{00078\ \ \ \ \ \ \ \textcolor{comment}{//\ extract\ bond\_id\ from\ connection\_id\ (format:\ "{}bond\_id/instance\_id/target\_instance\_id"{})}}
-\DoxyCodeLine{00079\ \ \ \ \ \ \ \textcolor{keywordtype}{size\_t}\ first\_pos\ =\ conn\_id.find(\textcolor{charliteral}{'/'});}
-\DoxyCodeLine{00080\ \ \ \ \ \ \ \textcolor{keywordtype}{size\_t}\ second\_pos\ =\ conn\_id.find(\textcolor{charliteral}{'/'},\ first\_pos\ +\ 1);}
-\DoxyCodeLine{00081\ }
-\DoxyCodeLine{00082\ \ \ \ \ \ \ std::string\ conn\_bond\_id\ =\ (first\_pos\ !=\ std::string::npos)\ ?\ conn\_id.substr(0,\ first\_pos)\ :\ conn\_id;}
-\DoxyCodeLine{00083\ \ \ \ \ \ \ std::string\ conn\_instance\_id\ =}
-\DoxyCodeLine{00084\ \ \ \ \ \ \ \ \ \ \ (second\_pos\ !=\ std::string::npos)\ ?\ conn\_id.substr(first\_pos\ +\ 1,\ second\_pos\ -\/\ first\_pos\ -\/\ 1)\ :\ \textcolor{stringliteral}{"{}"{}};}
-\DoxyCodeLine{00085\ }
-\DoxyCodeLine{00086\ \ \ \ \ \ \ \textcolor{comment}{//\ get\ targets\ for\ this\ event\ type\ and\ id\ namespace}}
-\DoxyCodeLine{00087\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (connection.type.code\ ==\ event\_type\ \&\&\ bond\_id\ ==\ conn\_bond\_id\ \&\&\ instance\_id\ ==\ conn\_instance\_id)}
-\DoxyCodeLine{00088\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00089\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ parameterise\ target\ capability\ with\ parameters\ from\ the\ trigger}}
-\DoxyCodeLine{00090\ \ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ old\_parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}(connection.target);}
-\DoxyCodeLine{00091\ }
-\DoxyCodeLine{00092\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ extend\ or\ replace\ parameters\ of\ the\ target\ capability\ if\ any\ non\ empty\ parameters\ are\ provided}}
-\DoxyCodeLine{00093\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (!parameters.is\_empty())}
-\DoxyCodeLine{00094\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ option\ :\ parameters.options)}
-\DoxyCodeLine{00095\ \ \ \ \ \ \ \ \ \ \ \ \ old\_parameters.set\_value(option.key,\ option.get\_value(),\ option.type);}
-\DoxyCodeLine{00096\ }
-\DoxyCodeLine{00097\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ create\ a\ new\ target\ capability\ message\ with\ updated\ parameters\ to\ emit\ with\ the\ event}}
-\DoxyCodeLine{00098\ \ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ target\_with\_params\ =\ old\_parameters.toMsg();}
-\DoxyCodeLine{00099\ }
-\DoxyCodeLine{00100\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ copy\ capability\ and\ provider\ from\ original\ target\ as\ parameters\ only\ contains\ the\ options}}
-\DoxyCodeLine{00101\ \ \ \ \ \ \ \ \ target\_with\_params.capability\ =\ connection.target.capability;}
-\DoxyCodeLine{00102\ \ \ \ \ \ \ \ \ target\_with\_params.provider\ =\ connection.target.provider;}
-\DoxyCodeLine{00103\ \ \ \ \ \ \ \ \ target\_with\_params.instance\_id\ =\ connection.target.instance\_id;}
-\DoxyCodeLine{00104\ }
-\DoxyCodeLine{00105\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ event\ via\ event\ api}}
-\DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ NOTE:\ callback\ invocation\ is\ handled\ by\ event\ api}}
-\DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ this\ allows\ the\ nodes\ to\ be\ decoupled}}
-\DoxyCodeLine{00108\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ nodes\ just\ keep\ track\ of\ connections}}
-\DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ modifying\ execution\ of\ other\ nodes\ is\ not\ owned\ by\ this\ class}}
-\DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ this\ lets\ the\ execution\ flow\ be\ made\ thread-\/safe}}
-\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ in\ the\ scope\ where\ the\ thread\ is\ owned}}
-\DoxyCodeLine{00112\ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}-\/>emit(conn\_id,\ event\_type,\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}},\ target\_with\_params,\ connection.callback);}
-\DoxyCodeLine{00113\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00114\ \ \ \ \ \}}
-\DoxyCodeLine{00115\ \ \ \}}
-\DoxyCodeLine{00116\ }
-\DoxyCodeLine{00117\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00123\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a10f7d884696c76f58fa43a03d69369f4}{set\_source}}(\textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ src)}
-\DoxyCodeLine{00124\ \ \ \{}
-\DoxyCodeLine{00125\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}}\ =\ src;}
-\DoxyCodeLine{00126\ \ \ \}}
-\DoxyCodeLine{00127\ }
-\DoxyCodeLine{00135\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a41dc0f4b8ad35d358181f25d646f396e}{set\_event\_emitter}}(std::shared\_ptr<EventBase>\ event\_emitter)}
-\DoxyCodeLine{00136\ \ \ \{}
-\DoxyCodeLine{00137\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}\ =\ event\_emitter;}
-\DoxyCodeLine{00138\ \ \ \}}
-\DoxyCodeLine{00139\ }
-\DoxyCodeLine{00154\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a54192391a09d30e778b5ef73a07e5476}{add\_connection}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id,\ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilityEventCode\&\ type,}
-\DoxyCodeLine{00155\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ target,\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{EventBase::event\_callback\_t}}\ event\_cb)}
-\DoxyCodeLine{00156\ \ \ \{}
-\DoxyCodeLine{00157\ \ \ \ \ \textcolor{comment}{//\ validate\ connection\ id}}
-\DoxyCodeLine{00158\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.find(connection\_id)\ !=\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.end())}
-\DoxyCodeLine{00159\ \ \ \ \ \{}
-\DoxyCodeLine{00160\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{event\_exception}}(\textcolor{stringliteral}{"{}connection\ with\ id:\ "{}}\ +\ connection\_id\ +\ \textcolor{stringliteral}{"{}\ already\ exists"{}});}
-\DoxyCodeLine{00161\ \ \ \ \ \}}
-\DoxyCodeLine{00162\ }
-\DoxyCodeLine{00163\ \ \ \ \ \textcolor{comment}{//\ set\ up\ an\ event\ pipe}}
-\DoxyCodeLine{00164\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe}{EventPipe}}\ conn;}
-\DoxyCodeLine{00165\ \ \ \ \ conn.\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b}{type}}\ =\ type;}
-\DoxyCodeLine{00166\ \ \ \ \ conn.\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33}{target}}\ =\ target;}
-\DoxyCodeLine{00167\ \ \ \ \ conn.\mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40}{callback}}\ =\ event\_cb;}
-\DoxyCodeLine{00168\ }
-\DoxyCodeLine{00169\ \ \ \ \ \textcolor{comment}{//\ add\ connection}}
-\DoxyCodeLine{00170\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}[connection\_id]\ =\ conn;}
-\DoxyCodeLine{00171\ }
-\DoxyCodeLine{00172\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}})}
-\DoxyCodeLine{00173\ \ \ \ \ \{}
-\DoxyCodeLine{00174\ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ connected\ event}}
-\DoxyCodeLine{00175\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}-\/>on\_connected(\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}}.capability,\ target.capability);}
-\DoxyCodeLine{00176\ \ \ \ \ \}}
-\DoxyCodeLine{00177\ \ \ \}}
-\DoxyCodeLine{00178\ }
-\DoxyCodeLine{00184\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1aefc3465612e5a4662190ae251f9ded}{remove\_connection}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id)}
-\DoxyCodeLine{00185\ \ \ \{}
-\DoxyCodeLine{00186\ \ \ \ \ \textcolor{comment}{//\ remove\ connection}}
-\DoxyCodeLine{00187\ \ \ \ \ \textcolor{keyword}{auto}\ it\ =\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.find(connection\_id);}
-\DoxyCodeLine{00188\ \ \ \ \ \textcolor{keywordflow}{if}\ (it\ ==\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.end())}
-\DoxyCodeLine{00189\ \ \ \ \ \{}
-\DoxyCodeLine{00190\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{event\_exception}}(\textcolor{stringliteral}{"{}connection\ with\ id:\ "{}}\ +\ connection\_id\ +\ \textcolor{stringliteral}{"{}\ does\ not\ exist"{}});}
-\DoxyCodeLine{00191\ \ \ \ \ \}}
-\DoxyCodeLine{00192\ \ \ \ \ \textcolor{keyword}{auto}\ target\ =\ it-\/>second.target;}
-\DoxyCodeLine{00193\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.erase(connection\_id);}
-\DoxyCodeLine{00194\ }
-\DoxyCodeLine{00195\ \ \ \ \ \textcolor{comment}{//\ emit\ disconnected\ event}}
-\DoxyCodeLine{00196\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}})}
-\DoxyCodeLine{00197\ \ \ \ \ \{}
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-\DoxyCodeLine{00200\ \ \ \}}
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-\DoxyCodeLine{00202\ \ \ \textcolor{comment}{//\ helper\ members}}
-\DoxyCodeLine{00203\ }
-\DoxyCodeLine{00207\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ee75f7c81c01519c250045ade85eaf7}{clear\_connections}}()}
-\DoxyCodeLine{00208\ \ \ \{}
-\DoxyCodeLine{00209\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.clear();}
-\DoxyCodeLine{00210\ \ \ \}}
-\DoxyCodeLine{00211\ }
-\DoxyCodeLine{00217\ \ \ std::vector<capabilities2\_msgs::msg::CapabilityConnection>\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a1ae8d0a9622e781f9d8891018c5239a8}{list\_connections}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00218\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00219\ \ \ \ \ std::vector<capabilities2\_msgs::msg::CapabilityConnection>\ conns;}
-\DoxyCodeLine{00220\ }
-\DoxyCodeLine{00221\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ [conn\_id,\ connection]\ :\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}})}
-\DoxyCodeLine{00222\ \ \ \ \ \{}
-\DoxyCodeLine{00223\ \ \ \ \ \ \ capabilities2\_msgs::msg::CapabilityConnection\ c;}
-\DoxyCodeLine{00224\ \ \ \ \ \ \ c.type\ =\ connection.type;}
-\DoxyCodeLine{00225\ \ \ \ \ \ \ c.source\ =\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}};}
-\DoxyCodeLine{00226\ \ \ \ \ \ \ c.target\ =\ connection.target;}
-\DoxyCodeLine{00227\ \ \ \ \ \ \ conns.push\_back(c);}
-\DoxyCodeLine{00228\ \ \ \ \ \}}
-\DoxyCodeLine{00229\ }
-\DoxyCodeLine{00230\ \ \ \ \ \textcolor{keywordflow}{return}\ conns;}
-\DoxyCodeLine{00231\ \ \ \}}
-\DoxyCodeLine{00232\ }
-\DoxyCodeLine{00240\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a53f3a0dad63b42456ad2a6dd4bddc7ab}{has\_connection}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id)\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00241\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00242\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.find(connection\_id)\ !=\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.end();}
-\DoxyCodeLine{00243\ \ \ \}}
-\DoxyCodeLine{00244\ }
-\DoxyCodeLine{00250\ \ \ \textcolor{keywordtype}{size\_t}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a40118ab94ad06cf3759f4833c53ee575}{connection\_count}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00251\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00252\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}}.size();}
-\DoxyCodeLine{00253\ \ \ \}}
-\DoxyCodeLine{00254\ }
-\DoxyCodeLine{00260\ \ \ \textcolor{keyword}{const}\ std::string\&\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a17cab4cfcc38f312fb7f37698c43d6b1}{get\_id}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00261\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00262\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}{id\_}};}
-\DoxyCodeLine{00263\ \ \ \}}
-\DoxyCodeLine{00264\ }
-\DoxyCodeLine{00270\ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0af021d2aadac8d3b930fcdfc7b69da8}{get\_source}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00271\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00272\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}};}
-\DoxyCodeLine{00273\ \ \ \}}
-\DoxyCodeLine{00274\ }
-\DoxyCodeLine{00278\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_aa66f138bc8fa897c84d8ffd529396002}{is\_event\_emitter\_set}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00279\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00280\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}}\ !=\ \textcolor{keyword}{nullptr};}
-\DoxyCodeLine{00281\ \ \ \}}
-\DoxyCodeLine{00282\ }
-\DoxyCodeLine{00283\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00284\ \ \ \textcolor{comment}{//\ unique\ id\ of\ the\ event\ node}}
-\DoxyCodeLine{00285\ \ \ \textcolor{comment}{//\ using\ uuid\ string}}
-\DoxyCodeLine{00286\ \ \ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a39d451da5c7fac76f125307884baf4b4}{id\_}};}
-\DoxyCodeLine{00287\ }
-\DoxyCodeLine{00288\ \ \ \textcolor{comment}{//\ source\ capability\ of\ this\ event\ node}}
-\DoxyCodeLine{00289\ \ \ capabilities2\_msgs::msg::Capability\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a749cc5b8b86f3ac4d82ecc2b124d46ce}{source\_}};}
-\DoxyCodeLine{00290\ }
-\DoxyCodeLine{00291\ \ \ \textcolor{comment}{//\ event\ emitter\ used\ to\ emit\ events}}
-\DoxyCodeLine{00292\ \ \ \textcolor{comment}{//\ store\ as\ member\ to\ avoid\ passing\ around}}
-\DoxyCodeLine{00293\ \ \ std::shared\_ptr<EventBase>\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_a0aff474ac782cae10ca79d37c1f17a44}{event\_emitter\_}};}
-\DoxyCodeLine{00294\ }
-\DoxyCodeLine{00295\ \ \ \textcolor{comment}{//\ connections\ from\ this\ event\ node\ to\ target\ capabilities}}
-\DoxyCodeLine{00296\ \ \ \textcolor{comment}{//\ Key:\ connection\_id\ (format:\ "{}bond\_id/trigger\_id"{})}}
-\DoxyCodeLine{00297\ \ \ \textcolor{comment}{//\ Value:\ EventPipe\ with\ type,\ target,\ callback}}
-\DoxyCodeLine{00298\ \ \ std::map<std::string,\ EventPipe>\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ac4adaeea856545dfc84174082f6ed856}{connections\_}};}
-\DoxyCodeLine{00299\ \};}
-\DoxyCodeLine{00300\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
-
-\end{DoxyCode}
diff --git a/docs/latex/event__parameters_8hpp.tex b/docs/latex/event__parameters_8hpp.tex
deleted file mode 100644
index 982f267..0000000
--- a/docs/latex/event__parameters_8hpp.tex
+++ /dev/null
@@ -1,53 +0,0 @@
-\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/event\+\_\+parameters.hpp File Reference}
-\hypertarget{event__parameters_8hpp}{}\label{event__parameters_8hpp}\index{capabilities2\_events/include/capabilities2\_events/event\_parameters.hpp@{capabilities2\_events/include/capabilities2\_events/event\_parameters.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$any$>$}\newline
-{\ttfamily \#include $<$stdexcept$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+parameter.\+hpp$>$}\newline
-Include dependency graph for event\+\_\+parameters.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{event__parameters_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{event__parameters_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{capabilities2\+\_\+events\+::options\+\_\+exception}}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{capabilities2\+\_\+events\+::\+Parameter}}
-\begin{DoxyCompactList}\small\item\em Key value pair for capability options. \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\+\_\+events\+::\+Event\+Parameters}}
-\begin{DoxyCompactList}\small\item\em capability options for a capability runner given by interface and provider \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Enumerations}
-\begin{DoxyCompactItemize}
-\item 
-enum class \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{capabilities2\+\_\+events\+::\+Option\+Type}} \{ \newline
-\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5}{capabilities2\+\_\+events\+::\+BOOL}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229}{capabilities2\+\_\+events\+::\+DOUBLE}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92}{capabilities2\+\_\+events\+::\+INT}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949}{capabilities2\+\_\+events\+::\+STRING}}
-, \newline
-\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2}{capabilities2\+\_\+events\+::\+UNCONVERTED}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424}{capabilities2\+\_\+events\+::\+VECTOR\+\_\+\+BOOL}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe}{capabilities2\+\_\+events\+::\+VECTOR\+\_\+\+DOUBLE}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8}{capabilities2\+\_\+events\+::\+VECTOR\+\_\+\+INT}}
-, \newline
-\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20}{capabilities2\+\_\+events\+::\+VECTOR\+\_\+\+STRING}}
- \}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/event__parameters_8hpp__dep__incl.md5 b/docs/latex/event__parameters_8hpp__dep__incl.md5
deleted file mode 100644
index 59230cd..0000000
--- a/docs/latex/event__parameters_8hpp__dep__incl.md5
+++ /dev/null
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diff --git a/docs/latex/event__parameters_8hpp_source.tex b/docs/latex/event__parameters_8hpp_source.tex
deleted file mode 100644
index f5e0b59..0000000
--- a/docs/latex/event__parameters_8hpp_source.tex
+++ /dev/null
@@ -1,240 +0,0 @@
-\doxysection{event\+\_\+parameters.\+hpp}
-\hypertarget{event__parameters_8hpp_source}{}\label{event__parameters_8hpp_source}\index{capabilities2\_events/include/capabilities2\_events/event\_parameters.hpp@{capabilities2\_events/include/capabilities2\_events/event\_parameters.hpp}}
-\mbox{\hyperlink{event__parameters_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <vector>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <any>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <stdexcept>}}
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability.hpp>}}
-\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_parameter.hpp>}}
-\DoxyCodeLine{00009\ }
-\DoxyCodeLine{00010\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\_events}}}
-\DoxyCodeLine{00011\ \{}
-\DoxyCodeLine{00012\ }
-\DoxyCodeLine{00013\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{options\_exception}}\ :\ \textcolor{keyword}{public}\ std::runtime\_error}
-\DoxyCodeLine{00014\ \{}
-\DoxyCodeLine{00015\ \ \ \textcolor{keyword}{using\ }std::runtime\_error::runtime\_error;}
-\DoxyCodeLine{00016\ }
-\DoxyCodeLine{00017\ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1options__exception_af6cd097f7264ece12deaa7ae6cc9f0dc}{options\_exception}}(\textcolor{keyword}{const}\ std::string\&\ \mbox{\hyperlink{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532}{what}})\ :\ std::runtime\_error(\mbox{\hyperlink{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532}{what}})}
-\DoxyCodeLine{00018\ \ \ \{}
-\DoxyCodeLine{00019\ \ \ \}}
-\DoxyCodeLine{00020\ }
-\DoxyCodeLine{00021\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keyword}{const}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532}{what}}()\ const\ noexcept\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00022\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00023\ \ \ \ \ \textcolor{keywordflow}{return}\ std::runtime\_error::what();}
-\DoxyCodeLine{00024\ \ \ \}}
-\DoxyCodeLine{00025\ \};}
-\DoxyCodeLine{00026\ }
-\DoxyCodeLine{00027\ \textcolor{keyword}{enum\ class}\ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{OptionType}}}
-\DoxyCodeLine{00028\ \{}
-\DoxyCodeLine{00029\ \ \ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5}{BOOL}},}
-\DoxyCodeLine{00030\ \ \ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229}{DOUBLE}},}
-\DoxyCodeLine{00031\ \ \ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92}{INT}},}
-\DoxyCodeLine{00032\ \ \ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949}{STRING}},}
-\DoxyCodeLine{00033\ \ \ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2}{UNCONVERTED}},}
-\DoxyCodeLine{00034\ \ \ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424}{VECTOR\_BOOL}},}
-\DoxyCodeLine{00035\ \ \ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe}{VECTOR\_DOUBLE}},}
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-\DoxyCodeLine{00038\ \};}
-\DoxyCodeLine{00039\ }
-\DoxyCodeLine{00046\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{Parameter}}}
-\DoxyCodeLine{00047\ \{}
-\DoxyCodeLine{00048\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a57b71a8358c3a4af184b1713a772474a}{key}};}
-\DoxyCodeLine{00049\ \ \ std::vector<std::string>\ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a5cd5fb07b1a96468bdbed99bd904a234}{value}};}
-\DoxyCodeLine{00050\ \ \ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{OptionType}}\ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a63eaf7bcb8ab3f2a3839c9963563b546}{type}};}
-\DoxyCodeLine{00051\ }
-\DoxyCodeLine{00052\ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a3fd3f8d62c0e49aa657535e3df9c8430}{Parameter}}()\ =\ \textcolor{keywordflow}{default};}
-\DoxyCodeLine{00053\ }
-\DoxyCodeLine{00054\ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a097dc936b8692fa57498b7975a3fe8a9}{Parameter}}(\textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilityParameter\&\ msg)}
-\DoxyCodeLine{00055\ \ \ \{}
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-\DoxyCodeLine{00255\ \ \ \ \ new\_option.\mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a7e297cd1d51c0c23a56146275f41c431}{set\_value}}(key,\ value,\ type);}
-\DoxyCodeLine{00256\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}}.push\_back(new\_option);}
-\DoxyCodeLine{00257\ \ \ \}}
-\DoxyCodeLine{00258\ }
-\DoxyCodeLine{00259\ \ \ capabilities2\_msgs::msg::Capability\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_af4cb9521061d29b8e77d19cd7b13cfdd}{toMsg}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00260\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00261\ \ \ \ \ capabilities2\_msgs::msg::Capability\ msg;}
-\DoxyCodeLine{00262\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ option\ :\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}})}
-\DoxyCodeLine{00263\ \ \ \ \ \ \ msg.parameters.push\_back(option.toMsg());}
-\DoxyCodeLine{00264\ \ \ \ \ \textcolor{keywordflow}{return}\ msg;}
-\DoxyCodeLine{00265\ \ \ \}}
-\DoxyCodeLine{00266\ \};}
-\DoxyCodeLine{00267\ }
-\DoxyCodeLine{00268\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
-
-\end{DoxyCode}
diff --git a/docs/latex/files.tex b/docs/latex/files.tex
deleted file mode 100644
index 3f34ffc..0000000
--- a/docs/latex/files.tex
+++ /dev/null
@@ -1,54 +0,0 @@
-\doxysection{File List}
-Here is a list of all files with brief descriptions\+:\begin{DoxyCompactList}
-\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__base_8hpp}{event\+\_\+base.\+hpp}} }{\pageref{event__base_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__node_8hpp}{event\+\_\+node.\+hpp}} }{\pageref{event__node_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}} }{\pageref{event__parameters_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{published__event_8hpp}{published\+\_\+event.\+hpp}} }{\pageref{published__event_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{uuid__generator_8hpp}{uuid\+\_\+generator.\+hpp}} }{\pageref{uuid__generator_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+events/src/\mbox{\hyperlink{uuid__generator_8cpp}{uuid\+\_\+generator.\+cpp}} }{\pageref{uuid__generator_8cpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{action__runner_8hpp}{action\+\_\+runner.\+hpp}} }{\pageref{action__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{encap__runner_8hpp}{encap\+\_\+runner.\+hpp}} }{\pageref{encap__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{launch__runner_8hpp}{launch\+\_\+runner.\+hpp}} }{\pageref{launch__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{multiplex__base__runner_8hpp}{multiplex\+\_\+base\+\_\+runner.\+hpp}} }{\pageref{multiplex__base__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{notrigger__runner_8hpp}{notrigger\+\_\+runner.\+hpp}} }{\pageref{notrigger__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}} }{\pageref{runner__base_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{service__runner_8hpp}{service\+\_\+runner.\+hpp}} }{\pageref{service__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{threadtrigger__runner_8hpp}{threadtrigger\+\_\+runner.\+hpp}} }{\pageref{threadtrigger__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{topic__runner_8hpp}{topic\+\_\+runner.\+hpp}} }{\pageref{topic__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/\mbox{\hyperlink{get__capability__specs__runner_8hpp}{get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp}} }{\pageref{get__capability__specs__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/\mbox{\hyperlink{input__multiplex__runner_8hpp}{input\+\_\+multiplex\+\_\+runner.\+hpp}} }{\pageref{input__multiplex__runner_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/src/\mbox{\hyperlink{dummy__runner_8cpp}{dummy\+\_\+runner.\+cpp}} }{\pageref{dummy__runner_8cpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/src/\mbox{\hyperlink{launch__runner_8cpp}{launch\+\_\+runner.\+cpp}} }{\pageref{launch__runner_8cpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+runner/src/system/\mbox{\hyperlink{system__runners_8cpp}{system\+\_\+runners.\+cpp}} }{\pageref{system__runners_8cpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{bond__cache_8hpp}{bond\+\_\+cache.\+hpp}} }{\pageref{bond__cache_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__api_8hpp}{capabilities\+\_\+api.\+hpp}} }{\pageref{capabilities__api_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__db_8hpp}{capabilities\+\_\+db.\+hpp}} }{\pageref{capabilities__db_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{capabilities__server_8hpp}{capabilities\+\_\+server.\+hpp}} }{\pageref{capabilities__server_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{db__base_8hpp}{db\+\_\+base.\+hpp}} }{\pageref{db__base_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/\mbox{\hyperlink{runner__cache_8hpp}{runner\+\_\+cache.\+hpp}} }{\pageref{runner__cache_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{defineable__base_8hpp}{defineable\+\_\+base.\+hpp}} }{\pageref{defineable__base_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}} }{\pageref{header_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{interface_8hpp}{interface.\+hpp}} }{\pageref{interface_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{predicate_8hpp}{predicate.\+hpp}} }{\pageref{predicate_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{predicateable__base_8hpp}{predicateable\+\_\+base.\+hpp}} }{\pageref{predicateable__base_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{provider_8hpp}{provider.\+hpp}} }{\pageref{provider_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remappable__base_8hpp}{remappable\+\_\+base.\+hpp}} }{\pageref{remappable__base_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remapping_8hpp}{remapping.\+hpp}} }{\pageref{remapping_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{resource_8hpp}{resource.\+hpp}} }{\pageref{resource_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{run__config_8hpp}{run\+\_\+config.\+hpp}} }{\pageref{run__config_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{running_8hpp}{running.\+hpp}} }{\pageref{running_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{semantic__interface_8hpp}{semantic\+\_\+interface.\+hpp}} }{\pageref{semantic__interface_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/include/capabilities2\+\_\+server/utils/\mbox{\hyperlink{sql__safe_8hpp}{sql\+\_\+safe.\+hpp}} }{\pageref{sql__safe_8hpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/launch/\mbox{\hyperlink{capabilities2__server_8composed_8launch_8py}{capabilities2\+\_\+server.\+composed.\+launch.\+py}} }{\pageref{capabilities2__server_8composed_8launch_8py}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/launch/\mbox{\hyperlink{capabilities2__server_8launch_8py}{capabilities2\+\_\+server.\+launch.\+py}} }{\pageref{capabilities2__server_8launch_8py}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/scripts/\mbox{\hyperlink{capability__registrar_8py}{capability\+\_\+registrar.\+py}} }{\pageref{capability__registrar_8py}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/src/\mbox{\hyperlink{capabilities__server__component_8cpp}{capabilities\+\_\+server\+\_\+component.\+cpp}} }{\pageref{capabilities__server__component_8cpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/src/\mbox{\hyperlink{capabilities__server__node_8cpp}{capabilities\+\_\+server\+\_\+node.\+cpp}} }{\pageref{capabilities__server__node_8cpp}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__establish__bond_8py}{call\+\_\+establish\+\_\+bond.\+py}} }{\pageref{call__establish__bond_8py}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__get__interfaces_8py}{call\+\_\+get\+\_\+interfaces.\+py}} }{\pageref{call__get__interfaces_8py}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__get__providers_8py}{call\+\_\+get\+\_\+providers.\+py}} }{\pageref{call__get__providers_8py}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__get__semantic__interfaces_8py}{call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+py}} }{\pageref{call__get__semantic__interfaces_8py}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__get__specs_8py}{call\+\_\+get\+\_\+specs.\+py}} }{\pageref{call__get__specs_8py}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{call__register__cap_8py}{call\+\_\+register\+\_\+cap.\+py}} }{\pageref{call__register__cap_8py}}{}
-\item\contentsline{section}{capabilities2\+\_\+server/test/\mbox{\hyperlink{test_8cpp}{test.\+cpp}} }{\pageref{test_8cpp}}{}
-\end{DoxyCompactList}
diff --git a/docs/latex/get__capability__specs__runner_8hpp.tex b/docs/latex/get__capability__specs__runner_8hpp.tex
deleted file mode 100644
index de7c916..0000000
--- a/docs/latex/get__capability__specs__runner_8hpp.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/get\+\_\+capability\+\_\+specs\+\_\+runner.hpp File Reference}
-\hypertarget{get__capability__specs__runner_8hpp}{}\label{get__capability__specs__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/system/get\_capability\_specs\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/system/get\_capability\_specs\_runner.hpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+runner/service\+\_\+runner.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/srv/get\+\_\+capability\+\_\+specs.\+hpp$>$}\newline
-Include dependency graph for get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{get__capability__specs__runner_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=254pt]{get__capability__specs__runner_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}
-\begin{DoxyCompactList}\small\item\em Executor runner class. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/get__capability__specs__runner_8hpp__dep__incl.md5 b/docs/latex/get__capability__specs__runner_8hpp__dep__incl.md5
deleted file mode 100644
index 80cc69a..0000000
--- a/docs/latex/get__capability__specs__runner_8hpp__dep__incl.md5
+++ /dev/null
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diff --git a/docs/latex/get__capability__specs__runner_8hpp__dep__incl.pdf b/docs/latex/get__capability__specs__runner_8hpp__dep__incl.pdf
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diff --git a/docs/latex/get__capability__specs__runner_8hpp_source.tex b/docs/latex/get__capability__specs__runner_8hpp_source.tex
deleted file mode 100644
index 80b65b4..0000000
--- a/docs/latex/get__capability__specs__runner_8hpp_source.tex
+++ /dev/null
@@ -1,65 +0,0 @@
-\doxysection{get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp}
-\hypertarget{get__capability__specs__runner_8hpp_source}{}\label{get__capability__specs__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/system/get\_capability\_specs\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/system/get\_capability\_specs\_runner.hpp}}
-\mbox{\hyperlink{get__capability__specs__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{service__runner_8hpp}{capabilities2\_runner/service\_runner.hpp}}>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/srv/get\_capability\_specs.hpp>}}
-\DoxyCodeLine{00005\ }
-\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00007\ \{}
-\DoxyCodeLine{00008\ }
-\DoxyCodeLine{00015\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{GetCapabilitySpecsRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{ServiceRunner}}<capabilities2\_msgs::srv::GetCapabilitySpecs>}
-\DoxyCodeLine{00016\ \{}
-\DoxyCodeLine{00017\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00018\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a848b090faf5103681df61bf494495966}{GetCapabilitySpecsRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{ServiceRunner}}()}
-\DoxyCodeLine{00019\ \ \ \{}
-\DoxyCodeLine{00020\ \ \ \}}
-\DoxyCodeLine{00021\ }
-\DoxyCodeLine{00029\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_ac6e0cc26c38f4ae100f6e2b8a70e4e36}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00030\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00031\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}{init\_service}}(node,\ run\_config,\ \textcolor{stringliteral}{"{}/capabilities/get\_capability\_specs"{}});}
-\DoxyCodeLine{00032\ }
-\DoxyCodeLine{00033\ \ \ \ \ \textcolor{comment}{//\ emit\ start\ event}}
-\DoxyCodeLine{00034\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\_started}}(bond\_id,\ \textcolor{stringliteral}{"{}"{}},\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\_on\_started}}());}
-\DoxyCodeLine{00035\ \ \ \}}
-\DoxyCodeLine{00036\ }
-\DoxyCodeLine{00037\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00044\ \ \ \textcolor{keyword}{virtual}\ capabilities2\_msgs::srv::GetCapabilitySpecs::Request}
-\DoxyCodeLine{00045\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a57653f78da292a2f2944271008cdcb5b}{generate\_request}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00046\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00047\ \ \ \ \ capabilities2\_msgs::srv::GetCapabilitySpecs::Request\ request;}
-\DoxyCodeLine{00048\ \ \ \ \ \textcolor{keywordflow}{return}\ request;}
-\DoxyCodeLine{00049\ \ \ \}}
-\DoxyCodeLine{00050\ }
-\DoxyCodeLine{00057\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a1e2ce72b2f85ecbc96408093eeaba065}{param\_on\_success}}()\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00058\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00059\ \ \ \ \ \textcolor{comment}{//\ Create\ an\ Event\ Parameter\ with\ CapabilitySpecs\ content}}
-\DoxyCodeLine{00060\ \ \ \ \ std::vector<std::string>\ capability\_spec\_strings;}
-\DoxyCodeLine{00061\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ spec\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}{response\_}}-\/>capability\_specs)}
-\DoxyCodeLine{00062\ \ \ \ \ \{}
-\DoxyCodeLine{00063\ \ \ \ \ \ \ std::string\ spec\_string\ =\ \textcolor{stringliteral}{"{}package:\ "{}}\ +\ spec.package\ +\ \textcolor{stringliteral}{"{},\ type:\ "{}}\ +\ spec.type\ +}
-\DoxyCodeLine{00064\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{},\ default\_provider:\ "{}}\ +\ spec.default\_provider\ +\ \textcolor{stringliteral}{"{},\ content:\ "{}}\ +\ spec.content;}
-\DoxyCodeLine{00065\ \ \ \ \ \ \ capability\_spec\_strings.push\_back(spec\_string);}
-\DoxyCodeLine{00066\ \ \ \ \ \}}
-\DoxyCodeLine{00067\ }
-\DoxyCodeLine{00068\ \ \ \ \ \textcolor{comment}{//\ Create\ EventParameters\ and\ set\ the\ capability\ specs\ as\ a\ parameter\ for\ the\ on\_success\ event}}
-\DoxyCodeLine{00069\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters;}
-\DoxyCodeLine{00070\ \ \ \ \ parameters.\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_abc8bda9430434f26bb4db99e17455e5a}{set\_value}}(\textcolor{stringliteral}{"{}CapabilitySpecs"{}},\ capability\_spec\_strings,\ \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20}{capabilities2\_events::OptionType::VECTOR\_STRING}});}
-\DoxyCodeLine{00071\ }
-\DoxyCodeLine{00072\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}GetCapabilitySpecsRunner\ creating\ param\_on\_success\ with\ \%zu\ capability\ specs"{}},\ capability\_spec\_strings.size());}
-\DoxyCodeLine{00073\ }
-\DoxyCodeLine{00074\ \ \ \ \ \textcolor{keywordflow}{return}\ parameters;}
-\DoxyCodeLine{00075\ \ \ \}}
-\DoxyCodeLine{00076\ }
-\DoxyCodeLine{00077\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner_a97bee7f3c56177c44026dcd20948329c}{process\_response}}(\textcolor{keyword}{typename}\ capabilities2\_msgs::srv::GetCapabilitySpecs::Response::SharedPtr\ response)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00078\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00079\ \ \ \ \ \textcolor{comment}{//\ This\ function\ can\ be\ used\ to\ log\ the\ response\ or\ perform\ any\ additional\ processing\ if\ needed}}
-\DoxyCodeLine{00080\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}GetCapabilitySpecsRunner\ received\ response\ with\ \%zu\ capability\ specs"{}},\ response-\/>capability\_specs.size());}
-\DoxyCodeLine{00081\ \ \ \}}
-\DoxyCodeLine{00082\ \};}
-\DoxyCodeLine{00083\ }
-\DoxyCodeLine{00084\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/header_8hpp.tex b/docs/latex/header_8hpp.tex
deleted file mode 100644
index 148b271..0000000
--- a/docs/latex/header_8hpp.tex
+++ /dev/null
@@ -1,37 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/header.hpp File Reference}
-\hypertarget{header_8hpp}{}\label{header_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/header.hpp@{capabilities2\_server/include/capabilities2\_server/models/header.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
-Include dependency graph for header.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=337pt]{header_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{header_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em unique key for a row \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em base model for all models that can be modified \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em base model for all models that can be soft deleted \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/header_8hpp__dep__incl.md5 b/docs/latex/header_8hpp__dep__incl.md5
deleted file mode 100644
index 19e7263..0000000
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diff --git a/docs/latex/header_8hpp_source.tex b/docs/latex/header_8hpp_source.tex
deleted file mode 100644
index 230e4b5..0000000
--- a/docs/latex/header_8hpp_source.tex
+++ /dev/null
@@ -1,77 +0,0 @@
-\doxysection{header.\+hpp}
-\hypertarget{header_8hpp_source}{}\label{header_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/header.hpp@{capabilities2\_server/include/capabilities2\_server/models/header.hpp}}
-\mbox{\hyperlink{header_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{sql__safe_8hpp}{capabilities2\_server/utils/sql\_safe.hpp}}>}}
-\DoxyCodeLine{00006\ }
-\DoxyCodeLine{00007\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00008\ \{}
-\DoxyCodeLine{00009\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00010\ \{}
-\DoxyCodeLine{00011\ }
-\DoxyCodeLine{00013\ \textcolor{comment}{//\ implement\ hidden\ unique\ id}}
-\DoxyCodeLine{00014\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{identifiable\_base\_t}}}
-\DoxyCodeLine{00015\ \{}
-\DoxyCodeLine{00016\ \ \ \textcolor{comment}{//\ TODO:\ add\ autoincrementing\ col\ in\ DB}}
-\DoxyCodeLine{00017\ \ \ \textcolor{keywordtype}{int}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba}{id}};}
-\DoxyCodeLine{00018\ \};}
-\DoxyCodeLine{00019\ }
-\DoxyCodeLine{00021\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{modifiable\_base\_t}}}
-\DoxyCodeLine{00022\ \{}
-\DoxyCodeLine{00023\ \ \ \textcolor{comment}{//\ TODO:\ implement\ creation\ and\ modified\ logic\ in\ db\ handler}}
-\DoxyCodeLine{00024\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2}{date\_created}};}
-\DoxyCodeLine{00025\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e}{date\_modified}};}
-\DoxyCodeLine{00026\ \};}
-\DoxyCodeLine{00027\ }
-\DoxyCodeLine{00029\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{soft\_deleteable\_base\_t}}}
-\DoxyCodeLine{00030\ \{}
-\DoxyCodeLine{00031\ \ \ \textcolor{comment}{//\ TODO:\ implement\ soft\ delete\ logic\ in\ db\ handler}}
-\DoxyCodeLine{00032\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5}{is\_deleted}}\ =\ \textcolor{keyword}{false};}
-\DoxyCodeLine{00033\ \};}
-\DoxyCodeLine{00034\ }
-\DoxyCodeLine{00040\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\_model\_t}}\ :\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{identifiable\_base\_t}},\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{soft\_deleteable\_base\_t}},\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{modifiable\_base\_t}}}
-\DoxyCodeLine{00041\ \{}
-\DoxyCodeLine{00042\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
-\DoxyCodeLine{00043\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}};}
-\DoxyCodeLine{00044\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}};}
-\DoxyCodeLine{00045\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}};}
-\DoxyCodeLine{00046\ }
-\DoxyCodeLine{00047\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
-\DoxyCodeLine{00048\ \ \ \{}
-\DoxyCodeLine{00049\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ =\ node[\textcolor{stringliteral}{"{}name"{}}].as<std::string>();}
-\DoxyCodeLine{00050\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}\ =\ node[\textcolor{stringliteral}{"{}spec\_version"{}}].as<std::string>();}
-\DoxyCodeLine{00051\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}}\ =\ node[\textcolor{stringliteral}{"{}spec\_type"{}}].as<std::string>();}
-\DoxyCodeLine{00052\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}}\ =\ node[\textcolor{stringliteral}{"{}description"{}}].as<std::string>();}
-\DoxyCodeLine{00053\ \ \ \}}
-\DoxyCodeLine{00054\ }
-\DoxyCodeLine{00055\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}{to\_yaml}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00056\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00057\ \ \ \ \ YAML::Node\ node;}
-\DoxyCodeLine{00058\ \ \ \ \ node[\textcolor{stringliteral}{"{}name"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
-\DoxyCodeLine{00059\ \ \ \ \ node[\textcolor{stringliteral}{"{}spec\_version"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}};}
-\DoxyCodeLine{00060\ \ \ \ \ node[\textcolor{stringliteral}{"{}spec\_type"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}};}
-\DoxyCodeLine{00061\ \ \ \ \ node[\textcolor{stringliteral}{"{}description"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}};}
-\DoxyCodeLine{00062\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
-\DoxyCodeLine{00063\ \ \ \}}
-\DoxyCodeLine{00064\ }
-\DoxyCodeLine{00065\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}{to\_sql\_table}}()}
-\DoxyCodeLine{00066\ \ \ \{}
-\DoxyCodeLine{00067\ \ \ \ \ \textcolor{comment}{//\ name,\ version,\ type,\ description}}
-\DoxyCodeLine{00068\ \ \ \ \ \textcolor{comment}{//\ name\ is\ the\ primary\ key}}
-\DoxyCodeLine{00069\ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{stringliteral}{"{}name\ TEXT\ NOT\ NULL\ PRIMARY\ KEY,\ version\ TEXT\ NOT\ NULL,\ type\ TEXT\ NOT\ NULL,\ description\ TEXT"{}};}
-\DoxyCodeLine{00070\ \ \ \}}
-\DoxyCodeLine{00071\ }
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-\DoxyCodeLine{00073\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00074\ \ \ \ \ \textcolor{keywordflow}{return}\ \textcolor{stringliteral}{"{}'"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}})\ +\ \textcolor{stringliteral}{"{}'"{}};}
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-\DoxyCodeLine{00078\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
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diff --git a/docs/latex/hierarchy.tex b/docs/latex/hierarchy.tex
deleted file mode 100644
index 2bb6f08..0000000
--- a/docs/latex/hierarchy.tex
+++ /dev/null
@@ -1,97 +0,0 @@
-\doxysection{Class Hierarchy}
-This inheritance list is sorted roughly, but not completely, alphabetically\+:\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::Bond\+Cache}{\pageref{classcapabilities2__server_1_1BondCache}}{}
-\item \contentsline{section}{capabilities2\+\_\+server\+::Capabilities\+API}{\pageref{classcapabilities2__server_1_1CapabilitiesAPI}}{}
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-\item \contentsline{section}{capabilities2\+\_\+server\+::Capabilities\+Server}{\pageref{classcapabilities2__server_1_1CapabilitiesServer}}{}
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-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1running__model__t}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::DBBase}{\pageref{classcapabilities2__server_1_1DBBase}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::Capabilities\+DB}{\pageref{classcapabilities2__server_1_1CapabilitiesDB}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1defineable__base__t}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1provider__model__t}}{}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1run__config__model__t}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+events\+::Event\+Base}{\pageref{classcapabilities2__events_1_1EventBase}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+events\+::Published\+Event}{\pageref{classcapabilities2__events_1_1PublishedEvent}}{}
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-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::Runner\+Base}{\pageref{classcapabilities2__runner_1_1RunnerBase}}{}
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-\item \contentsline{section}{capabilities2\+\_\+runner\+::Dummy\+Runner}{\pageref{classcapabilities2__runner_1_1DummyRunner}}{}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::Multiplex\+Base\+Runner}{\pageref{classcapabilities2__runner_1_1MultiplexBaseRunner}}{}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::No\+Trigger\+Runner}{\pageref{classcapabilities2__runner_1_1NoTriggerRunner}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::Launch\+Runner}{\pageref{classcapabilities2__runner_1_1LaunchRunner}}{}
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-\item \contentsline{section}{capabilities2\+\_\+runner\+::Thread\+Trigger\+Runner}{\pageref{classcapabilities2__runner_1_1ThreadTriggerRunner}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} capabilities2\+\_\+msgs\+::srv\+::Get\+Capability\+Specs \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1ServiceRunner}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::Get\+Capability\+Specs\+Runner}{\pageref{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::Action\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1ActionRunner}}{}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::Input\+Multiplex\+Runner}{\pageref{classcapabilities2__runner_1_1InputMultiplexRunner}}{}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::Service\+Runner\texorpdfstring{$<$}{<} ServiceT \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1ServiceRunner}}{}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::Topic\+Runner\texorpdfstring{$<$}{<} TopicT \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1TopicRunner}}{}
-\end{DoxyCompactList}
-\end{DoxyCompactList}
-\end{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+events\+::Event\+Parameters}{\pageref{structcapabilities2__events_1_1EventParameters}}{}
-\item \contentsline{section}{capabilities2\+\_\+events\+::Event\+Node\+::Event\+Pipe}{\pageref{structcapabilities2__events_1_1EventNode_1_1EventPipe}}{}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1identifiable__base__t}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1header__model__t}}{}
-\end{DoxyCompactList}
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-\begin{DoxyCompactList}
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-\end{DoxyCompactList}
-\item rclcpp\+::Node\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::Capabilities\+Server}{\pageref{classcapabilities2__server_1_1CapabilitiesServer}}{}
-\end{DoxyCompactList}
-\item No\+Trigger\+Action\+Runner\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::En\+Cap\+Runner\texorpdfstring{$<$}{<} ActionT \texorpdfstring{$>$}{>}}{\pageref{classcapabilities2__runner_1_1EnCapRunner}}{}
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-\item \contentsline{section}{capabilities2\+\_\+events\+::Parameter}{\pageref{structcapabilities2__events_1_1Parameter}}{}
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-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1remappable__base__t}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1provider__model__t}}{}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1remapping__model__t}}{}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1remappings__model__t}}{}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::resource}{\pageref{structcapabilities2__runner_1_1resource}}{}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1resource__model__t}}{}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::runner\+\_\+opts}{\pageref{structcapabilities2__runner_1_1runner__opts}}{}
-\item \contentsline{section}{capabilities2\+\_\+server\+::Runner\+Cache}{\pageref{classcapabilities2__server_1_1RunnerCache}}{}
-\item std\+::runtime\+\_\+error\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+events\+::event\+\_\+exception}{\pageref{structcapabilities2__events_1_1event__exception}}{}
-\item \contentsline{section}{capabilities2\+\_\+events\+::options\+\_\+exception}{\pageref{structcapabilities2__events_1_1options__exception}}{}
-\item \contentsline{section}{capabilities2\+\_\+runner\+::runner\+\_\+exception}{\pageref{structcapabilities2__runner_1_1runner__exception}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}}{}
-\begin{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1header__model__t}}{}
-\end{DoxyCompactList}
-\item \contentsline{section}{capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t}{\pageref{structcapabilities2__server_1_1models_1_1specification__model__t}}{}
-\item \contentsline{section}{capabilities2\+\_\+events\+::UUIDGenerator}{\pageref{classcapabilities2__events_1_1UUIDGenerator}}{}
-\item Node\begin{DoxyCompactList}
-\item \contentsline{section}{capability\+\_\+registrar.\+Capability\+Registrar}{\pageref{classcapability__registrar_1_1CapabilityRegistrar}}{}
-\end{DoxyCompactList}
-\end{DoxyCompactList}
diff --git a/docs/latex/index.tex b/docs/latex/index.tex
deleted file mode 100644
index 6baecf1..0000000
--- a/docs/latex/index.tex
+++ /dev/null
@@ -1,81 +0,0 @@
-\chapter{Capabilities2}
-\hypertarget{index}{}\label{index}\index{Capabilities2@{Capabilities2}}
-\label{index_md_README}%
-\Hypertarget{index_md_README}%
-  \href{https://index.ros.org/doc/ros2/Releases/}{\texttt{ }}  \href{https://open.vscode.dev/collaborativeroboticslab/capabilities2}{\texttt{ }} \href{https://opensource.org/licenses/MIT}{\texttt{ }}
-
-A reimplementation of the \href{https://github.com/osrf/capabilities}{\texttt{ capabilities}} package. This package is implemented using {\ttfamily C++} and extends the capabilities package features.
-
-
-\begin{DoxyItemize}
-\item \doxysectlink{md_capabilities2__server_2readme}{capabilities2\+\_\+server}{0} package contains the core of the system.
-\item \doxysectlink{md_capabilities2__runner_2readme}{capabilities2\+\_\+runner}{0} package contains base and template classes for capability implementations.
-\end{DoxyItemize}\hypertarget{index_autotoc_md113}{}\doxysection{\texorpdfstring{System structure}{System structure}}\label{index_autotoc_md113}
- 
-\begin{DoxyImage}
-\includegraphics[width=\textwidth,height=\textheight/2,keepaspectratio=true]{system-structure.png}
-\doxyfigcaption{System Structure}
-\end{DoxyImage}
-   \hypertarget{index_autotoc_md114}{}\doxysection{\texorpdfstring{Entities}{Entities}}\label{index_autotoc_md114}
-The main usage of {\ttfamily capabilities2} will typically involve creating or customizing capabilities through providers, interfaces and semantic interfaces. These are stored as YAML, and for more information about definitions and examples, click the links\+:
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Entity   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Entity   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-\doxysectlink{md_docs_2interfaces}{Interfaces}{0}   &The main capability specification file    \\\cline{1-2}
-\doxysectlink{md_docs_2providers}{Providers}{0}   &The capability provider specification file provides a mechanism to operate the capability    \\\cline{1-2}
-\doxysectlink{md_docs_2semantic__interfaces}{Semantic Interfaces}{0}   &The semantic interface specification file provides a mechanism to redefine a capability with semantic information   \\\cline{1-2}
-\end{longtabu}
-
-
-Runners can be created using the runner API parent classes \doxysectlink{md_capabilities2__runner_2readme}{here}{0}. The capabilities service can be started using the \doxysectlink{md_capabilities2__server_2readme}{capabilities2\+\_\+server}{0} package.\hypertarget{index_autotoc_md115}{}\doxysection{\texorpdfstring{Setup Information}{Setup Information}}\label{index_autotoc_md115}
-
-\begin{DoxyItemize}
-\item \doxysectlink{md_docs_2setup}{Installation}{0}
-\item \doxysectlink{md_docs_2setup__with__dev}{Setup Instructions with devcontainer}{0}
-\item Dependency installation for Foxglove-\/studio
-\end{DoxyItemize}\hypertarget{index_autotoc_md116}{}\doxysection{\texorpdfstring{Quick Startup information}{Quick Startup information}}\label{index_autotoc_md116}
-\hypertarget{index_autotoc_md117}{}\doxysubsection{\texorpdfstring{Starting the Capabilities2 server}{Starting the Capabilities2 server}}\label{index_autotoc_md117}
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{source\ install/setup.bash}
-\DoxyCodeLine{ros2\ launch\ capabilities2\_server\ capabilities2\_server.launch.py}
-
-\end{DoxyCode}
-\hypertarget{index_autotoc_md118}{}\doxysection{\texorpdfstring{Additional Information}{Additional Information}}\label{index_autotoc_md118}
-
-\begin{DoxyItemize}
-\item \doxysectlink{md_docs_2motivation__and__examples}{Motivation and Example Use Cases}{0}
-\item \doxysectlink{md_docs_2design}{Design Information}{0}
-\item \doxysectlink{md_docs_2readme}{Generated API and docs site}{0}
-\item \doxysectlink{md_capabilities2__server_2docs_2register}{Registering a capability}{0}
-\item \doxysectlink{md_capabilities2__server_2docs_2terminal__usage}{Terminal based capability usage}{0}
-\item \doxysectlink{md_docs_2run__test__scripts}{Running test scripts}{0}
-\end{DoxyItemize}\hypertarget{index_autotoc_md119}{}\doxysection{\texorpdfstring{Acknowledgements}{Acknowledgements}}\label{index_autotoc_md119}
-This work is based on the capabilities package developed by the Open Source Robotics Foundation. \href{https://github.com/osrf/capabilities}{\texttt{ github.\+com/osrf/capabilities}}.\hypertarget{index_autotoc_md120}{}\doxysection{\texorpdfstring{Citation}{Citation}}\label{index_autotoc_md120}
-If you use this work in an academic context, please cite the following publication(s)\+:
-
-\href{https://dl.acm.org/doi/10.5555/3721488.3721623}{\texttt{ Capabilities2 for ROS2\+: Advanced Skill-\/\+Based Control for Human-\/\+Robot Interaction}}
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{@inproceedings\{10.5555/3721488.3721623,}
-\DoxyCodeLine{\ \ \ \ author\ =\ \{Pritchard,\ Michael\ and\ Ratnayake,\ Kalana\ and\ Gamage,\ Buddhi\ and\ Jayasuriya,\ Maleen\ and\ Herath,\ Damith\},}
-\DoxyCodeLine{\ \ \ \ title\ =\ \{Capabilities2\ for\ ROS2:\ Advanced\ Skill-\/Based\ Control\ for\ Human-\/Robot\ Interaction\},}
-\DoxyCodeLine{\ \ \ \ year\ =\ \{2025\},}
-\DoxyCodeLine{\ \ \ \ publisher\ =\ \{IEEE\ Press\},}
-\DoxyCodeLine{\ \ \ \ booktitle\ =\ \{Proceedings\ of\ the\ 2025\ ACM/IEEE\ International\ Conference\ on\ Human-\/Robot\ Interaction\},}
-\DoxyCodeLine{\ \ \ \ pages\ =\ \{1067–1071\},}
-\DoxyCodeLine{\ \ \ \ location\ =\ \{Melbourne,\ Australia\},}
-\DoxyCodeLine{\ \ \ \ series\ =\ \{HRI\ '25\}}
-\DoxyCodeLine{\}}
-
-\end{DoxyCode}
- 
\ No newline at end of file
diff --git a/docs/latex/input__multiplex__runner_8hpp.tex b/docs/latex/input__multiplex__runner_8hpp.tex
deleted file mode 100644
index 62237dc..0000000
--- a/docs/latex/input__multiplex__runner_8hpp.tex
+++ /dev/null
@@ -1,27 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/system/input\+\_\+multiplex\+\_\+runner.hpp File Reference}
-\hypertarget{input__multiplex__runner_8hpp}{}\label{input__multiplex__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/system/input\_multiplex\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/system/input\_multiplex\_runner.hpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+runner/threadtrigger\+\_\+runner.\+hpp$>$}\newline
-Include dependency graph for input\+\_\+multiplex\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{input__multiplex__runner_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=254pt]{input__multiplex__runner_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/input__multiplex__runner_8hpp__dep__incl.md5 b/docs/latex/input__multiplex__runner_8hpp__dep__incl.md5
deleted file mode 100644
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diff --git a/docs/latex/input__multiplex__runner_8hpp_source.tex b/docs/latex/input__multiplex__runner_8hpp_source.tex
deleted file mode 100644
index aa4eeb3..0000000
--- a/docs/latex/input__multiplex__runner_8hpp_source.tex
+++ /dev/null
@@ -1,95 +0,0 @@
-\doxysection{input\+\_\+multiplex\+\_\+runner.\+hpp}
-\hypertarget{input__multiplex__runner_8hpp_source}{}\label{input__multiplex__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/system/input\_multiplex\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/system/input\_multiplex\_runner.hpp}}
-\mbox{\hyperlink{input__multiplex__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{threadtrigger__runner_8hpp}{capabilities2\_runner/threadtrigger\_runner.hpp}}>}}
-\DoxyCodeLine{00004\ }
-\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00006\ \{}
-\DoxyCodeLine{00007\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{InputMultiplexRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}}
-\DoxyCodeLine{00008\ \{}
-\DoxyCodeLine{00009\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00013\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a921185df695a0c589c3f76534622c973}{InputMultiplexRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}()}
-\DoxyCodeLine{00014\ \ \ \{}
-\DoxyCodeLine{00015\ \ \ \}}
-\DoxyCodeLine{00016\ }
-\DoxyCodeLine{00023\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_afae7ca7e39e5b66f8fbbbb82b118923e}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00024\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00025\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
-\DoxyCodeLine{00026\ }
-\DoxyCodeLine{00027\ \ \ \ \ \textcolor{comment}{//\ emit\ started\ event}}
-\DoxyCodeLine{00028\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\_started}}(bond\_id,\ \textcolor{stringliteral}{"{}"{}},\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\_on\_started}}());}
-\DoxyCodeLine{00029\ \ \ \}}
-\DoxyCodeLine{00030\ }
-\DoxyCodeLine{00035\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a42a4f1fd6f054925c72a322aed0dd94a}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00036\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00037\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
-\DoxyCodeLine{00038\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
-\DoxyCodeLine{00039\ }
-\DoxyCodeLine{00040\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
-\DoxyCodeLine{00041\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
-\DoxyCodeLine{00042\ }
-\DoxyCodeLine{00043\ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
-\DoxyCodeLine{00044\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
-\DoxyCodeLine{00045\ }
-\DoxyCodeLine{00046\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}stopping\ runner"{}});}
-\DoxyCodeLine{00047\ \ \ \}}
-\DoxyCodeLine{00048\ }
-\DoxyCodeLine{00049\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00056\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_ae1e6893b446f7b858b097edd4508be90}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00057\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00058\ \ \ \ \ \textcolor{comment}{//\ split\ thread\_id\ to\ get\ bond\_id\ and\ instance\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
-\DoxyCodeLine{00059\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{ThreadTriggerRunner::bond\_from\_thread\_id}}(thread\_id);}
-\DoxyCodeLine{00060\ \ \ \ \ std::string\ instance\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{ThreadTriggerRunner::instance\_from\_thread\_id}}(thread\_id);}
-\DoxyCodeLine{00061\ }
-\DoxyCodeLine{00062\ \ \ \ \ \textcolor{keywordtype}{int}\ input\_count\ =\ std::any\_cast<int>(parameters.\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a06e1a6f60cb6c8830d6769532b1f3cdb}{get\_value}}(\textcolor{stringliteral}{"{}input\_count"{}},\ 1));}
-\DoxyCodeLine{00063\ }
-\DoxyCodeLine{00064\ \ \ \ \ \textcolor{comment}{//\ track\ the\ input\ count\ for\ the\ runner\_id}}
-\DoxyCodeLine{00065\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}.find(instance\_id)\ ==\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}.end())}
-\DoxyCodeLine{00066\ \ \ \ \ \{}
-\DoxyCodeLine{00067\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}[instance\_id]\ =\ 1;}
-\DoxyCodeLine{00068\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\_input\_count}}[instance\_id]\ =\ input\_count;}
-\DoxyCodeLine{00069\ \ \ \ \ \}}
-\DoxyCodeLine{00070\ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00071\ \ \ \ \ \{}
-\DoxyCodeLine{00072\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}[instance\_id]\ +=\ 1;}
-\DoxyCodeLine{00073\ \ \ \ \ \}}
-\DoxyCodeLine{00074\ }
-\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ check\ if\ the\ input\ count\ has\ reached\ the\ expected\ input\ count\ for\ the\ instance\_id\ and\ if\ so\ execute\ the\ process}}
-\DoxyCodeLine{00076\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}[instance\_id]\ ==\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\_input\_count}}[instance\_id])}
-\DoxyCodeLine{00077\ \ \ \ \ \{}
-\DoxyCodeLine{00078\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),}
-\DoxyCodeLine{00079\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}instance\_id:\ \%s\ has\ received\ all\ expected\ inputs.\ Executing\ process\ for\ instance\_id:\ \%s"{}},}
-\DoxyCodeLine{00080\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ instance\_id.c\_str(),\ instance\_id.c\_str());}
-\DoxyCodeLine{00081\ }
-\DoxyCodeLine{00082\ \ \ \ \ \ \ \textcolor{comment}{//\ If\ on\_success\ is\ defined,\ emit\ success\ event\ will\ trigger\ it.\ If\ not\ defined,\ it\ will\ be\ a\ no-\/op.}}
-\DoxyCodeLine{00083\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\_succeeded}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\_on\_success}}());}
-\DoxyCodeLine{00084\ }
-\DoxyCodeLine{00085\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}execution\ successful\ for\ instance\_id:\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00086\ \ \ \ \ \}}
-\DoxyCodeLine{00087\ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00088\ \ \ \ \ \{}
-\DoxyCodeLine{00089\ \ \ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),}
-\DoxyCodeLine{00090\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}instance\_id:\ \%s\ pending\ expected\ inputs.\ Current\ count:\ \%d/\%d\ for\ instance\_id:\ \%s"{}},\ instance\_id.c\_str(),}
-\DoxyCodeLine{00091\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}}[instance\_id],\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\_input\_count}}[instance\_id],\ instance\_id.c\_str());}
-\DoxyCodeLine{00092\ \ \ \ \ \}}
-\DoxyCodeLine{00093\ }
-\DoxyCodeLine{00094\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}multiplexing\ complete.\ Thread\ closing\ for\ instance\_id:\ \%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00095\ \ \ \}}
-\DoxyCodeLine{00096\ }
-\DoxyCodeLine{00097\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00098\ \ \ \textcolor{comment}{//\ input\ count\ tracker}}
-\DoxyCodeLine{00099\ \ \ std::map<std::string,\ int>\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_aca8d47a83c9380245828f4a72dbc5f3b}{input\_count\_tracker}};}
-\DoxyCodeLine{00100\ }
-\DoxyCodeLine{00101\ \ \ \textcolor{comment}{//\ expected\ input\ count}}
-\DoxyCodeLine{00102\ \ \ std::map<std::string,\ int>\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_a4d1bb331cd675e9eb307404073016878}{expected\_input\_count}};}
-\DoxyCodeLine{00103\ }
-\DoxyCodeLine{00104\ \ \ \textcolor{comment}{//\ completed\ executions}}
-\DoxyCodeLine{00105\ \ \ std::map<std::string,\ bool>\ \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner_abdc2ea43099056447273e1f7ee1cc113}{completed\_executions}};}
-\DoxyCodeLine{00106\ \};}
-\DoxyCodeLine{00107\ }
-\DoxyCodeLine{00108\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/interface_8hpp.tex b/docs/latex/interface_8hpp.tex
deleted file mode 100644
index 0b2854b..0000000
--- a/docs/latex/interface_8hpp.tex
+++ /dev/null
@@ -1,36 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/interface.hpp File Reference}
-\hypertarget{interface_8hpp}{}\label{interface_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/interface.hpp@{capabilities2\_server/include/capabilities2\_server/models/interface.hpp}}
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/header.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/resource.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/predicateable\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
-Include dependency graph for interface.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{interface_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{interface_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em interface specification type the specification model is the computation graph blueprint of a capability \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em interface model \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/interface_8hpp__dep__incl.md5 b/docs/latex/interface_8hpp__dep__incl.md5
deleted file mode 100644
index d3ebf5a..0000000
--- a/docs/latex/interface_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/interface_8hpp__dep__incl.pdf b/docs/latex/interface_8hpp__dep__incl.pdf
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diff --git a/docs/latex/interface_8hpp_source.tex b/docs/latex/interface_8hpp_source.tex
deleted file mode 100644
index 188c8b3..0000000
--- a/docs/latex/interface_8hpp_source.tex
+++ /dev/null
@@ -1,167 +0,0 @@
-\doxysection{interface.\+hpp}
-\hypertarget{interface_8hpp_source}{}\label{interface_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/interface.hpp@{capabilities2\_server/include/capabilities2\_server/models/interface.hpp}}
-\mbox{\hyperlink{interface_8hpp}{Go to the documentation of this file.}}
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diff --git a/docs/latex/interfaces_8md.tex b/docs/latex/interfaces_8md.tex
deleted file mode 100644
index 1bf2645..0000000
--- a/docs/latex/interfaces_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs/interfaces.md File Reference}
-\hypertarget{interfaces_8md}{}\label{interfaces_8md}\index{docs/interfaces.md@{docs/interfaces.md}}
diff --git a/docs/latex/launch__runner_8cpp.tex b/docs/latex/launch__runner_8cpp.tex
deleted file mode 100644
index 7008b9b..0000000
--- a/docs/latex/launch__runner_8cpp.tex
+++ /dev/null
@@ -1,12 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/src/launch\+\_\+runner.cpp File Reference}
-\hypertarget{launch__runner_8cpp}{}\label{launch__runner_8cpp}\index{capabilities2\_runner/src/launch\_runner.cpp@{capabilities2\_runner/src/launch\_runner.cpp}}
-{\ttfamily \#include $<$pluginlib/class\+\_\+list\+\_\+macros.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/launch\+\_\+runner.\+hpp$>$}\newline
-Include dependency graph for launch\+\_\+runner.\+cpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
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-\includegraphics[width=350pt]{launch__runner_8cpp__incl}
-\end{center}
-\end{figure}
diff --git a/docs/latex/launch__runner_8cpp__incl.md5 b/docs/latex/launch__runner_8cpp__incl.md5
deleted file mode 100644
index ef0042f..0000000
--- a/docs/latex/launch__runner_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-74d3f8a17a4544d7b039c2712f9e46b6
\ No newline at end of file
diff --git a/docs/latex/launch__runner_8cpp__incl.pdf b/docs/latex/launch__runner_8cpp__incl.pdf
deleted file mode 100644
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diff --git a/docs/latex/launch__runner_8hpp.tex b/docs/latex/launch__runner_8hpp.tex
deleted file mode 100644
index 87f5687..0000000
--- a/docs/latex/launch__runner_8hpp.tex
+++ /dev/null
@@ -1,27 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/launch\+\_\+runner.hpp File Reference}
-\hypertarget{launch__runner_8hpp}{}\label{launch__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/launch\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/launch\_runner.hpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+runner/notrigger\+\_\+runner.\+hpp$>$}\newline
-Include dependency graph for launch\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{launch__runner_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=226pt]{launch__runner_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner}{capabilities2\+\_\+runner\+::\+Launch\+Runner}}
-\begin{DoxyCompactList}\small\item\em launch runner base class \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/launch__runner_8hpp__dep__incl.md5 b/docs/latex/launch__runner_8hpp__dep__incl.md5
deleted file mode 100644
index f7432f2..0000000
--- a/docs/latex/launch__runner_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-2b208c3bcd1b50764ad40091d8d15471
\ No newline at end of file
diff --git a/docs/latex/launch__runner_8hpp__dep__incl.pdf b/docs/latex/launch__runner_8hpp__dep__incl.pdf
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diff --git a/docs/latex/launch__runner_8hpp_source.tex b/docs/latex/launch__runner_8hpp_source.tex
deleted file mode 100644
index fda9bb9..0000000
--- a/docs/latex/launch__runner_8hpp_source.tex
+++ /dev/null
@@ -1,55 +0,0 @@
-\doxysection{launch\+\_\+runner.\+hpp}
-\hypertarget{launch__runner_8hpp_source}{}\label{launch__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/launch\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/launch\_runner.hpp}}
-\mbox{\hyperlink{launch__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{notrigger__runner_8hpp}{capabilities2\_runner/notrigger\_runner.hpp}}>}}
-\DoxyCodeLine{00004\ }
-\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00006\ \{}
-\DoxyCodeLine{00007\ }
-\DoxyCodeLine{00014\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner}{LaunchRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{NoTriggerRunner}}}
-\DoxyCodeLine{00015\ \{}
-\DoxyCodeLine{00016\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00020\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ace430452667a2365c3555755643c4c4c}{LaunchRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{NoTriggerRunner}}()}
-\DoxyCodeLine{00021\ \ \ \{}
-\DoxyCodeLine{00022\ \ \ \}}
-\DoxyCodeLine{00023\ }
-\DoxyCodeLine{00031\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a9a684058017ed934d6d7e921d7f75eb9}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00032\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00033\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
-\DoxyCodeLine{00034\ }
-\DoxyCodeLine{00035\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d}{package\_name}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}.substr(0,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}.find(\textcolor{stringliteral}{"{}/"{}}));}
-\DoxyCodeLine{00036\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4}{launch\_name}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}.substr(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}.find(\textcolor{stringliteral}{"{}/"{}})\ +\ 1);}
-\DoxyCodeLine{00037\ }
-\DoxyCodeLine{00038\ \ \ \ \ \textcolor{comment}{//\ start\ launch\ process}}
-\DoxyCodeLine{00039\ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}launch\ runner\ not\ implemented\ yet"{}});}
-\DoxyCodeLine{00040\ }
-\DoxyCodeLine{00041\ \ \ \ \ \textcolor{comment}{//\ emit\ started\ event}}
-\DoxyCodeLine{00042\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\_started}}(bond\_id,\ \textcolor{stringliteral}{"{}"{}},\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\_on\_started}}());}
-\DoxyCodeLine{00043\ \ \ \}}
-\DoxyCodeLine{00044\ }
-\DoxyCodeLine{00049\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_a5373c2eb3f97948d213aab4f95bc19c9}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00050\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00051\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
-\DoxyCodeLine{00052\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
-\DoxyCodeLine{00053\ }
-\DoxyCodeLine{00054\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
-\DoxyCodeLine{00055\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
-\DoxyCodeLine{00056\ }
-\DoxyCodeLine{00057\ \ \ \ \ \textcolor{comment}{//\ stop\ the\ launch\ process}}
-\DoxyCodeLine{00058\ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}launch\ runner\ not\ implemented\ yet"{}});}
-\DoxyCodeLine{00059\ }
-\DoxyCodeLine{00060\ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
-\DoxyCodeLine{00061\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
-\DoxyCodeLine{00062\ \ \ \}}
-\DoxyCodeLine{00063\ }
-\DoxyCodeLine{00064\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00065\ \ \ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_adb150055c0e372f46c961aae6a4e9dd4}{launch\_name}};}
-\DoxyCodeLine{00066\ \ \ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner_ad0774a843f92a69d7d660a216a6d265d}{package\_name}};}
-\DoxyCodeLine{00067\ \};}
-\DoxyCodeLine{00068\ }
-\DoxyCodeLine{00069\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
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deleted file mode 100644
index e94b78b..0000000
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+++ /dev/null
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diff --git a/docs/latex/md_TODO.tex b/docs/latex/md_TODO.tex
deleted file mode 100644
index 2caa161..0000000
--- a/docs/latex/md_TODO.tex
+++ /dev/null
@@ -1,38 +0,0 @@
-\chapter{TODO list}
-\hypertarget{md_TODO}{}\label{md_TODO}\index{TODO list@{TODO list}}
-\label{md_TODO_autotoc_md121}%
-\Hypertarget{md_TODO_autotoc_md121}%
- \hypertarget{md_TODO_autotoc_md122}{}\doxysection{\texorpdfstring{Problems}{Problems}}\label{md_TODO_autotoc_md122}
-
-\begin{DoxyItemize}
-\item \mbox{[}x\mbox{]} names need to be in package/name format everywhere
-\item \mbox{[}x\mbox{]} better docs
-\item \mbox{[}x\mbox{]} BUG\+: handle "{}\textquotesingle{}"{} in db queries
-\item \mbox{[}x\mbox{]} BUG\+: escape db function variables
-\item \mbox{[}x\mbox{]} document deferred launch-\/runner support and planned replacement for current ROS2 launch incompatibilities
-\item \mbox{[} \mbox{]} restore launch-\/runner support once the replacement approach is ready
-\item \mbox{[}x\mbox{]} add descriptions to packages with TODO in package.\+xml
-\item \mbox{[}x\mbox{]} standardise trigger prototype
-\item \mbox{[}x\mbox{]} bump cmake min version to 3.\+16
-\item \mbox{[} \mbox{]} check thread safety for runner execution threads
-\item \mbox{[} \mbox{]} add note on threaded execution in base trigger function
-\end{DoxyItemize}\hypertarget{md_TODO_autotoc_md123}{}\doxysection{\texorpdfstring{Features}{Features}}\label{md_TODO_autotoc_md123}
-
-\begin{DoxyItemize}
-\item \mbox{[}x\mbox{]} try using ros package to find exports automatically
-\item \mbox{[}x\mbox{]} improve the event system
-\item \mbox{[} \mbox{]} implement provider definition handling in runner
-\item \mbox{[} \mbox{]} move to established db handler lib
-\item \mbox{[} \mbox{]} better bt runner impl
-\item \mbox{[} \mbox{]} db traits\+: identifiable, modifiable, soft\+\_\+deleteable, header, remappable, predicateable
-\end{DoxyItemize}\hypertarget{md_TODO_autotoc_md124}{}\doxysection{\texorpdfstring{Refactoring}{Refactoring}}\label{md_TODO_autotoc_md124}
-
-\begin{DoxyItemize}
-\item \mbox{[}x\mbox{]} remove fan out project work
-\item \mbox{[}x\mbox{]} merge various system runners into base runner package
-\item \mbox{[}x\mbox{]} custom logger needs to be removed
-\item \mbox{[}x\mbox{]} events should be incorporated as core function
-\item \mbox{[}x\mbox{]} server, runner base, api have event
-\item \mbox{[} \mbox{]} increment package versions
-\item \mbox{[} \mbox{]} interfaces and providers for cap caps 
-\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__events_2readme.tex b/docs/latex/md_capabilities2__events_2readme.tex
deleted file mode 100644
index 21c0189..0000000
--- a/docs/latex/md_capabilities2__events_2readme.tex
+++ /dev/null
@@ -1,156 +0,0 @@
-\chapter{Capabilities2 Events}
-\hypertarget{md_capabilities2__events_2readme}{}\label{md_capabilities2__events_2readme}\index{Capabilities2 Events@{Capabilities2 Events}}
-\label{md_capabilities2__events_2readme_autotoc_md0}%
-\Hypertarget{md_capabilities2__events_2readme_autotoc_md0}%
- This package provides an event handling subsystem for the Capabilities2 framework. Events form the basis of inter-\/capability communication, allowing capabilities to respond to state changes in other capabilities. This facilitates the creation of complex behaviours through the composition of simpler capabilities.\hypertarget{md_capabilities2__events_2readme_autotoc_md1}{}\doxysection{\texorpdfstring{features}{features}}\label{md_capabilities2__events_2readme_autotoc_md1}
-
-\begin{DoxyItemize}
-\item Uses capability event messages
-\item helpers for integration with the \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}, and \doxylink{namespacecapabilities2__server}{capabilities2\+\_\+server} packages
-\item system for connecting capabilities together based on events. e.\+g. capability state transitions occur based on events from other capabilities
-\end{DoxyItemize}\hypertarget{md_capabilities2__events_2readme_autotoc_md2}{}\doxysection{\texorpdfstring{Model}{Model}}\label{md_capabilities2__events_2readme_autotoc_md2}
-The event system is based around the concepts of nodes, connections, events.\hypertarget{md_capabilities2__events_2readme_autotoc_md3}{}\doxysubsection{\texorpdfstring{Node}{Node}}\label{md_capabilities2__events_2readme_autotoc_md3}
-Represents a capability that can emit events and has connections to other capabilities.
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ model data   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ model data   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ description    }\\\cline{1-2}
-\endhead
-id   &unique identifier for the node    \\\cline{1-2}
-connections   &a map of connections. The source i always {\itshape this} node   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__events_2readme_autotoc_md4}{}\doxysubsection{\texorpdfstring{Connection}{Connection}}\label{md_capabilities2__events_2readme_autotoc_md4}
-Represents the link between two nodes.
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ model data   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ model data   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ description    }\\\cline{1-2}
-\endhead
-type   &the type of connection (e.\+g., STARTED, STOPPED, SUCCEEDED, FAILED)    \\\cline{1-2}
-source   &the source capability that emits the event    \\\cline{1-2}
-target   &the target capability to invoke when the event is emitted   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__events_2readme_autotoc_md5}{}\doxysubsection{\texorpdfstring{Event}{Event}}\label{md_capabilities2__events_2readme_autotoc_md5}
-Represents a specific event that can be emitted by a node (e.\+g., STARTED, STOPPED, SUCCEEDED, FAILED)\hypertarget{md_capabilities2__events_2readme_autotoc_md6}{}\doxysubsection{\texorpdfstring{event types}{event types}}\label{md_capabilities2__events_2readme_autotoc_md6}
-State transitions are as defined in the event code message\+:
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{IDLE,\ //\ initial\ state}
-\DoxyCodeLine{STARTED,\ //\ when\ capability\ is\ started}
-\DoxyCodeLine{STOPPED,\ //\ when\ capability\ is\ stopped}
-\DoxyCodeLine{//\ TRIGGERED,\ //\ when\ capability\ is\ TRIGGERED}
-\DoxyCodeLine{FAILED,\ //\ when\ capability\ has\ FAILED}
-\DoxyCodeLine{SUCCEEDED\ //\ when\ capability\ has\ SUCCEEDED}
-\DoxyCodeLine{etc..}
-
-\end{DoxyCode}
-\hypertarget{md_capabilities2__events_2readme_autotoc_md7}{}\doxysection{\texorpdfstring{Flow}{Flow}}\label{md_capabilities2__events_2readme_autotoc_md7}
-
-\begin{DoxyEnumerate}
-\item A user establishes a bond with the \doxylink{namespacecapabilities2__server}{capabilities2\+\_\+server}
-\item The user connects capabilities together by specifying event connections (source capability, event type, target capability)
-\item The server namespaces the connection using the bond id, the source capability instance id, and the target capability instance id
-\item When a capability emits an event (e.\+g., STARTED), the event system checks for any connections matching that event type from the source capability, bond, and source instance id
-\item For each matching connection, the target capability is invoked accordingly (e.\+g., started, stopped, etc.)
-\end{DoxyEnumerate}\hypertarget{md_capabilities2__events_2readme_autotoc_md8}{}\doxysection{\texorpdfstring{Example usage}{Example usage}}\label{md_capabilities2__events_2readme_autotoc_md8}
-After a bond is established and both capabilities are running, a client can connect them through {\ttfamily Connect\+Capability.\+srv}.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{ros2\ service\ call\ /capabilities/connect\_capability\ capabilities2\_msgs/srv/ConnectCapability\ "{}\{}
-\DoxyCodeLine{\ \ bond\_id:\ '<bond-\/id>',}
-\DoxyCodeLine{\ \ connection:\ \{}
-\DoxyCodeLine{\ \ \ \ type:\ \{code:\ 1\},}
-\DoxyCodeLine{\ \ \ \ source:\ \{}
-\DoxyCodeLine{\ \ \ \ \ \ capability:\ 'demo\_pkg/source\_capability',}
-\DoxyCodeLine{\ \ \ \ \ \ provider:\ 'demo\_pkg/source\_provider',}
-\DoxyCodeLine{\ \ \ \ \ \ instance\_id:\ 'source\_instance'}
-\DoxyCodeLine{\ \ \ \ \},}
-\DoxyCodeLine{\ \ \ \ target:\ \{}
-\DoxyCodeLine{\ \ \ \ \ \ capability:\ 'demo\_pkg/target\_capability',}
-\DoxyCodeLine{\ \ \ \ \ \ provider:\ 'demo\_pkg/target\_provider',}
-\DoxyCodeLine{\ \ \ \ \ \ instance\_id:\ 'target\_instance',}
-\DoxyCodeLine{\ \ \ \ \ \ parameters:\ [}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ key:\ 'mode',}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ value:\ ['auto'],}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ type:\ 3}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{\ \ \ \ \ \ ]}
-\DoxyCodeLine{\ \ \ \ \}}
-\DoxyCodeLine{\ \ \}}
-\DoxyCodeLine{\}"{}}
-
-\end{DoxyCode}
-
-
-in this example, {\ttfamily type.\+code\+: 1} corresponds to {\ttfamily STARTED}. when the source capability emits a {\ttfamily STARTED} event for {\ttfamily source\+\_\+instance}, the target capability is triggered for {\ttfamily target\+\_\+instance}. any parameters specified on the target capability are carried through the connection and merged with event parameters at emission time.\hypertarget{md_capabilities2__events_2readme_autotoc_md9}{}\doxysubsection{\texorpdfstring{Event namespacing}{Event namespacing}}\label{md_capabilities2__events_2readme_autotoc_md9}
-event connections are scoped in three ways\+:
-
-
-\begin{DoxyEnumerate}
-\item by bond id, so one client cannot trigger another client\textquotesingle{}s event wiring
-\item by source capability instance id, so only the matching running source instance emits to that connection
-\item by target capability instance id, so the event carries the intended destination instance when the callback is invoked
-\end{DoxyEnumerate}
-
-the connection identifier built by the server currently has this format\+:
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{bond\_id/source\_instance\_id/target\_instance\_id}
-
-\end{DoxyCode}
-
-
-the source capability runner stores this connection id and, during event emission, matches on\+:
-
-
-\begin{DoxyItemize}
-\item event type
-\item bond id
-\item source instance id
-\end{DoxyItemize}
-
-when a match is found, the target capability and target instance id are forwarded through the callback. the published event message also uses the source instance id as the {\ttfamily trigger\+\_\+id} field.\hypertarget{md_capabilities2__events_2readme_autotoc_md10}{}\doxysubsection{\texorpdfstring{Event Emission Triggering}{Event Emission Triggering}}\label{md_capabilities2__events_2readme_autotoc_md10}
-There are two ways events can be tracked for emission\+:
-
-
-\begin{DoxyEnumerate}
-\item the connection is for STARTED or STOPPED events -\/ these are persistently tracked and become dependencies between capabilities
-\item the connection is for SUCCEEDED or FAILED events -\/ these are one-\/shot events that are emitted when a running capability is triggered to succeed or fail
-\end{DoxyEnumerate}
-
-This works out to mean that a STARTED capability will implicitly start its dependent capabilities, and immediately run their trigger action.\hypertarget{md_capabilities2__events_2readme_autotoc_md11}{}\doxysubsection{\texorpdfstring{Event trigger ID}{Event trigger ID}}\label{md_capabilities2__events_2readme_autotoc_md11}
-the published event message exposes a {\ttfamily trigger\+\_\+id} field. in the current implementation this is populated from the source capability instance id, not from a separate user-\/defined trigger namespace.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{connection\_id\ =\ bond\_id\ +\ '/'\ +\ source\_instance\_id\ +\ '/'\ +\ target\_instance\_id}
-\DoxyCodeLine{published\ trigger\_id\ =\ source\_instance\_id}
-
-\end{DoxyCode}
-\hypertarget{md_capabilities2__events_2readme_autotoc_md12}{}\doxysubsection{\texorpdfstring{Notes}{Notes}}\label{md_capabilities2__events_2readme_autotoc_md12}
-
-\begin{DoxyItemize}
-\item a single publisher is used for all event messages, this is at the top level (\doxylink{namespacecapabilities2__server}{capabilities2\+\_\+server})
-\item events are fired from runners
-\end{DoxyItemize}\hypertarget{md_capabilities2__events_2readme_autotoc_md13}{}\doxysubsubsection{\texorpdfstring{To Do}{To Do}}\label{md_capabilities2__events_2readme_autotoc_md13}
-
-\begin{DoxyItemize}
-\item \mbox{[}x\mbox{]} add ability to specify parameters for target capability on event connection
-\item \mbox{[} \mbox{]} add ability to specify event connections in capability definition files 
-\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__msgs_2readme.tex b/docs/latex/md_capabilities2__msgs_2readme.tex
deleted file mode 100644
index 49a66b6..0000000
--- a/docs/latex/md_capabilities2__msgs_2readme.tex
+++ /dev/null
@@ -1,77 +0,0 @@
-\chapter{Capabilities2 msgs}
-\hypertarget{md_capabilities2__msgs_2readme}{}\label{md_capabilities2__msgs_2readme}\index{Capabilities2 msgs@{Capabilities2 msgs}}
-\label{md_capabilities2__msgs_2readme_autotoc_md14}%
-\Hypertarget{md_capabilities2__msgs_2readme_autotoc_md14}%
- 
-
-This package contains \href{https://index.ros.org/doc/ros2/}{\texttt{ ROS2}} {\ttfamily messages}, {\ttfamily services}, and {\ttfamily actions} for the capabilities2 framework.\hypertarget{md_capabilities2__msgs_2readme_autotoc_md15}{}\doxysection{\texorpdfstring{Message Types}{Message Types}}\label{md_capabilities2__msgs_2readme_autotoc_md15}
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Message Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Message Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily Capability.\+msg}   &A message type for a capability of a robot.    \\\cline{1-2}
-{\ttfamily Capability\+Command.\+msg}   &A message type for a command to a robot.    \\\cline{1-2}
-{\ttfamily Capability\+Connection.\+msg}   &A message type for connecting one capability to another through the event system.    \\\cline{1-2}
-{\ttfamily Capability\+Event.\+msg}   &A message type for an event related to a capability.    \\\cline{1-2}
-{\ttfamily Capability\+Event\+Code.\+msg}   &event types    \\\cline{1-2}
-{\ttfamily Capability\+Event\+Stamped.\+msg}   &A stamped version of event    \\\cline{1-2}
-{\ttfamily Capability\+Response.\+msg}   &A message type for a response from a robot related to a capability.    \\\cline{1-2}
-{\ttfamily Capability\+Spec.\+msg}   &A message type for the specification of a capability.    \\\cline{1-2}
-{\ttfamily Natural\+Capability.\+msg}   &A message type for a natural capability of a robot.    \\\cline{1-2}
-{\ttfamily Remapping.\+msg}   &A message type for a key/value remapping of a capability resource.    \\\cline{1-2}
-{\ttfamily Running\+Capability.\+msg}   &A message type for a running capability.   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__msgs_2readme_autotoc_md16}{}\doxysection{\texorpdfstring{Service Types}{Service Types}}\label{md_capabilities2__msgs_2readme_autotoc_md16}
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Service Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Service Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily Establish\+Bond.\+srv}   &A service type for establishing a bond between a robot and a client.    \\\cline{1-2}
-{\ttfamily Free\+Capability.\+srv}   &A service type for freeing a capability of a robot.    \\\cline{1-2}
-{\ttfamily Get\+Capability\+Spec.\+srv}   &A service type for getting the specification of a capability of a robot.    \\\cline{1-2}
-{\ttfamily Get\+Capability\+Specs.\+srv}   &A service type for getting the specifications of all capabilities of a robot.    \\\cline{1-2}
-{\ttfamily Get\+Interfaces.\+srv}   &A service type for getting the interfaces of a robot.    \\\cline{1-2}
-{\ttfamily Get\+Providers.\+srv}   &A service type for getting the providers of a capability of a robot.    \\\cline{1-2}
-{\ttfamily Get\+Remappings.\+srv}   &A service type for getting the remappings of a capability of a robot.    \\\cline{1-2}
-{\ttfamily Get\+Running\+Capabilities.\+srv}   &A service type for getting the running capabilities of a robot.    \\\cline{1-2}
-{\ttfamily Get\+Semantic\+Interfaces.\+srv}   &A service type for getting the semantic interfaces.    \\\cline{1-2}
-{\ttfamily Register\+Capability.\+srv}   &A service type for registering a capability with the server.    \\\cline{1-2}
-{\ttfamily Start\+Capability.\+srv}   &A service type for starting a capability.    \\\cline{1-2}
-{\ttfamily Stop\+Capability.\+srv}   &A service type for stopping a capability.    \\\cline{1-2}
-{\ttfamily Use\+Capability.\+srv}   &A service type for using a capability.   \\\cline{1-2}
-\end{longtabu}
-
-
-New in 0.\+1.\+3\+:
-
-
-\begin{DoxyItemize}
-\item {\ttfamily Connect\+Capability.\+srv} -\/ A service type for connecting two running capabilities together through the event system.
-\item {\ttfamily Launch.\+srv} -\/ A service type for launching a launch file.
-\item {\ttfamily Trigger\+Capability.\+srv} -\/ A service type for triggering a capability.
-\end{DoxyItemize}\hypertarget{md_capabilities2__msgs_2readme_autotoc_md17}{}\doxysection{\texorpdfstring{Action Types}{Action Types}}\label{md_capabilities2__msgs_2readme_autotoc_md17}
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Action Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Action Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily Capability.\+action}   &An action type for an encapsulated capability action.    \\\cline{1-2}
-{\ttfamily Launch.\+action}   &An action type for launching a launch file.   \\\cline{1-2}
-\end{longtabu}
diff --git a/docs/latex/md_capabilities2__runner_2docs_2create__runners.tex b/docs/latex/md_capabilities2__runner_2docs_2create__runners.tex
deleted file mode 100644
index e03aef5..0000000
--- a/docs/latex/md_capabilities2__runner_2docs_2create__runners.tex
+++ /dev/null
@@ -1,55 +0,0 @@
-\chapter{Creating Runner Plugins}
-\hypertarget{md_capabilities2__runner_2docs_2create__runners}{}\label{md_capabilities2__runner_2docs_2create__runners}\index{Creating Runner Plugins@{Creating Runner Plugins}}
-\label{md_capabilities2__runner_2docs_2create__runners_autotoc_md18}%
-\Hypertarget{md_capabilities2__runner_2docs_2create__runners_autotoc_md18}%
- The runner API is designed to be extensible, so that specific runners can be created on a per provider basis. Another feature that can be implemented is cross-\/runner communication, which could allow capabilities to be combined at runtime to perform more complex tasks. This could overcome limitations in robot programming in which there is a common need for extensive pre-\/definition of tasks.\hypertarget{md_capabilities2__runner_2docs_2create__runners_autotoc_md19}{}\doxysection{\texorpdfstring{Inheritance}{Inheritance}}\label{md_capabilities2__runner_2docs_2create__runners_autotoc_md19}
-A runner is a plugin that inherits from the {\ttfamily \doxylink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} class. The {\ttfamily Runner\+Base} class is a pure virtual class that defines the interface for a runner. The {\ttfamily Runner\+Base} class has the following methods\+:
-
-
-\begin{DoxyEnumerate}
-\item {\ttfamily start} -\/ starts the runner
-\end{DoxyEnumerate}
-\begin{DoxyEnumerate}
-\item {\ttfamily stop} -\/ stops the runner
-\end{DoxyEnumerate}
-\begin{DoxyEnumerate}
-\item {\ttfamily trigger} -\/ triggers the runner
-\end{DoxyEnumerate}
-
-Multiple classes are provided to inherit from, depending on the type of runner you want to create. A notable example is the {\ttfamily \doxylink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}} class, which is used to create runners that run actions.\hypertarget{md_capabilities2__runner_2docs_2create__runners_autotoc_md20}{}\doxysection{\texorpdfstring{Export with Pluginlib}{Export with Pluginlib}}\label{md_capabilities2__runner_2docs_2create__runners_autotoc_md20}
-The runner should be exported as a plugin using the {\ttfamily PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS} macro.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
-\DoxyCodeLine{\textcolor{preprocessor}{\#include\ <pluginlib/class\_list\_macros.hpp>}}
-\DoxyCodeLine{}
-\DoxyCodeLine{...}
-\DoxyCodeLine{}
-\DoxyCodeLine{PLUGINLIB\_EXPORT\_CLASS(capabilities2\_runner::MyRunner,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\_runner::RunnerBase}})}
-
-\end{DoxyCode}
-\hypertarget{md_capabilities2__runner_2docs_2create__runners_autotoc_md21}{}\doxysection{\texorpdfstring{Expose with plugins.\+xml}{Expose with plugins.xml}}\label{md_capabilities2__runner_2docs_2create__runners_autotoc_md21}
-The runner should be exposed as a plugin in the {\ttfamily plugins.\+xml} file.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{<\textcolor{keywordtype}{library}\ \textcolor{keyword}{path}=\textcolor{stringliteral}{"{}capabilities2\_runner"{}}>}
-\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{class}\ \textcolor{keyword}{type}=\textcolor{stringliteral}{"{}capabilities2\_runner::MyRunner"{}}\ \textcolor{keyword}{base\_class\_type}=\textcolor{stringliteral}{"{}capabilities2\_runner::RunnerBase"{}}>}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ <\textcolor{keywordtype}{description}>}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{A}\ \textcolor{keyword}{plugin}\ \textcolor{keyword}{that}\ \textcolor{keyword}{provides}\ \textcolor{keyword}{a}\ \ \textcolor{keyword}{my-\/runner}\ \textcolor{keyword}{to}\ \textcolor{keyword}{test}\ \textcolor{keyword}{capabilities2}}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ </\textcolor{keywordtype}{description}>}
-\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{class}>}
-\DoxyCodeLine{</\textcolor{keywordtype}{library}>}
-
-\end{DoxyCode}
-
-
-{\ttfamily plugin.\+xml} needs to be included in the {\ttfamily CMake\+Lists.\+txt}.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{pluginlib\_export\_plugin\_description\_file(\$\{PROJECT\_NAME\}\ plugins.xml)}
-
-\end{DoxyCode}
- 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__runner_2docs_2parameter__format.tex b/docs/latex/md_capabilities2__runner_2docs_2parameter__format.tex
deleted file mode 100644
index 320083b..0000000
--- a/docs/latex/md_capabilities2__runner_2docs_2parameter__format.tex
+++ /dev/null
@@ -1,15 +0,0 @@
-\chapter{Parameter Format}
-\hypertarget{md_capabilities2__runner_2docs_2parameter__format}{}\label{md_capabilities2__runner_2docs_2parameter__format}\index{Parameter Format@{Parameter Format}}
-\label{md_capabilities2__runner_2docs_2parameter__format_autotoc_md22}%
-\Hypertarget{md_capabilities2__runner_2docs_2parameter__format_autotoc_md22}%
- \hypertarget{md_capabilities2__runner_2docs_2parameter__format_autotoc_md23}{}\doxysection{\texorpdfstring{TODO}{TODO}}\label{md_capabilities2__runner_2docs_2parameter__format_autotoc_md23}
-Runners can use parameters. These parameters are passed to the runner in the {\ttfamily trigger} function. The parameter format for capabilities2 uses XML. A runner expects to receive a minimal XML structure which includes an ID attribute, for example\+:
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{<\textcolor{keywordtype}{parameters}\ \textcolor{keyword}{id}=\textcolor{stringliteral}{"{}1234"{}}>}
-
-\end{DoxyCode}
-
-
-The {\ttfamily id} is used to identify the runner instance and manage its execution. 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__runner_2readme.tex b/docs/latex/md_capabilities2__runner_2readme.tex
deleted file mode 100644
index 9cb8c6c..0000000
--- a/docs/latex/md_capabilities2__runner_2readme.tex
+++ /dev/null
@@ -1,111 +0,0 @@
-\chapter{capabilities2\+\_\+runner plugin API}
-\hypertarget{md_capabilities2__runner_2readme}{}\label{md_capabilities2__runner_2readme}\index{capabilities2\_runner plugin API@{capabilities2\_runner plugin API}}
-\label{md_capabilities2__runner_2readme_autotoc_md24}%
-\Hypertarget{md_capabilities2__runner_2readme_autotoc_md24}%
- This package provides the {\ttfamily runner} API for abstract provision of capabilities. Runner plugins extend the execution functionality of the {\ttfamily capabilities} system. The ROS1 implementation used launch files to start capabilities. The ROS2 implementation uses runners. This allows for more flexibility in how capabilities are started and stopped, or how they are managed, and operate.\hypertarget{md_capabilities2__runner_2readme_autotoc_md25}{}\doxysection{\texorpdfstring{Runner archetypes}{Runner archetypes}}\label{md_capabilities2__runner_2readme_autotoc_md25}
-The {\ttfamily \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} package provides runner patterns that can be used to specialise runners for capabilities and hence create capabilities. These runners are tested\+:
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily \doxylink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}   &The Base class for runners implementing the {\ttfamily Runner} interface which consists of {\ttfamily start}, {\ttfamily stop} and {\ttfamily trigger} functionality.    \\\cline{1-2}
-{\ttfamily \doxylink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}}   &The Base runner class for capabilities that are implemented as ROS Actions. Overrides {\ttfamily stop} and {\ttfamily trigger} from Runner\+Base.    \\\cline{1-2}
-{\ttfamily \doxylink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner}}   &The Base runner class for capabilities that are implemented as ROS Services.    \\\cline{1-2}
-{\ttfamily \doxylink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner}}   &The Base runner class for capabilities that are implemented as ROS Topics.    \\\cline{1-2}
-{\ttfamily \doxylink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}   &A base runner class that disables trigger functionality. Useful for runners that begin work immediately from {\ttfamily start}.   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__runner_2readme_autotoc_md26}{}\doxysection{\texorpdfstring{Standard Runners}{Standard Runners}}\label{md_capabilities2__runner_2readme_autotoc_md26}
-The {\ttfamily \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} package provides some standard runners.
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily \doxylink{classcapabilities2__runner_1_1LaunchRunner}{capabilities2\+\_\+runner\+::\+Launch\+Runner}}   &Deferred launch-\/file runner kept for compatibility planning. The current implementation is intentionally disabled.    \\\cline{1-2}
-{\ttfamily \doxylink{classcapabilities2__runner_1_1DummyRunner}{capabilities2\+\_\+runner\+::\+Dummy\+Runner}}   &A sample runner that can be used to test the functionality of capabilities server.    \\\cline{1-2}
-{\ttfamily \doxylink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}   &A runner that requests capability specifications from the capabilities server.    \\\cline{1-2}
-{\ttfamily \doxylink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}   &A runner that multiplexes multiple input capabilities through the events system.   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__runner_2readme_autotoc_md27}{}\doxysection{\texorpdfstring{Experimental Runners}{Experimental Runners}}\label{md_capabilities2__runner_2readme_autotoc_md27}
-The {\ttfamily \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} package provides experimental runners that can be used to start capabilities. These runners are not fully tested and may not work as expected. The experimental runners are\+:
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Runner Type   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily \doxylink{classcapabilities2__runner_1_1EnCapRunner}{capabilities2\+\_\+runner\+::\+En\+Cap\+Runner}}   &Base runner class that provides a capability action interface that encapsulates another action.   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__runner_2readme_autotoc_md28}{}\doxysection{\texorpdfstring{Runner Inheritance Diagram}{Runner Inheritance Diagram}}\label{md_capabilities2__runner_2readme_autotoc_md28}
-Following inheritance diagram depicts the inheritance between the above presented {\itshape Runners} and {\itshape Experimental Runners}.
-
-\hypertarget{md_capabilities2__runner_2readme_autotoc_md29}{}\doxysection{\texorpdfstring{About Runners}{About Runners}}\label{md_capabilities2__runner_2readme_autotoc_md29}
-\hypertarget{md_capabilities2__runner_2readme_autotoc_md30}{}\doxysubsection{\texorpdfstring{Base Runner}{Base Runner}}\label{md_capabilities2__runner_2readme_autotoc_md30}
-The {\ttfamily Runner\+Base} class is the base class for all runners. It provides the {\ttfamily start}, {\ttfamily stop}, and {\ttfamily trigger} methods. The {\ttfamily start} method is used to start the runner, the {\ttfamily stop} method is used to stop the runner, and the {\ttfamily trigger} method is used to trigger the runner. See the {\ttfamily \doxylink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} class definition function templates below\+:
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{\{}
-\DoxyCodeLine{}
-\DoxyCodeLine{\ \ \textcolor{keyword}{class\ }RunnerBase}
-\DoxyCodeLine{\ \ \{}
-\DoxyCodeLine{\ \ \textcolor{keyword}{public}:}
-\DoxyCodeLine{\ \ \ \ \textcolor{comment}{//\ start\ the\ runner}}
-\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ runner\_opts\&\ run\_config,}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\ =\ 0;}
-\DoxyCodeLine{}
-\DoxyCodeLine{\ \ \ \ \textcolor{comment}{//\ stop\ the\ runner}}
-\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a590b4f109de1d343ad88db826d72d6f2}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\ =\ 0;}
-\DoxyCodeLine{}
-\DoxyCodeLine{\ \ \ \ \textcolor{comment}{//\ trigger\ the\ runner}}
-\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{trigger}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters,}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ bond\_id,}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ instance\_id)\ =\ 0;}
-\DoxyCodeLine{\ \ \};}
-\DoxyCodeLine{}
-\DoxyCodeLine{\}\ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
-\hypertarget{md_capabilities2__runner_2readme_autotoc_md31}{}\doxysubsection{\texorpdfstring{Launch\+Runner}{LaunchRunner}}\label{md_capabilities2__runner_2readme_autotoc_md31}
-The {\ttfamily Launch\+Runner} inherits from {\ttfamily \doxylink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}, but it is intentionally deferred in the current codebase. The class and plugin entry are kept so that launch support can be restored once the replacement approach for the current ROS2 launch system is ready. For now, do not configure providers to depend on launch-\/file execution through this runner.\hypertarget{md_capabilities2__runner_2readme_autotoc_md32}{}\doxysubsection{\texorpdfstring{Creating a Custom runner}{Creating a Custom runner}}\label{md_capabilities2__runner_2readme_autotoc_md32}
-The main idea is to allow users to create custom runners for their specific capabilities. Runners can be created to perform capabilities. The runner can be specified in a capability provider as the {\ttfamily runner} tag\+:
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ provider\ ...}
-\DoxyCodeLine{name:\ my\_provider}
-\DoxyCodeLine{spec\_version:\ 1}
-\DoxyCodeLine{spec\_type:\ provider}
-\DoxyCodeLine{implements:\ my\_capability}
-\DoxyCodeLine{\#\ the\ runner\ to\ use\ is\ an\ exported\ plugin\ name\ based\ on\ RunnerBase}
-\DoxyCodeLine{runner:\ capabilities2\_runner::MyRunner}
-
-\end{DoxyCode}
-
-
-The runner {\ttfamily capabilities2\+\_\+runner\+::\+My\+Runner} should inherit from the {\ttfamily \doxylink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}} or another like the {\ttfamily \doxylink{classcapabilities2__runner_1_1ActionRunner}{capabilities2\+\_\+runner\+::\+Action\+Runner}} class. The runner must implement the {\ttfamily start}, {\ttfamily stop}, and {\ttfamily trigger} methods, and then be registered as a plugin, using the {\ttfamily PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS} macro. See \doxysectlink{md_capabilities2__runner_2docs_2create__runners}{Creating Runners}{0} for more information.\hypertarget{md_capabilities2__runner_2readme_autotoc_md33}{}\doxysection{\texorpdfstring{Runner Execution Patterns}{Runner Execution Patterns}}\label{md_capabilities2__runner_2readme_autotoc_md33}
-\hypertarget{md_capabilities2__runner_2readme_autotoc_md34}{}\doxysubsection{\texorpdfstring{Start -\/$>$ Stop}{Start -> Stop}}\label{md_capabilities2__runner_2readme_autotoc_md34}
-The simplest runner execution pattern is to start the runner and then stop it. An example of this is the {\ttfamily Launch\+Runner}. This pattern represents a {\itshape {\bfseries{self-\/contained}}} capability. An example might be the action of a robot following another entity. This skill could be self-\/contained and runs continuously until stopped. This case assumes that the skill is continuously running and does not require any external triggers. ROS {\bfseries{Topic}} subscriptions and {\bfseries{Launch}} files are like this type.\hypertarget{md_capabilities2__runner_2readme_autotoc_md35}{}\doxysubsection{\texorpdfstring{Start -\/$>$ Trigger -\/$>$ Stop}{Start -> Trigger -> Stop}}\label{md_capabilities2__runner_2readme_autotoc_md35}
-A more complex runner execution pattern is to start the runner, trigger it, and then stop it. This pattern represents a {\itshape {\bfseries{one-\/shot}}} capability. An example might be the action of a robot moving to a waypoint. This skill is triggered once and then stops.\hypertarget{md_capabilities2__runner_2readme_autotoc_md36}{}\doxysubsection{\texorpdfstring{Start -\/$>$ Trigger -\/$>$ Trigger -\/$>$ ... -\/$>$ Stop}{Start -> Trigger -> Trigger -> ... -> Stop}}\label{md_capabilities2__runner_2readme_autotoc_md36}
-An even more complex runner execution pattern is to start the runner, trigger it multiple times, and then stop it. This pattern represents a {\itshape {\bfseries{repeating}}} capability. An example might be the action of a robot completing a state-\/machine or tree. This skill is triggered multiple times and then stops. This pattern (and the previous one) often implies that data is passed to and from the runner.\hypertarget{md_capabilities2__runner_2readme_autotoc_md37}{}\doxysubsection{\texorpdfstring{Start -\/$>$ End (no Stop)}{Start -> End (no Stop)}}\label{md_capabilities2__runner_2readme_autotoc_md37}
-The final runner execution pattern is to start the runner and then end it without stopping. This pattern represents a challenge for the runner API, as it is not clear when the runner should be stopped. ROS communications patterns including {\bfseries{Services}} and {\bfseries{Actions}} are like this type.\hypertarget{md_capabilities2__runner_2readme_autotoc_md38}{}\doxysection{\texorpdfstring{Trigger Parameter Format}{Trigger Parameter Format}}\label{md_capabilities2__runner_2readme_autotoc_md38}
-Runners can use parameters. These parameters are passed to the runner in the {\ttfamily trigger} function. For more information, see \doxysectlink{md_capabilities2__runner_2docs_2parameter__format}{Parameter Format}{0}. 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__server_2docs_2register.tex b/docs/latex/md_capabilities2__server_2docs_2register.tex
deleted file mode 100644
index 5c4a131..0000000
--- a/docs/latex/md_capabilities2__server_2docs_2register.tex
+++ /dev/null
@@ -1,27 +0,0 @@
-\chapter{Registering a capability}
-\hypertarget{md_capabilities2__server_2docs_2register}{}\label{md_capabilities2__server_2docs_2register}\index{Registering a capability@{Registering a capability}}
-\label{md_capabilities2__server_2docs_2register_autotoc_md39}%
-\Hypertarget{md_capabilities2__server_2docs_2register_autotoc_md39}%
- Capabilities can be registered by exporting them in a package. The capabilities2 server will read the capabilities from the package and make them available to the user. Basic capability use case needs two components to be registered; {\ttfamily capability\+\_\+interface} and {\ttfamily capability\+\_\+provider}. Optionally, a third component can be added as {\ttfamily semantic\+\_\+capability\+\_\+interface}.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\textcolor{comment}{<!-\/-\/\ see\ std\_capabilities\ package\ for\ examples\ -\/-\/>}}
-\DoxyCodeLine{<\textcolor{keywordtype}{export}>}
-\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{capability\_interface}>}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{keyword}{interfaces}/\textcolor{keyword}{cool\_cap.yaml}}
-\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{capability\_interface}>}
-\DoxyCodeLine{\ \ \ \ }
-\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{capability\_provider}>}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{keyword}{providers}/\textcolor{keyword}{cool\_cap.yaml}}
-\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{capability\_provider}>}
-\DoxyCodeLine{}
-\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{semantic\_capability\_interface}>}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{keyword}{semantic\_interfaces}/\textcolor{keyword}{not\_cool\_cap.yaml}}
-\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{semantic\_capability\_interface}>}
-\DoxyCodeLine{</\textcolor{keywordtype}{export}>}
-
-\end{DoxyCode}
-
-
-Capabilities can also be registered through a service call. This is useful for registering capabilities that are not exported in a package. The service call has been implemented as a node in the capabilities2 package. Use the node to register capabilities during runtime. This method can also be used to update capabilities. 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__server_2docs_2terminal__usage.tex b/docs/latex/md_capabilities2__server_2docs_2terminal__usage.tex
deleted file mode 100644
index 6c2800c..0000000
--- a/docs/latex/md_capabilities2__server_2docs_2terminal__usage.tex
+++ /dev/null
@@ -1,46 +0,0 @@
-\chapter{Terminal based capability usage}
-\hypertarget{md_capabilities2__server_2docs_2terminal__usage}{}\label{md_capabilities2__server_2docs_2terminal__usage}\index{Terminal based capability usage@{Terminal based capability usage}}
-\label{md_capabilities2__server_2docs_2terminal__usage_autotoc_md40}%
-\Hypertarget{md_capabilities2__server_2docs_2terminal__usage_autotoc_md40}%
- Using a capability requires the user to establish a bond with the capabilities2 server. The bond is used to maintain a persistent connection with the server.
-
-first, inspect the available capabilities provided under this server on this robot.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{ros2\ service\ call\ /capabilities/get\_capability\_specs\ capabilities2\_msgs/srv/GetCapabilitySpecs}
-
-\end{DoxyCode}
-
-
-then, request a bond id to become a persistent user
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{ros2\ service\ call\ /capabilities/establish\_bond\ capabilities2\_msgs/srv/EstablishBond}
-\DoxyCodeLine{}
-\DoxyCodeLine{\#\ this\ bond\ needs\ to\ be\ updated\ every\ second\ by\ publishing\ a\ heartbeat\ the\ bond\ topic.\ Replace\ the\ ...\ with\ value\ received\ from\ above\ call}
-\DoxyCodeLine{ros2\ topic\ pub\ /capabilities/bonds\ ...}
-
-\end{DoxyCode}
-
-
-then request to use a capability
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{ros2\ service\ call\ /capabilities/use\_capability\ capabilities2\_msgs/srv/UseCapability}
-
-\end{DoxyCode}
-
-
-running capabilities can also be connected together through the event system. this requires a valid bond and both the source and target capabilities to already be running.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{ros2\ service\ call\ /capabilities/connect\_capability\ capabilities2\_msgs/srv/ConnectCapability}
-
-\end{DoxyCode}
-
-
-This capability can be freed by calling the {\ttfamily free\+\_\+capability} service, or just let the bond expire. The capability will be freed automatically. 
\ No newline at end of file
diff --git a/docs/latex/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.tex b/docs/latex/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.tex
deleted file mode 100644
index f2035ae..0000000
--- a/docs/latex/md_capabilities2__server_2include_2capabilities2__server_2models_2readme.tex
+++ /dev/null
@@ -1,96 +0,0 @@
-\chapter{Capabilities2 Models}
-\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme}{}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme}\index{Capabilities2 Models@{Capabilities2 Models}}
-\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md41}%
-\Hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md41}%
- This directory contains the data models used by the Capabilities2 server.\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md42}{}\doxysection{\texorpdfstring{Models}{Models}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md42}
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily provider}   &Represents a provider of an interface    \\\cline{1-2}
-{\ttfamily interface}   &Represents a capability interface    \\\cline{1-2}
-{\ttfamily semantic\+\_\+interface}   &Represents a semantic capability interface   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md43}{}\doxysubsection{\texorpdfstring{V2 new models (\+TODO)}{V2 new models (TODO)}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md43}
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily predicates}   &Represents predicates between capabilities   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md44}{}\doxysubsection{\texorpdfstring{V3 new models (\+TODO)(\+Proposal)}{V3 new models (TODO)(Proposal)}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md44}
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Model   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily running}   &Represents active runners that are executing capabilities    \\\cline{1-2}
-{\ttfamily connections}   &Represents connections between active runners   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md45}{}\doxysection{\texorpdfstring{Traits}{Traits}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md45}
-The models can implement various traits to provide additional functionality. The available traits are\+:
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Trait   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Trait   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily identifiable}   &Allows the model to have a unique identifier    \\\cline{1-2}
-{\ttfamily modifiable}   &Adds created and modified timestamps    \\\cline{1-2}
-{\ttfamily soft\+\_\+deleteable}   &Allows the model to be soft deleted    \\\cline{1-2}
-{\ttfamily header}   &Adds a header to the model including name, description, and version etc. The header uses id, created, and deleted timestamps    \\\cline{1-2}
-{\ttfamily remappable}   &Allows the model to have remappings   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md46}{}\doxysubsection{\texorpdfstring{V2 new traits (\+TODO)}{V2 new traits (TODO)}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md46}
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Trait   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Trait   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily predicateable}   &Allows the model to use subject-\/predicate relationships    \\\cline{1-2}
-{\ttfamily assurable}   &Adds tracking metrics for capability performance   \\\cline{1-2}
-\end{longtabu}
-\hypertarget{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md47}{}\doxysection{\texorpdfstring{Relationships}{Relationships}}\label{md_capabilities2__server_2include_2capabilities2__server_2models_2readme_autotoc_md47}
-The models can have relationships with each other. The available relationships are\+:
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Relationship   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Relationship   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-{\ttfamily implements}   &A provider implements an interface    \\\cline{1-2}
-{\ttfamily depends\+\_\+on}   &A provider depends on another provider    \\\cline{1-2}
-{\ttfamily redefines}   &A semantic interface redefines an interface   \\\cline{1-2}
-\end{longtabu}
diff --git a/docs/latex/md_capabilities2__server_2readme.tex b/docs/latex/md_capabilities2__server_2readme.tex
deleted file mode 100644
index e83bb74..0000000
--- a/docs/latex/md_capabilities2__server_2readme.tex
+++ /dev/null
@@ -1,81 +0,0 @@
-\chapter{Capabilities2 Server}
-\hypertarget{md_capabilities2__server_2readme}{}\label{md_capabilities2__server_2readme}\index{Capabilities2 Server@{Capabilities2 Server}}
-\label{md_capabilities2__server_2readme_autotoc_md48}%
-\Hypertarget{md_capabilities2__server_2readme_autotoc_md48}%
- Capabilities2 server allows interaction with the capabilities2 API. It is a reimplementation of the capabilities package using C++ (original capabilities package was written in Python 2.\+7). In addition to C++ reimplementation being more resource efficient, this package extends the capabilities package features in following ways,
-
-
-\begin{DoxyEnumerate}
-\item Database support for storing capabilities.
-\item Capability registration through service calls.
-\item Abstracted providers through a {\itshape runners} API see \doxysectlink{md_capabilities2__runner_2readme}{capabilities2\+\_\+runner}{0}
-\end{DoxyEnumerate}\hypertarget{md_capabilities2__server_2readme_autotoc_md49}{}\doxysection{\texorpdfstring{Specialising the capabilities2 server}{Specialising the capabilities2 server}}\label{md_capabilities2__server_2readme_autotoc_md49}
-The capabilities2 server is implemented as a \href{https://docs.ros.org/en/jazzy/Concepts/Intermediate/About-Composition.html}{\texttt{ ROS2 Component}}. The server can be specialised by composing it with another Component that adds domain logic.\hypertarget{md_capabilities2__server_2readme_autotoc_md50}{}\doxysection{\texorpdfstring{Launch capabilities2 server}{Launch capabilities2 server}}\label{md_capabilities2__server_2readme_autotoc_md50}
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{source\ install/setup.bash}
-\DoxyCodeLine{ros2\ launch\ capabilities2\_server\ capabilities2\_server.launch.py}
-
-\end{DoxyCode}
-
-
-Refer {\ttfamily capabilities2\+\_\+server/config/capabilities.\+yaml} for the default node parameters loaded by the launch file.\hypertarget{md_capabilities2__server_2readme_autotoc_md51}{}\doxysection{\texorpdfstring{System dependencies}{System dependencies}}\label{md_capabilities2__server_2readme_autotoc_md51}
-The capabilities2 server depends on the following {\ttfamily bondcpp} ROS2 package. See the package.\+xml for the full list of dependencies. Notably, the capabilities2 server depends on the following system dependencies\+:
-
-
-\begin{DoxyItemize}
-\item {\ttfamily sqlite3}
-\item {\ttfamily yaml-\/cpp}
-\item {\ttfamily tinyxml2}
-\end{DoxyItemize}\hypertarget{md_capabilities2__server_2readme_autotoc_md52}{}\doxysection{\texorpdfstring{API}{API}}\label{md_capabilities2__server_2readme_autotoc_md52}
-The capabilities2 server provides the following ROS2 API\+:\hypertarget{md_capabilities2__server_2readme_autotoc_md53}{}\doxysubsection{\texorpdfstring{Services}{Services}}\label{md_capabilities2__server_2readme_autotoc_md53}
-The capabilities2 server exposes the following Service API (see \doxysectlink{md_capabilities2__msgs_2readme}{capabilities2\+\_\+msgs}{0} for data types)\+:
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{3}{|X[-1]}|}
-\hline
-\cellcolor{\tableheadbgcolor}\textbf{ Topic   }&\cellcolor{\tableheadbgcolor}\textbf{ Service Message   }&\cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-3}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\cellcolor{\tableheadbgcolor}\textbf{ Topic   }&\cellcolor{\tableheadbgcolor}\textbf{ Service Message   }&\cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-3}
-\endhead
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+interfaces}   &{\ttfamily Get\+Interfaces.\+srv}   &Get the interfaces provided by the capabilities server    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+semantic\+\_\+interfaces}   &{\ttfamily Get\+Semantic\+Interfaces.\+srv}   &Get the semantic interfaces provided by the capabilities server    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+providers}   &{\ttfamily Get\+Providers.\+srv}   &Get the providers available on the capabilities server    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+remappings}   &{\ttfamily Get\+Remappings.\+srv}   &Get the remappings for a capability    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+capability\+\_\+spec}   &{\ttfamily Get\+Capability\+Spec.\+srv}   &Get a raw specifications for a capability    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+capability\+\_\+specs}   &{\ttfamily Get\+Capability\+Specs.\+srv}   &Get all raw specifications in the capabilities server    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/get\+\_\+running\+\_\+capabilities}   &{\ttfamily Get\+Running\+Capabilities.\+srv}   &Get the currently running capabilities    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/establish\+\_\+bond}   &{\ttfamily Establish\+Bond.\+srv}   &Establish a bond with the capabilities server to use capabilities    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/use\+\_\+capability}   &{\ttfamily Use\+Capability.\+srv}   &Use a capability -\/ must be bonded    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/free\+\_\+capability}   &{\ttfamily Free\+Capability.\+srv}   &Free a capability (when done using it, when all users are done the capability is freed) -\/ must be bonded    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/start\+\_\+capability}   &{\ttfamily Start\+Capability.\+srv}   &Start a capability (this is a forceful start, and ignores use and free logic)    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/stop\+\_\+capability}   &{\ttfamily Stop\+Capability.\+srv}   &Stop a capability (this is a forceful stop, and ignores use and free logic)    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/register\+\_\+capability}   &{\ttfamily Register\+Capability.\+srv}   &Register a capability with the capabilities server    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/trigger\+\_\+capability}   &{\ttfamily Trigger\+Capability.\+srv}   &Trigger a capability -\/ must be bonded    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/connect\+\_\+capability}   &{\ttfamily Connect\+Capability.\+srv}   &Connect two running capabilities through the event system using a {\ttfamily Capability\+Connection} message -\/ must be bonded   \\\cline{1-3}
-\end{longtabu}
-\hypertarget{md_capabilities2__server_2readme_autotoc_md54}{}\doxysubsection{\texorpdfstring{Topics}{Topics}}\label{md_capabilities2__server_2readme_autotoc_md54}
-The capabilities2 server exposes the following Topics API\+:
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{3}{|X[-1]}|}
-\hline
-\cellcolor{\tableheadbgcolor}\textbf{ Topic   }&\cellcolor{\tableheadbgcolor}\textbf{ Message   }&\cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-3}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\cellcolor{\tableheadbgcolor}\textbf{ Topic   }&\cellcolor{\tableheadbgcolor}\textbf{ Message   }&\cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-3}
-\endhead
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/events}   &{\ttfamily Capability\+Event\+Stamped.\+msg}   &Publish capability events    \\\cline{1-3}
-{\ttfamily \texorpdfstring{$\sim$}{\string~}/bonds}   &{\ttfamily bond/\+Status.\+msg}   &Maintain bonds with capability users -\/ \href{https://wiki.ros.org/bond}{\texttt{ Bond API}}   \\\cline{1-3}
-\end{longtabu}
-\hypertarget{md_capabilities2__server_2readme_autotoc_md55}{}\doxysection{\texorpdfstring{Additional Information}{Additional Information}}\label{md_capabilities2__server_2readme_autotoc_md55}
-
-\begin{DoxyItemize}
-\item \doxysectlink{md_capabilities2__server_2docs_2register}{Registering a capability}{0}
-\item \doxysectlink{md_capabilities2__server_2docs_2terminal__usage}{Terminal based capability usage}{0} 
-\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/md_changelog.tex b/docs/latex/md_changelog.tex
deleted file mode 100644
index 82ac19d..0000000
--- a/docs/latex/md_changelog.tex
+++ /dev/null
@@ -1,34 +0,0 @@
-\chapter{Changelog}
-\hypertarget{md_changelog}{}\label{md_changelog}\index{Changelog@{Changelog}}
-\label{md_changelog_autotoc_md56}%
-\Hypertarget{md_changelog_autotoc_md56}%
- \hypertarget{md_changelog_autotoc_md57}{}\doxysection{\texorpdfstring{0.\+2.\+0 (2025-\/09-\/16)}{0.2.0 (2025-09-16)}}\label{md_changelog_autotoc_md57}
-
-\begin{DoxyItemize}
-\item add new service types
-\item upgrade event subsystem
-\item implement basic db traits
-\item add system and capability runner plugins
-\item threaded runner execution
-\item runners can be chained through trigger
-\item triggering between runners handled by dynamic link list style structure
-\item event system upgraded and refactored to be more generic and easier to use
-\end{DoxyItemize}\hypertarget{md_changelog_autotoc_md58}{}\doxysection{\texorpdfstring{0.\+1.\+2 (2024-\/09-\/20)}{0.1.2 (2024-09-20)}}\label{md_changelog_autotoc_md58}
-
-\begin{DoxyItemize}
-\item working on bt runner plugins
-\item identifiable trait on models\+: can be used to define a unique identifier for a model which could allow versions of interfaces to be used
-\item move trigger cap to first class concept in cap API
-\item change trigger logic in runner cache
-\item guard and throw in trigger logic when cap not found
-\item fix cap entity versioning to be a string in the database
-\item doco on cap entities with examples
-\end{DoxyItemize}\hypertarget{md_changelog_autotoc_md59}{}\doxysection{\texorpdfstring{0.\+1.\+1 (2024-\/09-\/19)}{0.1.1 (2024-09-19)}}\label{md_changelog_autotoc_md59}
-
-\begin{DoxyItemize}
-\item increment version of cap entities to 1.\+1
-\item add soft delete trait
-\item add database traits modifyable, defineable, predicateable
-\item defineable trait\+: use a behaviour language to define a provider
-\item predicateable trait\+: use a ontological triple to define relations between cap entities 
-\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/md_docs_2basic__tutorial.tex b/docs/latex/md_docs_2basic__tutorial.tex
deleted file mode 100644
index 6fe2d3d..0000000
--- a/docs/latex/md_docs_2basic__tutorial.tex
+++ /dev/null
@@ -1,196 +0,0 @@
-\chapter{Basic Tutorial}
-\hypertarget{md_docs_2basic__tutorial}{}\label{md_docs_2basic__tutorial}\index{Basic Tutorial@{Basic Tutorial}}
-\label{md_docs_2basic__tutorial_autotoc_md60}%
-\Hypertarget{md_docs_2basic__tutorial_autotoc_md60}%
- This tutorial will guide you through the basic steps of using {\ttfamily capabilities2}. It will cover the following topics\+:
-
-
-\begin{DoxyEnumerate}
-\item Creating a capability using yaml model files.
-\item Run the capabilities server to serve the capability.
-\item Run the capabilities runner to execute the capability.
-\end{DoxyEnumerate}
-
-The tutorial will create a simple capability that prints "{}\+Hello, World!"{} to the console, using talker-\/listener nodes as a backend sub-\/system.
-
-The capabilities server will serve the capability, and then spawn a runner that will execute the capability.\hypertarget{md_docs_2basic__tutorial_autotoc_md61}{}\doxysection{\texorpdfstring{Creating a capability}{Creating a capability}}\label{md_docs_2basic__tutorial_autotoc_md61}
-First, create a package to hold the capability. In this tutorial, we will create a package called {\ttfamily hello\+\_\+capability\+\_\+world}.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{ros2\ pkg\ create\ -\/-\/build-\/type\ ament\_cmake\ hello\_capability\_world}
-
-\end{DoxyCode}
-
-
-Next, create capability specification files in the package. These files will define the capability and the provider. Create 2 yaml files, {\ttfamily talker\+\_\+interface.\+yaml} and {\ttfamily talker\+\_\+provider.\+yaml} in the {\ttfamily hello\+\_\+capability\+\_\+world} package.\hypertarget{md_docs_2basic__tutorial_autotoc_md62}{}\doxysubsection{\texorpdfstring{Spec files (.\+yaml)}{Spec files (.yaml)}}\label{md_docs_2basic__tutorial_autotoc_md62}
-\hypertarget{md_docs_2basic__tutorial_autotoc_md63}{}\doxysubsubsection{\texorpdfstring{talker\+\_\+interface.\+yaml}{talker\_interface.yaml}}\label{md_docs_2basic__tutorial_autotoc_md63}
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ talker\_interface.yaml}
-\DoxyCodeLine{name:\ talker}
-\DoxyCodeLine{spec\_type:\ interface}
-\DoxyCodeLine{spec\_version:\ 1.1}
-\DoxyCodeLine{description:\ A\ simple\ talker\ capability\ that\ prints\ "{}Hello,\ World!"{}\ to\ the\ console.}
-\DoxyCodeLine{interface:}
-\DoxyCodeLine{\ \ topics:}
-\DoxyCodeLine{\ \ \ \ "{}chatter"{}:}
-\DoxyCodeLine{\ \ \ \ \ \ type:\ std\_msgs/msg/String}
-\DoxyCodeLine{\ \ \ \ \ \ description:\ A\ topic\ that\ prints\ "{}Hello,\ World!"{}\ to\ the\ console.}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2basic__tutorial_autotoc_md64}{}\doxysubsubsection{\texorpdfstring{talker\+\_\+provider.\+yaml}{talker\_provider.yaml}}\label{md_docs_2basic__tutorial_autotoc_md64}
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ talker\_provider.yaml}
-\DoxyCodeLine{name:\ talker}
-\DoxyCodeLine{spec\_type:\ provider}
-\DoxyCodeLine{spec\_version:\ 1.1}
-\DoxyCodeLine{description:\ A\ simple\ talker\ provider\ that\ prints\ "{}Hello,\ World!"{}\ to\ the\ console.}
-\DoxyCodeLine{implements:\ hello\_capability\_world/talker}
-\DoxyCodeLine{runner:\ hello\_capability\_world::Talker\ \#\ this\ is\ the\ C++\ class\ that\ implements\ the\ provider}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2basic__tutorial_autotoc_md65}{}\doxysubsection{\texorpdfstring{Export the capability in the package.\+xml}{Export the capability in the package.xml}}\label{md_docs_2basic__tutorial_autotoc_md65}
-Add the following to the {\ttfamily package.\+xml} file in the {\ttfamily hello\+\_\+capability\+\_\+world} package.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\textcolor{comment}{<!-\/-\/\ within\ the\ export\ tag\ -\/-\/>}}
-\DoxyCodeLine{<\textcolor{keywordtype}{export}>}
-\DoxyCodeLine{\ \ \ \ \textcolor{comment}{<!-\/-\/\ add\ the\ capability\ files\ -\/-\/>}}
-\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{capability\_interface}>\textcolor{keyword}{talker\_interface.yaml}</\textcolor{keywordtype}{capability\_interface}>}
-\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{capability\_provider}>\textcolor{keyword}{talker\_provider.yaml}</\textcolor{keywordtype}{capability\_provider}>}
-\DoxyCodeLine{</\textcolor{keywordtype}{export}>}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2basic__tutorial_autotoc_md66}{}\doxysubsection{\texorpdfstring{Create a runner plugin}{Create a runner plugin}}\label{md_docs_2basic__tutorial_autotoc_md66}
-Create a C++ class that implements the provider. This class will be used to run the capability. Create a new file {\ttfamily talker.\+cpp} in the {\ttfamily src} directory of the {\ttfamily hello\+\_\+capability\+\_\+world} package. In this example, the capability publishes immediately when started, so the class can inherit from {\ttfamily \doxylink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}} and be exported as a plugin.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\textcolor{comment}{//\ talker.cpp}}
-\DoxyCodeLine{\textcolor{preprocessor}{\#include\ "{}rclcpp/rclcpp.hpp"{}}}
-\DoxyCodeLine{\textcolor{preprocessor}{\#include\ "{}pluginlib/class\_list\_macros.hpp"{}}}
-\DoxyCodeLine{\textcolor{preprocessor}{\#include\ "{}\mbox{\hyperlink{notrigger__runner_8hpp}{capabilities2\_runner/notrigger\_runner.hpp}}"{}}}
-\DoxyCodeLine{\textcolor{preprocessor}{\#include\ "{}std\_msgs/msg/string.hpp"{}}}
-\DoxyCodeLine{}
-\DoxyCodeLine{\textcolor{keyword}{namespace\ }hello\_capability\_world}
-\DoxyCodeLine{\{}
-\DoxyCodeLine{\textcolor{keyword}{class\ }Talker\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\_runner::NoTriggerRunner}}}
-\DoxyCodeLine{\{}
-\DoxyCodeLine{\textcolor{keyword}{public}:}
-\DoxyCodeLine{\ \ Talker()\ =\ \textcolor{keywordflow}{default};}
-\DoxyCodeLine{}
-\DoxyCodeLine{\ \ \textcolor{keywordtype}{void}\ start(}
-\DoxyCodeLine{\ \ \ \ rclcpp::Node::SharedPtr\ node,}
-\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\_runner::runner\_opts}}\&\ run\_config,}
-\DoxyCodeLine{\ \ \ \ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{\textcolor{keyword}{\ \ \ \ }\{}
-\DoxyCodeLine{\ \ \ \ \textcolor{comment}{//\ init\ base\ class\ gets\ node\ info\ and\ stores\ the\ runner\ configuration}}
-\DoxyCodeLine{\ \ \ \ init\_base(node,\ run\_config);}
-\DoxyCodeLine{}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{comment}{//\ create\ a\ publisher\ to\ the\ chatter\ topic}}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{keyword}{auto}\ chatter\_pub\ =\ node\_-\/>create\_publisher<std\_msgs::msg::String>(\textcolor{stringliteral}{"{}chatter"{}},\ 10);}
-\DoxyCodeLine{}
-\DoxyCodeLine{\ \ \ \ emit\_started(bond\_id,\ \textcolor{stringliteral}{"{}"{}},\ param\_on\_started());}
-\DoxyCodeLine{}
-\DoxyCodeLine{\ \ \ \ \ \ \ \ \textcolor{comment}{//\ send\ a\ message\ to\ the\ chatter\ topic}}
-\DoxyCodeLine{\ \ \ \ std\_msgs::msg::String\ msg;}
-\DoxyCodeLine{\ \ \ \ msg.data\ =\ \textcolor{stringliteral}{"{}Hello,\ World!"{}};}
-\DoxyCodeLine{\ \ \ \ chatter\_pub-\/>publish(msg);}
-\DoxyCodeLine{\ \ \ \ \}}
-\DoxyCodeLine{}
-\DoxyCodeLine{\ \ \textcolor{keywordtype}{void}\ stop(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
-\DoxyCodeLine{\textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{\ \ \ \ emit\_stopped(bond\_id,\ instance\_id,\ param\_on\_stopped());}
-\DoxyCodeLine{\ \ \ \ \}}
-\DoxyCodeLine{\};}
-\DoxyCodeLine{\}\ \textcolor{comment}{//\ namespace\ hello\_capability\_world}}
-\DoxyCodeLine{}
-\DoxyCodeLine{\textcolor{comment}{//\ export\ the\ plugin}}
-\DoxyCodeLine{\mbox{\hyperlink{system__runners_8cpp_a17206555b3cc77986a56c860d68f7dd0}{PLUGINLIB\_EXPORT\_CLASS}}(hello\_capability\_world::Talker,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\_runner::RunnerBase}})}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2basic__tutorial_autotoc_md67}{}\doxysubsubsection{\texorpdfstring{Export the plugin in the CMake\+Lists.\+txt}{Export the plugin in the CMakeLists.txt}}\label{md_docs_2basic__tutorial_autotoc_md67}
-Follow the ROS2 pluginlib pattern to export the runner plugin.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\textcolor{comment}{<!-\/-\/\ plugins.xml\ -\/-\/>}}
-\DoxyCodeLine{<\textcolor{keywordtype}{library}\ \textcolor{keyword}{path}=\textcolor{stringliteral}{"{}lib"{}}>}
-\DoxyCodeLine{\ \ <\textcolor{keywordtype}{class}\ \textcolor{keyword}{name}=\textcolor{stringliteral}{"{}hello\_capability\_world::Talker"{}}\ \textcolor{keyword}{type}=\textcolor{stringliteral}{"{}hello\_capability\_world::Talker"{}}\ \textcolor{keyword}{base\_class\_type}=\textcolor{stringliteral}{"{}capabilities2\_runner::RunnerBase"{}}>}
-\DoxyCodeLine{\ \ \ \ <\textcolor{keywordtype}{description}>\textcolor{keyword}{A}\ \textcolor{keyword}{simple}\ \textcolor{keyword}{talker}\ \textcolor{keyword}{provider}\ \textcolor{keyword}{that}\ \textcolor{keyword}{prints}\ \textcolor{stringliteral}{"{}Hello,\ World!"{}}\ \textcolor{keyword}{to}\ \textcolor{keyword}{the}\ \textcolor{keyword}{console.}</\textcolor{keywordtype}{description}>}
-\DoxyCodeLine{\ \ \ \ </\textcolor{keywordtype}{class}>}
-\DoxyCodeLine{</\textcolor{keywordtype}{library}>}
-
-\end{DoxyCode}
-
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ CMakeLists.txt}
-\DoxyCodeLine{add\_library(\$\{PROJECT\_NAME\}\ SHARED\ src/talker.cpp)}
-\DoxyCodeLine{}
-\DoxyCodeLine{ament\_target\_dependencies(\$\{PROJECT\_NAME\}}
-\DoxyCodeLine{\ \ rclcpp}
-\DoxyCodeLine{\ \ pluginlib}
-\DoxyCodeLine{\ \ capabilities2\_runner}
-\DoxyCodeLine{\ \ std\_msgs}
-\DoxyCodeLine{)}
-\DoxyCodeLine{}
-\DoxyCodeLine{pluginlib\_export\_plugin\_description\_file(\$\{PROJECT\_NAME\}\ plugins.xml)}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2basic__tutorial_autotoc_md68}{}\doxysection{\texorpdfstring{Run the capabilities server}{Run the capabilities server}}\label{md_docs_2basic__tutorial_autotoc_md68}
-The capabilities server is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.\hypertarget{md_docs_2basic__tutorial_autotoc_md69}{}\doxysubsection{\texorpdfstring{Create a new config file}{Create a new config file}}\label{md_docs_2basic__tutorial_autotoc_md69}
-Create a new config file in the {\ttfamily hello\+\_\+capability\+\_\+world} package. This file will define the capabilities that the server will serve.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ config/hello\_capability\_world.yaml}
-\DoxyCodeLine{/**:}
-\DoxyCodeLine{\ \ ros\_\_parameters:}
-\DoxyCodeLine{\ \ \ \ loop\_rate:\ 5.0\ \#\ Hz}
-\DoxyCodeLine{\ \ \ \ db\_file:\ \string~/.ros/capabilities/capabilities.sqlite3}
-\DoxyCodeLine{\ \ \ \ rebuild:\ false\ \#\ Set\ to\ true\ to\ rebuild\ the\ database}
-\DoxyCodeLine{\ \ \ \ package\_paths:\ \#\ paths\ to\ search\ for\ capabilities}
-\DoxyCodeLine{\ \ \ \ \ \ -\/\ /opt/ros/jazzy/share\ \#\ default\ ROS2\ package\ paths\ for\ Jazzy}
-\DoxyCodeLine{\ \ \ \ \ \ -\/\ /home/ubuntu/colcon\_ws/src}
-\DoxyCodeLine{\ \ \ \ \ \ -\/\ /home/ubuntu/colcon\_ws/src/capabilities2\ \#\ absolute\ paths\ for\ now,\ these\ paths\ assume\ the\ capabilities2\ package\ is\ in\ the\ colcon\ workspace\ of\ the\ ubuntu\ user\ (devcontainer\ user)}
-
-\end{DoxyCode}
-
-
-Run the capabilities server node and provide the config file with ROS parameters.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ run\ the\ capabilities\ server\ node\ with\ the\ config\ file}
-\DoxyCodeLine{ros2\ run\ capabilities2\_server\ capabilities2\_server\_node\ -\/-\/ros-\/args\ -\/-\/params-\/file\ /path/to/hello\_capability\_world/config/hello\_capability\_world.yaml}
-
-\end{DoxyCode}
-
-
-We also need to run the talker-\/listener nodes as well. The talker-\/listener nodes are provided by the {\ttfamily demo\+\_\+nodes\+\_\+cpp} package. We can run the talker-\/listener nodes using the following command\+:
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ in\ a\ new\ terminal}
-\DoxyCodeLine{\#\ run\ the\ listener\ node}
-\DoxyCodeLine{ros2\ run\ demo\_nodes\_cpp\ listener}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2basic__tutorial_autotoc_md70}{}\doxysection{\texorpdfstring{Run the capabilities runner}{Run the capabilities runner}}\label{md_docs_2basic__tutorial_autotoc_md70}
-Now that the capabilities server is running, we can run the capabilities runner to execute the capability.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ in\ a\ new\ terminal}
-\DoxyCodeLine{\#\ run\ the\ capabilities\ runner\ using\ a\ service\ call}
-\DoxyCodeLine{ros2\ service\ call\ /capabilities/start\_capability\ capabilities2\_msgs/srv/StartCapability\ "{}\{capability:\ 'hello\_capability\_world/talker',\ provider:\ 'hello\_capability\_world/talker'\}"{}}
-
-\end{DoxyCode}
-
-
-The capabilities runner will start the capability and print "{}\+Hello, World!"{} to the console of the listener node. 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2design.tex b/docs/latex/md_docs_2design.tex
deleted file mode 100644
index f2f5c06..0000000
--- a/docs/latex/md_docs_2design.tex
+++ /dev/null
@@ -1,8 +0,0 @@
-\chapter{Design}
-\hypertarget{md_docs_2design}{}\label{md_docs_2design}\index{Design@{Design}}
-\label{md_docs_2design_autotoc_md71}%
-\Hypertarget{md_docs_2design_autotoc_md71}%
- The new capabilities package is designed to be more efficient and extensible. The functions are implemented as plugins, which can be loaded at runtime. The execution of providers is abstracted using an API called runners. The runners can manage more arbitrary provider operation which can include performing actions or services, or even running other capabilities. The capability models are stored in a database, This will allow various feature improvements such as hot reloading, state persistence, and model extension. Another possible feature is to create more complex ontological relationships between capabilities such as prerequisites, conflicts, or RDF triples (for example, {\ttfamily grasp} results in {\ttfamily holding}, or {\ttfamily pick} is a type of {\ttfamily manipulation}, or {\ttfamily grasp} is incompatible with {\ttfamily push}).\hypertarget{md_docs_2design_autotoc_md72}{}\doxysubsection{\texorpdfstring{Bonds}{Bonds}}\label{md_docs_2design_autotoc_md72}
-The bonds feature as implemented in {\ttfamily capabilities} and reimplemented in {\ttfamily capabilities2} allows applications to overlap functions by requesting use of the same resources. When all references to a resource are released, the resource is stopped. This has the added benefit of creating an idle state for the robot in which the robot computing resources are not being used. As a result of this, the robot could be more energy-\/efficient, and the robot could be more responsive to new tasks.\hypertarget{md_docs_2design_autotoc_md73}{}\doxysubsection{\texorpdfstring{Runners}{Runners}}\label{md_docs_2design_autotoc_md73}
-The runners feature which is new in {\ttfamily capabilities2} allows capabilities to be executed in a more diverse manner. This could include running actions, services, or even other capabilities. This allows capabilities to be used like actions and not just started and stopped by the capabilities service. The Runner API is designed to be extensible, so that specific runners can be created on a per provider basis. Another feature that can be implemented is cross-\/runner communication, which could allow capabilities to be combined at runtime to perform more complex tasks. This could overcome limitations in robot programming in which there is a common need for extensive pre-\/definition of tasks.\hypertarget{md_docs_2design_autotoc_md74}{}\doxysubsubsection{\texorpdfstring{launch runner}{launch runner}}\label{md_docs_2design_autotoc_md74}
-To preserve compatibility with the original {\ttfamily capabilities} package, {\ttfamily capabilities2} still keeps a {\ttfamily Launch\+Runner} interface in the codebase. An initial implementation existed, but launch-\/file execution is now intentionally deferred because of incompatibilities with the current ROS2 launch system. A separate replacement approach is being developed, and launch-\/runner documentation will be restored once that work is ready. 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2interfaces.tex b/docs/latex/md_docs_2interfaces.tex
deleted file mode 100644
index cf4738b..0000000
--- a/docs/latex/md_docs_2interfaces.tex
+++ /dev/null
@@ -1,44 +0,0 @@
-\chapter{Interfaces}
-\hypertarget{md_docs_2interfaces}{}\label{md_docs_2interfaces}\index{Interfaces@{Interfaces}}
-\label{md_docs_2interfaces_autotoc_md75}%
-\Hypertarget{md_docs_2interfaces_autotoc_md75}%
- \hypertarget{md_docs_2interfaces_autotoc_md76}{}\doxysection{\texorpdfstring{Description}{Description}}\label{md_docs_2interfaces_autotoc_md76}
-An capability interface describes the capability. It relates ROS primitives to the capability.\hypertarget{md_docs_2interfaces_autotoc_md77}{}\doxysection{\texorpdfstring{Interface}{Interface}}\label{md_docs_2interfaces_autotoc_md77}
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ the\ empty\ capability\ is\ an\ example\ of\ a\ capability\ interface}
-\DoxyCodeLine{\%YAML\ 1.1}
-\DoxyCodeLine{-\/-\/-\/}
-\DoxyCodeLine{name:\ empty}
-\DoxyCodeLine{spec\_type:\ interface}
-\DoxyCodeLine{spec\_version:\ 1.1}
-\DoxyCodeLine{description:\ the\ empty\ capability\ interface\ helps\ to\ test\ the\ capability\ server}
-\DoxyCodeLine{interface:}
-\DoxyCodeLine{\ \ parameters:}
-\DoxyCodeLine{\ \ \ \ "{}empty"{}:}
-\DoxyCodeLine{\ \ \ \ \ \ type:\ None}
-\DoxyCodeLine{\ \ \ \ \ \ description:\ empty}
-\DoxyCodeLine{\ \ topics:}
-\DoxyCodeLine{\ \ \ \ "{}empty"{}:}
-\DoxyCodeLine{\ \ \ \ \ \ type:\ std\_msgs/msg/Empty}
-\DoxyCodeLine{\ \ \ \ \ \ description:\ empty}
-\DoxyCodeLine{\ \ services:}
-\DoxyCodeLine{\ \ \ \ "{}empty"{}:}
-\DoxyCodeLine{\ \ \ \ \ \ type:\ std\_srvs/srv/Empty}
-\DoxyCodeLine{\ \ \ \ \ \ description:\ empty}
-\DoxyCodeLine{\ \ actions:}
-\DoxyCodeLine{\ \ \ \ "{}empty"{}:}
-\DoxyCodeLine{\ \ \ \ \ \ type:\ std\_srvs/action/Empty}
-\DoxyCodeLine{\ \ \ \ \ \ description:\ empty}
-\DoxyCodeLine{}
-\DoxyCodeLine{\#\ the\ below\ keys\ are\ optional}
-\DoxyCodeLine{}
-\DoxyCodeLine{\#\ relations\ are\ a\ list\ of\ relations\ to\ other\ capability\ entities}
-\DoxyCodeLine{relations:}
-\DoxyCodeLine{\ \ \ \ \#\ an\ example\ of\ a\ relation}
-\DoxyCodeLine{\ \ -\/\ subject:\ some\_package/some\_capability}
-\DoxyCodeLine{\ \ \ \ predicate:\ blocks}
-\DoxyCodeLine{\ \ \ \ object:\ some\_other\_package/some\_other\_capability}
-
-\end{DoxyCode}
- 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2motivation__and__examples.tex b/docs/latex/md_docs_2motivation__and__examples.tex
deleted file mode 100644
index a3426e6..0000000
--- a/docs/latex/md_docs_2motivation__and__examples.tex
+++ /dev/null
@@ -1,39 +0,0 @@
-\chapter{Motivation}
-\hypertarget{md_docs_2motivation__and__examples}{}\label{md_docs_2motivation__and__examples}\index{Motivation@{Motivation}}
-\label{md_docs_2motivation__and__examples_autotoc_md78}%
-\Hypertarget{md_docs_2motivation__and__examples_autotoc_md78}%
- The capabilities package was originally implemented using Python. This package is a reimplementation of the capabilities package using CPP. The CPP implementation is more efficient. Secondly, this package extends the capabilities package features.
-
-The main reasons for this are\+:
-
-
-\begin{DoxyEnumerate}
-\item To allow the capabilities service to provide details of the robot to other robots, a UI or App, or a supervisory AI with a conversational style.
-\end{DoxyEnumerate}
-\begin{DoxyEnumerate}
-\item To allow packages to register their capabilities at runtime with the capabilities service using a service API or a spawner. Or to modify the capabilities of a robot at runtime.
-\end{DoxyEnumerate}
-\begin{DoxyEnumerate}
-\item To allow capabilities to be used like actions and not just started and stopped by the capabilities service as in the original capabilities package launch files method.
-\end{DoxyEnumerate}
-\begin{DoxyEnumerate}
-\item To add state to the capabilities service using a database. This allows the capabilities service or the robot to be restarted without losing state, and hot reloading, and model extension including more complex ontological relationships between capabilities.
-\end{DoxyEnumerate}
-\begin{DoxyEnumerate}
-\item To allow the capabilities service to be used as a library (as in a ROS2 {\ttfamily component}).
-\end{DoxyEnumerate}\hypertarget{md_docs_2motivation__and__examples_autotoc_md79}{}\doxysubsection{\texorpdfstring{Example use cases}{Example use cases}}\label{md_docs_2motivation__and__examples_autotoc_md79}
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Use case   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Use case   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-Generative AI (predominantly language models) Integration   &A generic Gen\+AI could derive a plan from the capabilities of a robot, to perform more general multi-\/step tasks. This could be achieved by using the capabilities as a knowledge base. This may solve problems with Gen\+AI integration, where the Gen\+AI has to be trained on a specific robot, or there is a significant delay in the Gen\+AI communicating with the robot -\/ since the Gen\+AI does not actually execute the task, it is used to suggest a plan and supervise the robot.    \\\cline{1-2}
-Inter-\/\+Robot Communications   &A robot encounters another robot of unknown origin and asks it what it can do. The capabilities could be communicated using M2M communication or speech. This could allow robots from different manufacturers to work together.    \\\cline{1-2}
-Enable emergent skills   &A robot is asked to do a task it has never done before. This could be achieved by combining capabilities in new ways. or a robot is asked to do a task it has done before but with a different context. This could be achieved by changing the parameters of capabilities.    \\\cline{1-2}
-Interoperable Robots   &A universal remote control for robots could be created using the capabilities as a standardised interface. This might be useful for robot subsystem integrators. This could also be used to create a robot app store, or standardised sensor and actuator interfaces.   \\\cline{1-2}
-\end{longtabu}
diff --git a/docs/latex/md_docs_2providers.tex b/docs/latex/md_docs_2providers.tex
deleted file mode 100644
index 005300f..0000000
--- a/docs/latex/md_docs_2providers.tex
+++ /dev/null
@@ -1,49 +0,0 @@
-\chapter{Providers}
-\hypertarget{md_docs_2providers}{}\label{md_docs_2providers}\index{Providers@{Providers}}
-\label{md_docs_2providers_autotoc_md80}%
-\Hypertarget{md_docs_2providers_autotoc_md80}%
- \hypertarget{md_docs_2providers_autotoc_md81}{}\doxysection{\texorpdfstring{Description}{Description}}\label{md_docs_2providers_autotoc_md81}
-A provider is a special implementation of a capability that is specific to the current system. An interface could have multiple providers.\hypertarget{md_docs_2providers_autotoc_md82}{}\doxysection{\texorpdfstring{Provider}{Provider}}\label{md_docs_2providers_autotoc_md82}
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ the\ empty\ capability\ is\ an\ example\ of\ a\ capability\ provider}
-\DoxyCodeLine{\%YAML\ 1.1}
-\DoxyCodeLine{-\/-\/-\/}
-\DoxyCodeLine{name:\ empty}
-\DoxyCodeLine{spec\_type:\ provider}
-\DoxyCodeLine{spec\_version:\ 1.1}
-\DoxyCodeLine{description:\ the\ empty\ capability\ provider\ for\ the\ empty\ interface}
-\DoxyCodeLine{implements:\ std\_capabilities/empty}
-\DoxyCodeLine{runner:\ launch/empty.launch.py}
-\DoxyCodeLine{depends\_on:}
-\DoxyCodeLine{\ \ "{}std\_capabilities/not\_empty"{}:}
-\DoxyCodeLine{\ \ \ \ provider:\ "{}std\_capabilities/empty\_depend"{}}
-\DoxyCodeLine{remappings:}
-\DoxyCodeLine{\ \ topics:}
-\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
-\DoxyCodeLine{}
-\DoxyCodeLine{\#\ the\ below\ keys\ are\ optional}
-\DoxyCodeLine{}
-\DoxyCodeLine{\#\ relations\ are\ also\ available\ for\ providers}
-\DoxyCodeLine{relations:}
-\DoxyCodeLine{\ \ \#\ these\ relations\ are\ built\ into\ the\ provider\ spec\ version\ 1}
-\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
-\DoxyCodeLine{\ \ \ \ predicate:\ implements}
-\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/empty}
-\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
-\DoxyCodeLine{\ \ \ \ predicate:\ depends\_on}
-\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/not\_empty}
-\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
-\DoxyCodeLine{\ \ \ \ predicate:\ remaps}
-\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/not\_empty}
-\DoxyCodeLine{}
-\DoxyCodeLine{\#\ providers\ can\ also\ have\ a\ definition\ using\ a\ snippet\ of\ a\ relevant\ defining\ language\ such\ as\ behavior\ trees}
-\DoxyCodeLine{definition:\ |}
-\DoxyCodeLine{\ \ <root>}
-\DoxyCodeLine{\ \ \ \ <sequence>}
-\DoxyCodeLine{\ \ \ \ \ \ <action\ name="{}empty"{}/>}
-\DoxyCodeLine{\ \ \ \ </sequence>}
-\DoxyCodeLine{\ \ </root>}
-
-\end{DoxyCode}
- 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2readme.tex b/docs/latex/md_docs_2readme.tex
deleted file mode 100644
index 75c5b59..0000000
--- a/docs/latex/md_docs_2readme.tex
+++ /dev/null
@@ -1,22 +0,0 @@
-\chapter{Docs}
-\hypertarget{md_docs_2readme}{}\label{md_docs_2readme}\index{Docs@{Docs}}
-\label{md_docs_2readme_autotoc_md83}%
-\Hypertarget{md_docs_2readme_autotoc_md83}%
- The documentation site is generated with Doxygen from the existing Markdown in this {\ttfamily docs/} tree together with comments from the source code. The Doxygen configuration lives at the repository root in \href{../Doxygen}{\texttt{ {\ttfamily Doxygen}}}.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ from\ the\ repository\ root}
-\DoxyCodeLine{doxygen\ Doxygen}
-
-\end{DoxyCode}
-
-
-The generated HTML site is written to {\ttfamily docs/html/} and the entry page is {\ttfamily docs/html/index.\+html}.
-
-For Git\+Hub Pages, this repository can use Git\+Hub Actions as both the build source and the deployment source. The workflow in {\ttfamily .github/workflows/doxygen-\/pages.\+yml} rebuilds the site whenever files change and deploys the generated {\ttfamily docs/html/} artifact to Pages.\hypertarget{md_docs_2readme_autotoc_md84}{}\doxysection{\texorpdfstring{Basic Tutorial}{Basic Tutorial}}\label{md_docs_2readme_autotoc_md84}
-A basic tutorial can be found in \doxysectlink{md_docs_2basic__tutorial}{here}{0}. This tutorial will guide you through the process of creating a simple capability and running it.\hypertarget{md_docs_2readme_autotoc_md85}{}\doxysection{\texorpdfstring{Capabilities Server}{Capabilities Server}}\label{md_docs_2readme_autotoc_md85}
-The \doxysectlink{md_capabilities2__server_2readme}{capabilities server}{0} is the main node in the capabilities2 package. It is responsible for managing capabilities, providers, and semantic interfaces. It is also responsible for starting and stopping capabilities.\hypertarget{md_docs_2readme_autotoc_md86}{}\doxysection{\texorpdfstring{Capabilities Runner}{Capabilities Runner}}\label{md_docs_2readme_autotoc_md86}
-A capabilities runner is a plugin that allows capabilities to be executed in a more arbitrary way. Base runner classes can be used to create custom runners for a given application. See the \doxysectlink{md_capabilities2__runner_2readme}{capabilities2\+\_\+runner}{0} package for more information.\hypertarget{md_docs_2readme_autotoc_md87}{}\doxysection{\texorpdfstring{Capabilities Messages}{Capabilities Messages}}\label{md_docs_2readme_autotoc_md87}
-This package contains messages for the capabilities2 package. See the \doxysectlink{md_capabilities2__msgs_2readme}{capabilities2\+\_\+msgs}{0} package for more information.\hypertarget{md_docs_2readme_autotoc_md88}{}\doxysection{\texorpdfstring{Launch Runner Status}{Launch Runner Status}}\label{md_docs_2readme_autotoc_md88}
-The {\ttfamily Launch\+Runner} interface is still kept in the {\ttfamily \doxylink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} package, but launch-\/file execution support is intentionally deferred because of incompatibilities with the current ROS2 launch system. Documentation for launch-\/based capability execution will be restored once the replacement solution is ready. 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2run__test__scripts.tex b/docs/latex/md_docs_2run__test__scripts.tex
deleted file mode 100644
index ee8cf8b..0000000
--- a/docs/latex/md_docs_2run__test__scripts.tex
+++ /dev/null
@@ -1,50 +0,0 @@
-\chapter{Run test scripts}
-\hypertarget{md_docs_2run__test__scripts}{}\label{md_docs_2run__test__scripts}\index{Run test scripts@{Run test scripts}}
-\label{md_docs_2run__test__scripts_autotoc_md89}%
-\Hypertarget{md_docs_2run__test__scripts_autotoc_md89}%
- Capabilities features can be tested using the provided test scripts. The test scripts primarily test the capabilities2 server using service clients. Launch the capabilities2 server before running the test scripts using
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{source\ install/setup.bash}
-\DoxyCodeLine{ros2\ launch\ capabilities2\_server\ capabilities2\_server.launch.py}
-
-\end{DoxyCode}
-
-
-The test scripts are written to test against the {\ttfamily std\+\_\+capabilities} package. Make sure that the {\ttfamily std\+\_\+capabilities} package is copied along with the {\ttfamily capabilities2} package to the {\ttfamily capabilities2\+\_\+ws/src} folder and is built and sourced before running the test scripts.
-
-\begin{quote}
-{\bfseries{Note}}\+: The test scripts use the {\ttfamily bondpy} package. Make sure it is installed before running the test scripts. \textbackslash{} {\ttfamily sudo apt install ros-\/\$ROS\+\_\+\+DISTRO-\/bondpy} \end{quote}
-Run the tests with python3. The test scripts are located in the {\ttfamily capabilities2\+\_\+server/test} directory. Make sure to source the workspace before running the test.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ example}
-\DoxyCodeLine{source\ install/setup.bash}
-\DoxyCodeLine{cd\ src/capabilities2/capabilities2\_server/test}
-\DoxyCodeLine{python3\ call\_establish\_bond.py}
-
-\end{DoxyCode}
-
-
-\tabulinesep=1mm
-\begin{longtabu}spread 0pt [c]{*{2}{|X[-1]}|}
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Test Script   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endfirsthead
-\hline
-\endfoot
-\hline
-\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Test Script   }&\PBS\centering \cellcolor{\tableheadbgcolor}\textbf{ Description    }\\\cline{1-2}
-\endhead
-\href{../capabilities2_server/test/call_establish_bond.py}{\texttt{ call\+\_\+establish\+\_\+bond.\+py}}   &Test establishing a bond. {\ttfamily ctrl-\/C} to kill the bond    \\\cline{1-2}
-\href{../capabilities2_server/test/call_get_interfaces.py}{\texttt{ call\+\_\+get\+\_\+interfaces.\+py}}   &Test getting all loaded interfaces    \\\cline{1-2}
-\href{../capabilities2_server/test/call_get_providers.py}{\texttt{ call\+\_\+get\+\_\+providers.\+py}}   &Test getting loaded providers for the {\ttfamily empty} interface    \\\cline{1-2}
-\href{../capabilities2_server/test/call_get_semantic_interfaces.py}{\texttt{ call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+py}}   &Get loaded semantic interfaces    \\\cline{1-2}
-\href{../capabilities2_server/test/call_get_specs.py}{\texttt{ call\+\_\+get\+\_\+specs.\+py}}   &Get all the loaded spec files    \\\cline{1-2}
-\href{../capabilities2_server/test/call_register_cap.py}{\texttt{ call\+\_\+register\+\_\+cap.\+py}}   &Register a new specification file   \\\cline{1-2}
-\end{longtabu}
-
-
-Launch-\/runner-\/specific tests are currently not provided. The {\ttfamily Launch\+Runner} header and plugin entry remain in the codebase, but launch support is intentionally deferred until a replacement approach for the current ROS2 launch system is ready. 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2securing__capabilities.tex b/docs/latex/md_docs_2securing__capabilities.tex
deleted file mode 100644
index 2d6bffc..0000000
--- a/docs/latex/md_docs_2securing__capabilities.tex
+++ /dev/null
@@ -1,19 +0,0 @@
-\chapter{Securing Capabilities}
-\hypertarget{md_docs_2securing__capabilities}{}\label{md_docs_2securing__capabilities}\index{Securing Capabilities@{Securing Capabilities}}
-\label{md_docs_2securing__capabilities_autotoc_md90}%
-\Hypertarget{md_docs_2securing__capabilities_autotoc_md90}%
- A side effect of adding skill entities to a ROS network is that logic can be added to control access to these skills. Here is a proposal for how this could be implemented.\hypertarget{md_docs_2securing__capabilities_autotoc_md91}{}\doxysection{\texorpdfstring{Integrate with Rosbridge}{Integrate with Rosbridge}}\label{md_docs_2securing__capabilities_autotoc_md91}
-\href{https://github.com/RobotWebTools/rosbridge_suite}{\texttt{ Rosbridge}} from \href{https://robot}{\texttt{ Robot Web Tools}} provides an authentication mechanism that can be used to secure the ROS network. This can be used to authenticate a user.
-
-Rosbridge also provides an access control mechanism that can be used to control access to topics. Once a user is authenticated, they could initially access the capabilities services to learn what the robot can do. By doing this the user does not know the specific topics that the robot uses, but they can still interact with the robot.
-
-Further the capabilities could be restricted based on the user\textquotesingle{}s role. This could be done by creating a role-\/based access control (RBAC) system. This could be implemented by creating a capabilities service that is aware of the user\textquotesingle{}s role. The capabilities service could then provide a list of capabilities that the user is allowed to use. An implementation could follow a plugin architecture to ensure good separation of concerns.
-
-Once the user decides on a capability that they are authorised to use, the capabilities service could update the rosbridge access control to allow the user to access the topics that the capability uses for the duration of the capability. This adds a time-\/based access control mechanism to the system.\hypertarget{md_docs_2securing__capabilities_autotoc_md92}{}\doxysubsection{\texorpdfstring{Integrate with ROS2 Security}{Integrate with ROS2 Security}}\label{md_docs_2securing__capabilities_autotoc_md92}
-To prevent internal topics from leaking into the rosbridge access control, ROS2 security could be used to secure the internal topics. This would ensure that only internal connections can access internal topics, and capabilities can only add externally safe topics to the rosbridge access control.\hypertarget{md_docs_2securing__capabilities_autotoc_md93}{}\doxysubsection{\texorpdfstring{Basic diagram}{Basic diagram}}\label{md_docs_2securing__capabilities_autotoc_md93}
- 
-\begin{DoxyImage}
-\includegraphics[width=\textwidth,height=\textheight/2,keepaspectratio=true]{securing-capability-based-robot.png}
-\doxyfigcaption{Basic diagram}
-\end{DoxyImage}
-    
\ No newline at end of file
diff --git a/docs/latex/md_docs_2semantic__interfaces.tex b/docs/latex/md_docs_2semantic__interfaces.tex
deleted file mode 100644
index 85b0c4d..0000000
--- a/docs/latex/md_docs_2semantic__interfaces.tex
+++ /dev/null
@@ -1,42 +0,0 @@
-\chapter{Semantic Interfaces}
-\hypertarget{md_docs_2semantic__interfaces}{}\label{md_docs_2semantic__interfaces}\index{Semantic Interfaces@{Semantic Interfaces}}
-\label{md_docs_2semantic__interfaces_autotoc_md94}%
-\Hypertarget{md_docs_2semantic__interfaces_autotoc_md94}%
- \hypertarget{md_docs_2semantic__interfaces_autotoc_md95}{}\doxysection{\texorpdfstring{Description}{Description}}\label{md_docs_2semantic__interfaces_autotoc_md95}
-A semantic interface is a special type of capability interface that is used to define the semantics of an interface\hypertarget{md_docs_2semantic__interfaces_autotoc_md96}{}\doxysection{\texorpdfstring{Semantic Interface}{Semantic Interface}}\label{md_docs_2semantic__interfaces_autotoc_md96}
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ the\ empty\ capability\ is\ an\ example\ of\ a\ capability\ interface}
-\DoxyCodeLine{\#\ redefines\ the\ empty\ interface}
-\DoxyCodeLine{\%YAML\ 1.1}
-\DoxyCodeLine{-\/-\/-\/}
-\DoxyCodeLine{name:\ not\_empty}
-\DoxyCodeLine{spec\_type:\ semantic\_interface}
-\DoxyCodeLine{spec\_version:\ 1}
-\DoxyCodeLine{description:\ the\ not\ empty\ semantic\ empty\ interface}
-\DoxyCodeLine{redefines:\ std\_capabilities/empty}
-\DoxyCodeLine{global\_namespace:\ not}
-\DoxyCodeLine{remappings:}
-\DoxyCodeLine{\ \ parameters:}
-\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
-\DoxyCodeLine{\ \ topics:}
-\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
-\DoxyCodeLine{\ \ services:}
-\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
-\DoxyCodeLine{\ \ actions:}
-\DoxyCodeLine{\ \ \ \ "{}empty"{}:\ "{}not\_empty"{}}
-\DoxyCodeLine{}
-\DoxyCodeLine{\#\ the\ below\ keys\ are\ optional}
-\DoxyCodeLine{}
-\DoxyCodeLine{\#\ relations\ are\ also\ available\ for\ semantic\ interfaces}
-\DoxyCodeLine{relations:}
-\DoxyCodeLine{\ \ \#\ these\ relations\ are\ built\ into\ the\ semantic\ interface\ spec\ version\ 1}
-\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
-\DoxyCodeLine{\ \ \ \ predicate:\ redefines}
-\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/not\_empty}
-\DoxyCodeLine{\ \ -\/\ subject:\ std\_capabilities/empty}
-\DoxyCodeLine{\ \ \ \ predicate:\ remaps}
-\DoxyCodeLine{\ \ \ \ object:\ std\_capabilities/not\_empty}
-
-\end{DoxyCode}
- 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2setup.tex b/docs/latex/md_docs_2setup.tex
deleted file mode 100644
index 1ebc568..0000000
--- a/docs/latex/md_docs_2setup.tex
+++ /dev/null
@@ -1,54 +0,0 @@
-\chapter{Using Capabilities package (Development and Deployment)}
-\hypertarget{md_docs_2setup}{}\label{md_docs_2setup}\index{Using Capabilities package (Development and Deployment)@{Using Capabilities package (Development and Deployment)}}
-\label{md_docs_2setup_autotoc_md97}%
-\Hypertarget{md_docs_2setup_autotoc_md97}%
- The current package has been tested on Ubuntu and ROS2 Humble, Rolling and Jazzy. Complete following sections in order.\hypertarget{md_docs_2setup_autotoc_md98}{}\doxysubsection{\texorpdfstring{Base folder creation}{Base folder creation}}\label{md_docs_2setup_autotoc_md98}
-Create the workspace folder by running following commands in the terminal.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{mkdir\ -\/p\ /home/\$USER/capabilities\_ws/src}
-\DoxyCodeLine{cd\ /home/\$USER/capabilities\_ws/src}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2setup_autotoc_md99}{}\doxysubsection{\texorpdfstring{Cloning the Packages}{Cloning the Packages}}\label{md_docs_2setup_autotoc_md99}
-Clone the package using Git
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{git\ clone\ https://github.com/CollaborativeRoboticsLab/capabilities2.git}
-
-\end{DoxyCode}
-
-
-Optionally you can clone
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{git\ clone\ https://github.com/CollaborativeRoboticsLab/std\_capabilities.git}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2setup_autotoc_md100}{}\doxysubsection{\texorpdfstring{Dependency installation}{Dependency installation}}\label{md_docs_2setup_autotoc_md100}
-Move the terminal to workspace root and install dependencies.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{cd\ /home/\$USER/capabilities\_ws}
-
-\end{DoxyCode}
-
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{rosdep\ install\ -\/-\/from-\/paths\ src\ -\/-\/ignore-\/src\ -\/r\ -\/y}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2setup_autotoc_md101}{}\doxysubsection{\texorpdfstring{Compile}{Compile}}\label{md_docs_2setup_autotoc_md101}
-Use colcon to build the packages\+:
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{colcon\ build}
-
-\end{DoxyCode}
- 
\ No newline at end of file
diff --git a/docs/latex/md_docs_2setup__with__dev.tex b/docs/latex/md_docs_2setup__with__dev.tex
deleted file mode 100644
index ead70cc..0000000
--- a/docs/latex/md_docs_2setup__with__dev.tex
+++ /dev/null
@@ -1,58 +0,0 @@
-\chapter{Using Capabilities package (Development and Deployment)}
-\hypertarget{md_docs_2setup__with__dev}{}\label{md_docs_2setup__with__dev}\index{Using Capabilities package (Development and Deployment)@{Using Capabilities package (Development and Deployment)}}
-\label{md_docs_2setup__with__dev_autotoc_md102}%
-\Hypertarget{md_docs_2setup__with__dev_autotoc_md102}%
- The current package has been tested on Ubuntu and ROS2 Humble, Rolling and Jazzy. Complete following sections in order.\hypertarget{md_docs_2setup__with__dev_autotoc_md103}{}\doxysubsection{\texorpdfstring{Base folder creation}{Base folder creation}}\label{md_docs_2setup__with__dev_autotoc_md103}
-Create the workspace folder by running following commands in the terminal.
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{mkdir\ -\/p\ /home/\$USER/capabilities\_ws/src}
-\DoxyCodeLine{cd\ /home/\$USER/capabilities\_ws/src}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2setup__with__dev_autotoc_md104}{}\doxysubsection{\texorpdfstring{Cloning the Package}{Cloning the Package}}\label{md_docs_2setup__with__dev_autotoc_md104}
-Clone the package using Git
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{git\ clone\ -\/b\ develop\ https://github.com/CollaborativeRoboticsLab/capabilities2.git}
-\DoxyCodeLine{git\ clone\ -\/b\ develop\ https://github.com/CollaborativeRoboticsLab/std\_capabilities.git}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2setup__with__dev_autotoc_md105}{}\doxysubsection{\texorpdfstring{Devcontainer}{Devcontainer}}\label{md_docs_2setup__with__dev_autotoc_md105}
-A {\ttfamily devcontainer} is provided for developing the capabilities2 meta-\/package. The container can be used with \href{https://code.visualstudio.com/}{\texttt{ Microsoft Visual Studio Code}} and \href{https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.vscode-remote-extensionpack}{\texttt{ Remote Development Extention}}.
-
-If there are multiple packages in the workspace as with the usual case, move the {\ttfamily .devcontainer} folder into the parent folder such that it is located as follows,
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{colcon\_ws}
-\DoxyCodeLine{-\/-\/>\ build}
-\DoxyCodeLine{-\/-\/>\ install}
-\DoxyCodeLine{-\/-\/>\ log}
-\DoxyCodeLine{-\/-\/>\ src}
-\DoxyCodeLine{\ \ \ \ -\/-\/>\ .devcontainer}
-\DoxyCodeLine{\ \ \ \ -\/-\/>\ capabilities2}
-\DoxyCodeLine{\ \ \ \ -\/-\/>\ pakcage\ ..}
-
-\end{DoxyCode}
-
-
-Close and reopen the vs code editor so that devcontainer is automatically detected. After that, Dependencies need to be installed in the container. Install the dependencies with rosdep\+:
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{\#\ in\ the\ devcontainer}
-\DoxyCodeLine{rosdep\ install\ -\/-\/from-\/paths\ src\ -\/-\/ignore-\/src\ -\/r\ -\/y}
-
-\end{DoxyCode}
-\hypertarget{md_docs_2setup__with__dev_autotoc_md106}{}\doxysubsection{\texorpdfstring{Compile}{Compile}}\label{md_docs_2setup__with__dev_autotoc_md106}
-Use colcon to build the packages\+:
-
-
-\begin{DoxyCode}{0}
-\DoxyCodeLine{colcon\ build}
-
-\end{DoxyCode}
- 
\ No newline at end of file
diff --git a/docs/latex/md_pull__request__template.tex b/docs/latex/md_pull__request__template.tex
deleted file mode 100644
index 8136782..0000000
--- a/docs/latex/md_pull__request__template.tex
+++ /dev/null
@@ -1,29 +0,0 @@
-\chapter{Pull Request Template}
-\hypertarget{md_pull__request__template}{}\label{md_pull__request__template}\index{Pull Request Template@{Pull Request Template}}
-\label{md_pull__request__template_autotoc_md107}%
-\Hypertarget{md_pull__request__template_autotoc_md107}%
- \hypertarget{md_pull__request__template_autotoc_md108}{}\doxysection{\texorpdfstring{Description}{Description}}\label{md_pull__request__template_autotoc_md108}
-Please include a summary of the change and which issue is fixed. Also include relevant motivation and context.
-
-Fixes \#\mbox{[}issue\mbox{]}\hypertarget{md_pull__request__template_autotoc_md109}{}\doxysection{\texorpdfstring{Type of change}{Type of change}}\label{md_pull__request__template_autotoc_md109}
-Please delete options that are not relevant.
-
-
-\begin{DoxyItemize}
-\item \mbox{[} \mbox{]} Bug fix (non-\/breaking change which fixes an issue)
-\item \mbox{[} \mbox{]} New feature (non-\/breaking change which adds functionality)
-\item \mbox{[} \mbox{]} Breaking change (fix or feature that would cause existing functionality to not work as intended)
-\item \mbox{[} \mbox{]} This change requires a documentation update
-\end{DoxyItemize}\hypertarget{md_pull__request__template_autotoc_md110}{}\doxysection{\texorpdfstring{How Has This Been Tested?}{How Has This Been Tested?}}\label{md_pull__request__template_autotoc_md110}
-Please describe the tests that you ran to verify your changes. Provide details of your testing environment, and the tests you ran to see how your change affects other areas of the code.\hypertarget{md_pull__request__template_autotoc_md111}{}\doxysection{\texorpdfstring{Checklist}{Checklist}}\label{md_pull__request__template_autotoc_md111}
-
-\begin{DoxyItemize}
-\item \mbox{[} \mbox{]} My code follows the style guidelines of this project
-\item \mbox{[} \mbox{]} I have performed a self-\/review of my own code
-\item \mbox{[} \mbox{]} I have commented my code, particularly in hard-\/to-\/understand areas
-\item \mbox{[} \mbox{]} I have made corresponding changes to the documentation
-\item \mbox{[} \mbox{]} My changes do not break the build
-\item \mbox{[} \mbox{]} I have added tests that prove my fix is effective or that my feature works
-\item \mbox{[} \mbox{]} New and existing unit tests pass locally with my changes
-\item \mbox{[} \mbox{]} Any dependent changes have been merged and published in downstream modules 
-\end{DoxyItemize}
\ No newline at end of file
diff --git a/docs/latex/motivation__and__examples_8md.tex b/docs/latex/motivation__and__examples_8md.tex
deleted file mode 100644
index 3bcdcb7..0000000
--- a/docs/latex/motivation__and__examples_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs/motivation\+\_\+and\+\_\+examples.md File Reference}
-\hypertarget{motivation__and__examples_8md}{}\label{motivation__and__examples_8md}\index{docs/motivation\_and\_examples.md@{docs/motivation\_and\_examples.md}}
diff --git a/docs/latex/multiplex__base__runner_8hpp.tex b/docs/latex/multiplex__base__runner_8hpp.tex
deleted file mode 100644
index 61ad3a8..0000000
--- a/docs/latex/multiplex__base__runner_8hpp.tex
+++ /dev/null
@@ -1,23 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/multiplex\+\_\+base\+\_\+runner.hpp File Reference}
-\hypertarget{multiplex__base__runner_8hpp}{}\label{multiplex__base__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/multiplex\_base\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/multiplex\_base\_runner.hpp}}
-{\ttfamily \#include $<$thread$>$}\newline
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
-Include dependency graph for multiplex\+\_\+base\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{multiplex__base__runner_8hpp__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner}{capabilities2\+\_\+runner\+::\+Multiplex\+Base\+Runner}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/multiplex__base__runner_8hpp__incl.md5 b/docs/latex/multiplex__base__runner_8hpp__incl.md5
deleted file mode 100644
index 9e0d211..0000000
--- a/docs/latex/multiplex__base__runner_8hpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-ab573e53c85768fad296f360c10941a1
\ No newline at end of file
diff --git a/docs/latex/multiplex__base__runner_8hpp__incl.pdf b/docs/latex/multiplex__base__runner_8hpp__incl.pdf
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diff --git a/docs/latex/multiplex__base__runner_8hpp_source.tex b/docs/latex/multiplex__base__runner_8hpp_source.tex
deleted file mode 100644
index 6253fde..0000000
--- a/docs/latex/multiplex__base__runner_8hpp_source.tex
+++ /dev/null
@@ -1,81 +0,0 @@
-\doxysection{multiplex\+\_\+base\+\_\+runner.\+hpp}
-\hypertarget{multiplex__base__runner_8hpp_source}{}\label{multiplex__base__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/multiplex\_base\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/multiplex\_base\_runner.hpp}}
-\mbox{\hyperlink{multiplex__base__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <thread>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <map>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
-\DoxyCodeLine{00007\ }
-\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00009\ \{}
-\DoxyCodeLine{00010\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner}{MultiplexBaseRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}}
-\DoxyCodeLine{00011\ \{}
-\DoxyCodeLine{00012\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00016\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a9e4cab14be73162040c91cae3c674343}{MultiplexBaseRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}()}
-\DoxyCodeLine{00017\ \ \ \{}
-\DoxyCodeLine{00018\ \ \ \}}
-\DoxyCodeLine{00019\ }
-\DoxyCodeLine{00026\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_af52788c65f5ca9fb860cee2332abbbe2}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00027\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00028\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
-\DoxyCodeLine{00029\ \ \ \}}
-\DoxyCodeLine{00030\ }
-\DoxyCodeLine{00036\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a7213a134e8a183c4021033e6bd7797c7}{execution}}(\textcolor{keywordtype}{int}\ \textcolor{keywordtype}{id})}
-\DoxyCodeLine{00037\ \ \ \{}
-\DoxyCodeLine{00038\ \ \ \ \ info\_(\textcolor{stringliteral}{"{}execution\ started\ for\ id:\ "{}}\ +\ std::to\_string(\textcolor{keywordtype}{id}));}
-\DoxyCodeLine{00039\ }
-\DoxyCodeLine{00040\ \ \ \ \ \textcolor{comment}{//\ check\ if\ the\ id\ is\ already\ completed}}
-\DoxyCodeLine{00041\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}}.find(\textcolor{keywordtype}{id})\ !=\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}}.end()\ \&\&\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}}[\textcolor{keywordtype}{id}])}
-\DoxyCodeLine{00042\ \ \ \ \ \{}
-\DoxyCodeLine{00043\ \ \ \ \ \ \ info\_(\textcolor{stringliteral}{"{}execution\ already\ completed\ for\ id:\ "{}}\ +\ std::to\_string(\textcolor{keywordtype}{id}));}
-\DoxyCodeLine{00044\ \ \ \ \ \ \ \textcolor{keywordflow}{return};}
-\DoxyCodeLine{00045\ \ \ \ \ \}}
-\DoxyCodeLine{00046\ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00047\ \ \ \ \ \{}
-\DoxyCodeLine{00048\ \ \ \ \ \ \ \textcolor{comment}{//\ trigger\ the\ events\ related\ to\ on\_success\ state}}
-\DoxyCodeLine{00049\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (events[\textcolor{keywordtype}{id}].on\_success.interface\ !=\ \textcolor{stringliteral}{"{}"{}})}
-\DoxyCodeLine{00050\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00051\ \ \ \ \ \ \ \ \ event\_(EventType::SUCCEEDED,\ \textcolor{keywordtype}{id},\ events[\textcolor{keywordtype}{id}].on\_success.interface,\ events[\textcolor{keywordtype}{id}].on\_success.provider);}
-\DoxyCodeLine{00052\ \ \ \ \ \ \ \ \ triggerFunction\_(events[\textcolor{keywordtype}{id}].on\_success.interface,\ update\_on\_success(events[\textcolor{keywordtype}{id}].on\_success.parameters));}
-\DoxyCodeLine{00053\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00054\ \ \ \ \ \ \ \textcolor{comment}{//\ trigger\ the\ events\ related\ to\ on\_failure\ state}}
-\DoxyCodeLine{00055\ \ \ \ \ \ \ \textcolor{keywordflow}{else}\ \textcolor{keywordflow}{if}\ (events[\textcolor{keywordtype}{id}].on\_failure.interface\ !=\ \textcolor{stringliteral}{"{}"{}})}
-\DoxyCodeLine{00056\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00057\ \ \ \ \ \ \ \ \ event\_(EventType::FAILED,\ \textcolor{keywordtype}{id},\ events[\textcolor{keywordtype}{id}].on\_failure.interface,\ events[\textcolor{keywordtype}{id}].on\_failure.provider);}
-\DoxyCodeLine{00058\ \ \ \ \ \ \ \ \ triggerFunction\_(events[\textcolor{keywordtype}{id}].on\_failure.interface,\ update\_on\_failure(events[\textcolor{keywordtype}{id}].on\_failure.parameters));}
-\DoxyCodeLine{00059\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00060\ \ \ \ \ \}}
-\DoxyCodeLine{00061\ }
-\DoxyCodeLine{00062\ \ \ \ \ \textcolor{comment}{//\ track\ the\ execution\ as\ completed}}
-\DoxyCodeLine{00063\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}}[id]\ =\ \textcolor{keyword}{true};}
-\DoxyCodeLine{00064\ }
-\DoxyCodeLine{00065\ \ \ \ \ info\_(\textcolor{stringliteral}{"{}multiplexing\ complete.\ Thread\ closing."{}},\ \textcolor{keywordtype}{id});}
-\DoxyCodeLine{00066\ \ \ \}}
-\DoxyCodeLine{00067\ }
-\DoxyCodeLine{00072\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_aa5cefe19419078fb0a4eb18858a684fe}{stop}}()\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00073\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00074\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
-\DoxyCodeLine{00075\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
-\DoxyCodeLine{00076\ }
-\DoxyCodeLine{00077\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
-\DoxyCodeLine{00078\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
-\DoxyCodeLine{00079\ }
-\DoxyCodeLine{00080\ \ \ \ \ info\_(\textcolor{stringliteral}{"{}stopping\ runner"{}});}
-\DoxyCodeLine{00081\ \ \ \}}
-\DoxyCodeLine{00082\ }
-\DoxyCodeLine{00083\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00084\ \ \ \textcolor{comment}{//\ input\ count\ tracker}}
-\DoxyCodeLine{00085\ \ \ std::map<int,\ int>\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_afccbbe50f43831a9ad8efa452ed6c99f}{input\_count\_tracker}};}
-\DoxyCodeLine{00086\ }
-\DoxyCodeLine{00087\ \ \ \textcolor{comment}{//\ expected\ input\ count}}
-\DoxyCodeLine{00088\ \ \ std::map<int,\ int>\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a8047a02e3c962fe5704ea9e9ef9c5565}{expected\_input\_count}};}
-\DoxyCodeLine{00089\ }
-\DoxyCodeLine{00090\ \ \ \textcolor{comment}{//\ completed\ executions}}
-\DoxyCodeLine{00091\ \ \ std::map<int,\ bool>\ \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner_a59d15e39d4541a418aa230d6ce028859}{completed\_executions}};}
-\DoxyCodeLine{00092\ \};}
-\DoxyCodeLine{00093\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/namespacecall__establish__bond.tex b/docs/latex/namespacecall__establish__bond.tex
deleted file mode 100644
index dfdd788..0000000
--- a/docs/latex/namespacecall__establish__bond.tex
+++ /dev/null
@@ -1,34 +0,0 @@
-\doxysection{call\+\_\+establish\+\_\+bond Namespace Reference}
-\hypertarget{namespacecall__establish__bond}{}\label{namespacecall__establish__bond}\index{call\_establish\_bond@{call\_establish\_bond}}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__establish__bond_a2300575febd9f503d779af5f6cef21b0}{test\+\_\+establish\+\_\+bond}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__establish__bond_a76d78ca9217d39db4716f0c9b663e8fa}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyVerb} test call cap services \end{DoxyVerb}
- 
-
-\doxysubsection{Function Documentation}
-\Hypertarget{namespacecall__establish__bond_a2300575febd9f503d779af5f6cef21b0}\label{namespacecall__establish__bond_a2300575febd9f503d779af5f6cef21b0} 
-\index{call\_establish\_bond@{call\_establish\_bond}!test\_establish\_bond@{test\_establish\_bond}}
-\index{test\_establish\_bond@{test\_establish\_bond}!call\_establish\_bond@{call\_establish\_bond}}
-\doxysubsubsection{\texorpdfstring{test\_establish\_bond()}{test\_establish\_bond()}}
-{\footnotesize\ttfamily call\+\_\+establish\+\_\+bond.\+test\+\_\+establish\+\_\+bond (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
-
-
-
-\doxysubsection{Variable Documentation}
-\Hypertarget{namespacecall__establish__bond_a76d78ca9217d39db4716f0c9b663e8fa}\label{namespacecall__establish__bond_a76d78ca9217d39db4716f0c9b663e8fa} 
-\index{call\_establish\_bond@{call\_establish\_bond}!node@{node}}
-\index{node@{node}!call\_establish\_bond@{call\_establish\_bond}}
-\doxysubsubsection{\texorpdfstring{node}{node}}
-{\footnotesize\ttfamily call\+\_\+establish\+\_\+bond.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
-
diff --git a/docs/latex/namespacecall__get__interfaces.tex b/docs/latex/namespacecall__get__interfaces.tex
deleted file mode 100644
index 247d679..0000000
--- a/docs/latex/namespacecall__get__interfaces.tex
+++ /dev/null
@@ -1,34 +0,0 @@
-\doxysection{call\+\_\+get\+\_\+interfaces Namespace Reference}
-\hypertarget{namespacecall__get__interfaces}{}\label{namespacecall__get__interfaces}\index{call\_get\_interfaces@{call\_get\_interfaces}}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__interfaces_a244fa53f9a4d366baebc0c54424bb9be}{test\+\_\+get\+\_\+interfaces\+\_\+srv}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__interfaces_a4811a33a2e010c2c4463526e89191d93}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyVerb} test call cap services \end{DoxyVerb}
- 
-
-\doxysubsection{Function Documentation}
-\Hypertarget{namespacecall__get__interfaces_a244fa53f9a4d366baebc0c54424bb9be}\label{namespacecall__get__interfaces_a244fa53f9a4d366baebc0c54424bb9be} 
-\index{call\_get\_interfaces@{call\_get\_interfaces}!test\_get\_interfaces\_srv@{test\_get\_interfaces\_srv}}
-\index{test\_get\_interfaces\_srv@{test\_get\_interfaces\_srv}!call\_get\_interfaces@{call\_get\_interfaces}}
-\doxysubsubsection{\texorpdfstring{test\_get\_interfaces\_srv()}{test\_get\_interfaces\_srv()}}
-{\footnotesize\ttfamily call\+\_\+get\+\_\+interfaces.\+test\+\_\+get\+\_\+interfaces\+\_\+srv (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
-
-
-
-\doxysubsection{Variable Documentation}
-\Hypertarget{namespacecall__get__interfaces_a4811a33a2e010c2c4463526e89191d93}\label{namespacecall__get__interfaces_a4811a33a2e010c2c4463526e89191d93} 
-\index{call\_get\_interfaces@{call\_get\_interfaces}!node@{node}}
-\index{node@{node}!call\_get\_interfaces@{call\_get\_interfaces}}
-\doxysubsubsection{\texorpdfstring{node}{node}}
-{\footnotesize\ttfamily call\+\_\+get\+\_\+interfaces.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
-
diff --git a/docs/latex/namespacecall__get__providers.tex b/docs/latex/namespacecall__get__providers.tex
deleted file mode 100644
index 5ab22df..0000000
--- a/docs/latex/namespacecall__get__providers.tex
+++ /dev/null
@@ -1,34 +0,0 @@
-\doxysection{call\+\_\+get\+\_\+providers Namespace Reference}
-\hypertarget{namespacecall__get__providers}{}\label{namespacecall__get__providers}\index{call\_get\_providers@{call\_get\_providers}}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__providers_a9b6b81ded0d5cf7cdc5272d5c1bb79b6}{test\+\_\+get\+\_\+providers\+\_\+srv}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__providers_a19989397f7a847fffc5c2aa893a9f351}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyVerb} test call cap services \end{DoxyVerb}
- 
-
-\doxysubsection{Function Documentation}
-\Hypertarget{namespacecall__get__providers_a9b6b81ded0d5cf7cdc5272d5c1bb79b6}\label{namespacecall__get__providers_a9b6b81ded0d5cf7cdc5272d5c1bb79b6} 
-\index{call\_get\_providers@{call\_get\_providers}!test\_get\_providers\_srv@{test\_get\_providers\_srv}}
-\index{test\_get\_providers\_srv@{test\_get\_providers\_srv}!call\_get\_providers@{call\_get\_providers}}
-\doxysubsubsection{\texorpdfstring{test\_get\_providers\_srv()}{test\_get\_providers\_srv()}}
-{\footnotesize\ttfamily call\+\_\+get\+\_\+providers.\+test\+\_\+get\+\_\+providers\+\_\+srv (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
-
-
-
-\doxysubsection{Variable Documentation}
-\Hypertarget{namespacecall__get__providers_a19989397f7a847fffc5c2aa893a9f351}\label{namespacecall__get__providers_a19989397f7a847fffc5c2aa893a9f351} 
-\index{call\_get\_providers@{call\_get\_providers}!node@{node}}
-\index{node@{node}!call\_get\_providers@{call\_get\_providers}}
-\doxysubsubsection{\texorpdfstring{node}{node}}
-{\footnotesize\ttfamily call\+\_\+get\+\_\+providers.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
-
diff --git a/docs/latex/namespacecall__get__semantic__interfaces.tex b/docs/latex/namespacecall__get__semantic__interfaces.tex
deleted file mode 100644
index 917c143..0000000
--- a/docs/latex/namespacecall__get__semantic__interfaces.tex
+++ /dev/null
@@ -1,34 +0,0 @@
-\doxysection{call\+\_\+get\+\_\+semantic\+\_\+interfaces Namespace Reference}
-\hypertarget{namespacecall__get__semantic__interfaces}{}\label{namespacecall__get__semantic__interfaces}\index{call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__semantic__interfaces_a263ddd6a05396d951292f4ec57f3530f}{test\+\_\+get\+\_\+semantic\+\_\+interfaces\+\_\+srv}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__semantic__interfaces_a3b2242441665fc109bf9d960b5c732b6}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyVerb} test call cap services \end{DoxyVerb}
- 
-
-\doxysubsection{Function Documentation}
-\Hypertarget{namespacecall__get__semantic__interfaces_a263ddd6a05396d951292f4ec57f3530f}\label{namespacecall__get__semantic__interfaces_a263ddd6a05396d951292f4ec57f3530f} 
-\index{call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}!test\_get\_semantic\_interfaces\_srv@{test\_get\_semantic\_interfaces\_srv}}
-\index{test\_get\_semantic\_interfaces\_srv@{test\_get\_semantic\_interfaces\_srv}!call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}}
-\doxysubsubsection{\texorpdfstring{test\_get\_semantic\_interfaces\_srv()}{test\_get\_semantic\_interfaces\_srv()}}
-{\footnotesize\ttfamily call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+test\+\_\+get\+\_\+semantic\+\_\+interfaces\+\_\+srv (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
-
-
-
-\doxysubsection{Variable Documentation}
-\Hypertarget{namespacecall__get__semantic__interfaces_a3b2242441665fc109bf9d960b5c732b6}\label{namespacecall__get__semantic__interfaces_a3b2242441665fc109bf9d960b5c732b6} 
-\index{call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}!node@{node}}
-\index{node@{node}!call\_get\_semantic\_interfaces@{call\_get\_semantic\_interfaces}}
-\doxysubsubsection{\texorpdfstring{node}{node}}
-{\footnotesize\ttfamily call\+\_\+get\+\_\+semantic\+\_\+interfaces.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
-
diff --git a/docs/latex/namespacecall__get__specs.tex b/docs/latex/namespacecall__get__specs.tex
deleted file mode 100644
index 526ca8e..0000000
--- a/docs/latex/namespacecall__get__specs.tex
+++ /dev/null
@@ -1,34 +0,0 @@
-\doxysection{call\+\_\+get\+\_\+specs Namespace Reference}
-\hypertarget{namespacecall__get__specs}{}\label{namespacecall__get__specs}\index{call\_get\_specs@{call\_get\_specs}}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__specs_aed98e930040f17e4a3421609861973c2}{test\+\_\+get\+\_\+capability\+\_\+specs\+\_\+srv}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__get__specs_a54561396e84d4b97d338bfcfb7adf638}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyVerb} test call cap services \end{DoxyVerb}
- 
-
-\doxysubsection{Function Documentation}
-\Hypertarget{namespacecall__get__specs_aed98e930040f17e4a3421609861973c2}\label{namespacecall__get__specs_aed98e930040f17e4a3421609861973c2} 
-\index{call\_get\_specs@{call\_get\_specs}!test\_get\_capability\_specs\_srv@{test\_get\_capability\_specs\_srv}}
-\index{test\_get\_capability\_specs\_srv@{test\_get\_capability\_specs\_srv}!call\_get\_specs@{call\_get\_specs}}
-\doxysubsubsection{\texorpdfstring{test\_get\_capability\_specs\_srv()}{test\_get\_capability\_specs\_srv()}}
-{\footnotesize\ttfamily call\+\_\+get\+\_\+specs.\+test\+\_\+get\+\_\+capability\+\_\+specs\+\_\+srv (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
-
-
-
-\doxysubsection{Variable Documentation}
-\Hypertarget{namespacecall__get__specs_a54561396e84d4b97d338bfcfb7adf638}\label{namespacecall__get__specs_a54561396e84d4b97d338bfcfb7adf638} 
-\index{call\_get\_specs@{call\_get\_specs}!node@{node}}
-\index{node@{node}!call\_get\_specs@{call\_get\_specs}}
-\doxysubsubsection{\texorpdfstring{node}{node}}
-{\footnotesize\ttfamily call\+\_\+get\+\_\+specs.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
-
diff --git a/docs/latex/namespacecall__register__cap.tex b/docs/latex/namespacecall__register__cap.tex
deleted file mode 100644
index 605d58e..0000000
--- a/docs/latex/namespacecall__register__cap.tex
+++ /dev/null
@@ -1,34 +0,0 @@
-\doxysection{call\+\_\+register\+\_\+cap Namespace Reference}
-\hypertarget{namespacecall__register__cap}{}\label{namespacecall__register__cap}\index{call\_register\_cap@{call\_register\_cap}}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__register__cap_af74fb13a93506ad89f393dfd4db52c52}{test\+\_\+register\+\_\+cap}} (n)
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecall__register__cap_a542c6864d992b2711c9518ffc9c474e2}{node}} = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyVerb} test call cap services \end{DoxyVerb}
- 
-
-\doxysubsection{Function Documentation}
-\Hypertarget{namespacecall__register__cap_af74fb13a93506ad89f393dfd4db52c52}\label{namespacecall__register__cap_af74fb13a93506ad89f393dfd4db52c52} 
-\index{call\_register\_cap@{call\_register\_cap}!test\_register\_cap@{test\_register\_cap}}
-\index{test\_register\_cap@{test\_register\_cap}!call\_register\_cap@{call\_register\_cap}}
-\doxysubsubsection{\texorpdfstring{test\_register\_cap()}{test\_register\_cap()}}
-{\footnotesize\ttfamily call\+\_\+register\+\_\+cap.\+test\+\_\+register\+\_\+cap (\begin{DoxyParamCaption}\item[{}]{n }\end{DoxyParamCaption})}
-
-
-
-\doxysubsection{Variable Documentation}
-\Hypertarget{namespacecall__register__cap_a542c6864d992b2711c9518ffc9c474e2}\label{namespacecall__register__cap_a542c6864d992b2711c9518ffc9c474e2} 
-\index{call\_register\_cap@{call\_register\_cap}!node@{node}}
-\index{node@{node}!call\_register\_cap@{call\_register\_cap}}
-\doxysubsubsection{\texorpdfstring{node}{node}}
-{\footnotesize\ttfamily call\+\_\+register\+\_\+cap.\+node = rclpy.\+create\+\_\+node(\textquotesingle{}test\+\_\+call\+\_\+cap\+\_\+srvs\textquotesingle{})}
-
diff --git a/docs/latex/namespacecapabilities2__events.tex b/docs/latex/namespacecapabilities2__events.tex
deleted file mode 100644
index d7a0002..0000000
--- a/docs/latex/namespacecapabilities2__events.tex
+++ /dev/null
@@ -1,85 +0,0 @@
-\doxysection{capabilities2\+\_\+events Namespace Reference}
-\hypertarget{namespacecapabilities2__events}{}\label{namespacecapabilities2__events}\index{capabilities2\_events@{capabilities2\_events}}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{event\+\_\+exception}}
-\begin{DoxyCompactList}\small\item\em event exception \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{Event\+Base}}
-\begin{DoxyCompactList}\small\item\em event base class \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{Event\+Node}}
-\begin{DoxyCompactList}\small\item\em an event node is a source of an event \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{Event\+Parameters}}
-\begin{DoxyCompactList}\small\item\em capability options for a capability runner given by interface and provider \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1options__exception}{options\+\_\+exception}}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{Parameter}}
-\begin{DoxyCompactList}\small\item\em Key value pair for capability options. \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent}{Published\+Event}}
-\item 
-class \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Enumerations}
-\begin{DoxyCompactItemize}
-\item 
-enum class \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} \{ \newline
-\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5}{BOOL}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229}{DOUBLE}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92}{INT}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949}{STRING}}
-, \newline
-\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2}{UNCONVERTED}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424}{VECTOR\+\_\+\+BOOL}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe}{VECTOR\+\_\+\+DOUBLE}}
-, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8}{VECTOR\+\_\+\+INT}}
-, \newline
-\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20}{VECTOR\+\_\+\+STRING}}
- \}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Enumeration Type Documentation}
-\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af} 
-\index{capabilities2\_events@{capabilities2\_events}!OptionType@{OptionType}}
-\index{OptionType@{OptionType}!capabilities2\_events@{capabilities2\_events}}
-\doxysubsubsection{\texorpdfstring{OptionType}{OptionType}}
-{\footnotesize\ttfamily enum class \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{capabilities2\+\_\+events\+::\+Option\+Type}}\hspace{0.3cm}{\ttfamily [strong]}}
-
-\begin{DoxyEnumFields}{Enumerator}
-\raisebox{\heightof{T}}[0pt][0pt]{\index{BOOL@{BOOL}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!BOOL@{BOOL}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afaa97b2c144243b2b9d2c593ec268b62f5} 
-BOOL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{DOUBLE@{DOUBLE}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!DOUBLE@{DOUBLE}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afafd3e4ece78a7d422280d5ed379482229} 
-DOUBLE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{INT@{INT}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!INT@{INT}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa53f93baa3057821107c750323892fa92} 
-INT&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{STRING@{STRING}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!STRING@{STRING}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa63b588d5559f64f89a416e656880b949} 
-STRING&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{UNCONVERTED@{UNCONVERTED}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!UNCONVERTED@{UNCONVERTED}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa07867379a4ea83a319467c5ced9a78d2} 
-UNCONVERTED&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{VECTOR\_BOOL@{VECTOR\_BOOL}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!VECTOR\_BOOL@{VECTOR\_BOOL}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afab916a458e01349ca08eb2a51f541e424} 
-VECTOR\+\_\+\+BOOL&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{VECTOR\_DOUBLE@{VECTOR\_DOUBLE}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!VECTOR\_DOUBLE@{VECTOR\_DOUBLE}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa55f4f06495b127b6c682b37a3fc0c6fe} 
-VECTOR\+\_\+\+DOUBLE&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{VECTOR\_INT@{VECTOR\_INT}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!VECTOR\_INT@{VECTOR\_INT}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa362a4017764d73191ac058f04f55ebf8} 
-VECTOR\+\_\+\+INT&\\
-\hline
-
-\raisebox{\heightof{T}}[0pt][0pt]{\index{VECTOR\_STRING@{VECTOR\_STRING}!capabilities2\_events@{capabilities2\_events}}\index{capabilities2\_events@{capabilities2\_events}!VECTOR\_STRING@{VECTOR\_STRING}}}\Hypertarget{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20}\label{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5afa219b21cd758507e5d42f31c313507f20} 
-VECTOR\+\_\+\+STRING&\\
-\hline
-
-\end{DoxyEnumFields}
diff --git a/docs/latex/namespacecapabilities2__runner.tex b/docs/latex/namespacecapabilities2__runner.tex
deleted file mode 100644
index cdef491..0000000
--- a/docs/latex/namespacecapabilities2__runner.tex
+++ /dev/null
@@ -1,35 +0,0 @@
-\doxysection{capabilities2\+\_\+runner Namespace Reference}
-\hypertarget{namespacecapabilities2__runner}{}\label{namespacecapabilities2__runner}\index{capabilities2\_runner@{capabilities2\_runner}}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1ActionRunner}{Action\+Runner}}
-\begin{DoxyCompactList}\small\item\em action runner base class \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1DummyRunner}{Dummy\+Runner}}
-\begin{DoxyCompactList}\small\item\em Dummy runner. \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1EnCapRunner}{En\+Cap\+Runner}}
-\begin{DoxyCompactList}\small\item\em encapsulated capability runner \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{Get\+Capability\+Specs\+Runner}}
-\begin{DoxyCompactList}\small\item\em Executor runner class. \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{Input\+Multiplex\+Runner}}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1LaunchRunner}{Launch\+Runner}}
-\begin{DoxyCompactList}\small\item\em launch runner base class \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1MultiplexBaseRunner}{Multiplex\+Base\+Runner}}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{No\+Trigger\+Runner}}
-\begin{DoxyCompactList}\small\item\em no-\/trigger runner \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}
-\begin{DoxyCompactList}\small\item\em resource definition \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\+\_\+exception}}
-\begin{DoxyCompactList}\small\item\em runner exception \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\+\_\+opts}}
-\begin{DoxyCompactList}\small\item\em runner options \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{Runner\+Base}}
-\begin{DoxyCompactList}\small\item\em base class for all runners \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{Service\+Runner}}
-\begin{DoxyCompactList}\small\item\em service runner base class \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{Thread\+Trigger\+Runner}}
-\begin{DoxyCompactList}\small\item\em add threaded trigger execution to the runner \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{Topic\+Runner}}
-\begin{DoxyCompactList}\small\item\em Topic runner base class. \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/docs/latex/namespacecapabilities2__server.tex b/docs/latex/namespacecapabilities2__server.tex
deleted file mode 100644
index dfc05bc..0000000
--- a/docs/latex/namespacecapabilities2__server.tex
+++ /dev/null
@@ -1,121 +0,0 @@
-\doxysection{capabilities2\+\_\+server Namespace Reference}
-\hypertarget{namespacecapabilities2__server}{}\label{namespacecapabilities2__server}\index{capabilities2\_server@{capabilities2\_server}}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{models}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1BondCache}{Bond\+Cache}}
-\begin{DoxyCompactList}\small\item\em bond cache class \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesAPI}{Capabilities\+API}}
-\begin{DoxyCompactList}\small\item\em capabilities api mapping message based logic of capabilities to database models handles message conversion and db access also tracks cache for bonds and runners \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesDB}{Capabilities\+DB}}
-\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1CapabilitiesServer}{Capabilities\+Server}}
-\begin{DoxyCompactList}\small\item\em capabilities server \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1DBBase}{DBBase}}
-\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{Runner\+Cache}}
-\begin{DoxyCompactList}\small\item\em runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425}{expand\+\_\+tilde}} (std\+::string \&path)
-\item 
-template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a6e3d2cbc55c111a6f09bb9adbbf91977}{DBBase\+::exists$<$ models\+::interface\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
-\item 
-template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a01ea1d7937d31e53be0186ccbbded6cd}{DBBase\+::exists$<$ models\+::semantic\+\_\+interface\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
-\item 
-template$<$$>$ bool \mbox{\hyperlink{namespacecapabilities2__server_a30c6a598ad096b7253c2b1217c9ddce6}{DBBase\+::exists$<$ models\+::provider\+\_\+model\+\_\+t $>$}} (const std\+::string \&resource\+\_\+name)
-\item 
-std\+::string \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\+\_\+sql\+\_\+safe}} (const std\+::string \&input)
-\begin{DoxyCompactList}\small\item\em convert a generic std\+::string to a sql safe std\+::string \end{DoxyCompactList}\item 
-std\+::string \mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\+\_\+sql\+\_\+safe}} (const std\+::string \&input)
-\begin{DoxyCompactList}\small\item\em convert a sql safe std\+::string to a generic std\+::string \end{DoxyCompactList}\item 
-\mbox{\hyperlink{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517}{generate\+\_\+launch\+\_\+description}} ()
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyVerb}capabilities2_server launch file
-\end{DoxyVerb}
- 
-
-\doxysubsection{Function Documentation}
-\Hypertarget{namespacecapabilities2__server_a6e3d2cbc55c111a6f09bb9adbbf91977}\label{namespacecapabilities2__server_a6e3d2cbc55c111a6f09bb9adbbf91977} 
-\index{capabilities2\_server@{capabilities2\_server}!DBBase::exists$<$ models::interface\_model\_t $>$@{DBBase::exists$<$ models::interface\_model\_t $>$}}
-\index{DBBase::exists$<$ models::interface\_model\_t $>$@{DBBase::exists$<$ models::interface\_model\_t $>$}!capabilities2\_server@{capabilities2\_server}}
-\doxysubsubsection{\texorpdfstring{DBBase::exists$<$ models::interface\_model\_t $>$()}{DBBase::exists< models::interface\_model\_t >()}}
-{\footnotesize\ttfamily template$<$$>$ \\
-bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{capabilities2\+\_\+server\+::\+DBBase\+::exists}}$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{models\+::interface\+\_\+model\+\_\+t}} $>$ (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})}
-
-\Hypertarget{namespacecapabilities2__server_a30c6a598ad096b7253c2b1217c9ddce6}\label{namespacecapabilities2__server_a30c6a598ad096b7253c2b1217c9ddce6} 
-\index{capabilities2\_server@{capabilities2\_server}!DBBase::exists$<$ models::provider\_model\_t $>$@{DBBase::exists$<$ models::provider\_model\_t $>$}}
-\index{DBBase::exists$<$ models::provider\_model\_t $>$@{DBBase::exists$<$ models::provider\_model\_t $>$}!capabilities2\_server@{capabilities2\_server}}
-\doxysubsubsection{\texorpdfstring{DBBase::exists$<$ models::provider\_model\_t $>$()}{DBBase::exists< models::provider\_model\_t >()}}
-{\footnotesize\ttfamily template$<$$>$ \\
-bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{capabilities2\+\_\+server\+::\+DBBase\+::exists}}$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{models\+::provider\+\_\+model\+\_\+t}} $>$ (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})}
-
-\Hypertarget{namespacecapabilities2__server_a01ea1d7937d31e53be0186ccbbded6cd}\label{namespacecapabilities2__server_a01ea1d7937d31e53be0186ccbbded6cd} 
-\index{capabilities2\_server@{capabilities2\_server}!DBBase::exists$<$ models::semantic\_interface\_model\_t $>$@{DBBase::exists$<$ models::semantic\_interface\_model\_t $>$}}
-\index{DBBase::exists$<$ models::semantic\_interface\_model\_t $>$@{DBBase::exists$<$ models::semantic\_interface\_model\_t $>$}!capabilities2\_server@{capabilities2\_server}}
-\doxysubsubsection{\texorpdfstring{DBBase::exists$<$ models::semantic\_interface\_model\_t $>$()}{DBBase::exists< models::semantic\_interface\_model\_t >()}}
-{\footnotesize\ttfamily template$<$$>$ \\
-bool \mbox{\hyperlink{classcapabilities2__server_1_1DBBase_a8039f4e932039c398c1f46cc3e018a70}{capabilities2\+\_\+server\+::\+DBBase\+::exists}}$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}} $>$ (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{resource\+\_\+name }\end{DoxyParamCaption})}
-
-\Hypertarget{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425}\label{namespacecapabilities2__server_a17a8e514c6257c5fddf35be0d6194425} 
-\index{capabilities2\_server@{capabilities2\_server}!expand\_tilde@{expand\_tilde}}
-\index{expand\_tilde@{expand\_tilde}!capabilities2\_server@{capabilities2\_server}}
-\doxysubsubsection{\texorpdfstring{expand\_tilde()}{expand\_tilde()}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::expand\+\_\+tilde (\begin{DoxyParamCaption}\item[{std\+::string \&}]{path }\end{DoxyParamCaption})}
-
-\Hypertarget{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}\label{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13} 
-\index{capabilities2\_server@{capabilities2\_server}!from\_sql\_safe@{from\_sql\_safe}}
-\index{from\_sql\_safe@{from\_sql\_safe}!capabilities2\_server@{capabilities2\_server}}
-\doxysubsubsection{\texorpdfstring{from\_sql\_safe()}{from\_sql\_safe()}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::from\+\_\+sql\+\_\+safe (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{input }\end{DoxyParamCaption})}
-
-
-
-convert a sql safe std\+::string to a generic std\+::string 
-
-
-\begin{DoxyParams}{Parameters}
-{\em input} & sql safe std\+::string \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-generic std\+::string 
-\end{DoxyReturn}
-\Hypertarget{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517}\label{namespacecapabilities2__server_a1ec50cd7bc88da49828f161403c6b517} 
-\index{capabilities2\_server@{capabilities2\_server}!generate\_launch\_description@{generate\_launch\_description}}
-\index{generate\_launch\_description@{generate\_launch\_description}!capabilities2\_server@{capabilities2\_server}}
-\doxysubsubsection{\texorpdfstring{generate\_launch\_description()}{generate\_launch\_description()}}
-{\footnotesize\ttfamily capabilities2\+\_\+server.\+generate\+\_\+launch\+\_\+description (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})}
-
-\begin{DoxyVerb}Generate launch description for capabilities2 server
-
-Returns:
-    LaunchDescription: The launch description for capabilities2 server
-\end{DoxyVerb}
- \Hypertarget{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}\label{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53} 
-\index{capabilities2\_server@{capabilities2\_server}!to\_sql\_safe@{to\_sql\_safe}}
-\index{to\_sql\_safe@{to\_sql\_safe}!capabilities2\_server@{capabilities2\_server}}
-\doxysubsubsection{\texorpdfstring{to\_sql\_safe()}{to\_sql\_safe()}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::to\+\_\+sql\+\_\+safe (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{input }\end{DoxyParamCaption})}
-
-
-
-convert a generic std\+::string to a sql safe std\+::string 
-
-
-\begin{DoxyParams}{Parameters}
-{\em input} & generic std\+::string \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-sql safe std\+::string 
-\end{DoxyReturn}
diff --git a/docs/latex/namespacecapabilities2__server_1_1models.tex b/docs/latex/namespacecapabilities2__server_1_1models.tex
deleted file mode 100644
index dff4f7b..0000000
--- a/docs/latex/namespacecapabilities2__server_1_1models.tex
+++ /dev/null
@@ -1,41 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models Namespace Reference}
-\hypertarget{namespacecapabilities2__server_1_1models}{}\label{namespacecapabilities2__server_1_1models}\index{capabilities2\_server::models@{capabilities2\_server::models}}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\+\_\+model\+\_\+t}}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{defineable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em defineable base \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{identifiable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em unique key for a row \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{interface\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em interface model \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{modifiable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em base model for all models that can be modified \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em predicate model type \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{predicateable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em predicateable model base type \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{provider\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em provider model \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{remappable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em remappable base model definition \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{run\+\_\+config\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em run configuration type \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{running\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em running capability model \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{semantic\+\_\+interface\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em semantic interface model \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{soft\+\_\+deleteable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em base model for all models that can be soft deleted \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{specification\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em interface specification type the specification model is the computation graph blueprint of a capability \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/docs/latex/namespacecapability__registrar.tex b/docs/latex/namespacecapability__registrar.tex
deleted file mode 100644
index 9261ec5..0000000
--- a/docs/latex/namespacecapability__registrar.tex
+++ /dev/null
@@ -1,124 +0,0 @@
-\doxysection{capability\+\_\+registrar Namespace Reference}
-\hypertarget{namespacecapability__registrar}{}\label{namespacecapability__registrar}\index{capability\_registrar@{capability\_registrar}}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{Capability\+Registrar}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Variables}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a85b2e418ce57973bee2d82f33e5738b5}{args}} = parser.\+parse\+\_\+args()
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_aba4d1e7264910b6be4626bff694d10ac}{registrar}} = \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{Capability\+Registrar}}()
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a7bfea02378cecfeceda9259e91e2e091}{parser}} = argparse.\+Argument\+Parser()
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_acfac32d04d0fcd7c8433ed1b24dc27bd}{type}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_adb5ed3f88c50cdfd43deee3b12020bea}{str}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_af66a2aad43c4712a55bee27275bd1e5d}{help}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a81f7c17e781033752eb7c2d5d43953f5}{default}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a9e88f588295c9d1134a65813e2cba57a}{required}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a56cd03cefa17b5d40d607d7efa907b86}{request}} = Register\+Capability.\+Request()
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a8def842f3231248fbb4afbada9c57c0e}{package}}
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{filename}} = args.\+file
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a9824c18d0c7c2bc9602902693e664d48}{spec}} = yaml.\+safe\+\_\+load(\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{filename}})
-\item 
-\mbox{\hyperlink{namespacecapability__registrar_a2042dee98cea898a5984b8261540b8fb}{content}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-\begin{DoxyVerb} Capability Registrar Node
- a ros node that registers the capabilities of the robot to the capability server
- the registration is done by calling the capability server's service
-\end{DoxyVerb}
- 
-
-\doxysubsection{Variable Documentation}
-\Hypertarget{namespacecapability__registrar_a85b2e418ce57973bee2d82f33e5738b5}\label{namespacecapability__registrar_a85b2e418ce57973bee2d82f33e5738b5} 
-\index{capability\_registrar@{capability\_registrar}!args@{args}}
-\index{args@{args}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{args}{args}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+args = parser.\+parse\+\_\+args()}
-
-\Hypertarget{namespacecapability__registrar_a2042dee98cea898a5984b8261540b8fb}\label{namespacecapability__registrar_a2042dee98cea898a5984b8261540b8fb} 
-\index{capability\_registrar@{capability\_registrar}!content@{content}}
-\index{content@{content}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{content}{content}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+content}
-
-\Hypertarget{namespacecapability__registrar_a81f7c17e781033752eb7c2d5d43953f5}\label{namespacecapability__registrar_a81f7c17e781033752eb7c2d5d43953f5} 
-\index{capability\_registrar@{capability\_registrar}!default@{default}}
-\index{default@{default}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{default}{default}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+default}
-
-\Hypertarget{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}\label{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9} 
-\index{capability\_registrar@{capability\_registrar}!filename@{filename}}
-\index{filename@{filename}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{filename}{filename}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+filename = args.\+file}
-
-\Hypertarget{namespacecapability__registrar_af66a2aad43c4712a55bee27275bd1e5d}\label{namespacecapability__registrar_af66a2aad43c4712a55bee27275bd1e5d} 
-\index{capability\_registrar@{capability\_registrar}!help@{help}}
-\index{help@{help}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{help}{help}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+help}
-
-\Hypertarget{namespacecapability__registrar_a8def842f3231248fbb4afbada9c57c0e}\label{namespacecapability__registrar_a8def842f3231248fbb4afbada9c57c0e} 
-\index{capability\_registrar@{capability\_registrar}!package@{package}}
-\index{package@{package}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{package}{package}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+package}
-
-\Hypertarget{namespacecapability__registrar_a7bfea02378cecfeceda9259e91e2e091}\label{namespacecapability__registrar_a7bfea02378cecfeceda9259e91e2e091} 
-\index{capability\_registrar@{capability\_registrar}!parser@{parser}}
-\index{parser@{parser}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{parser}{parser}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+parser = argparse.\+Argument\+Parser()}
-
-\Hypertarget{namespacecapability__registrar_aba4d1e7264910b6be4626bff694d10ac}\label{namespacecapability__registrar_aba4d1e7264910b6be4626bff694d10ac} 
-\index{capability\_registrar@{capability\_registrar}!registrar@{registrar}}
-\index{registrar@{registrar}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{registrar}{registrar}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+registrar = \mbox{\hyperlink{classcapability__registrar_1_1CapabilityRegistrar}{Capability\+Registrar}}()}
-
-\Hypertarget{namespacecapability__registrar_a56cd03cefa17b5d40d607d7efa907b86}\label{namespacecapability__registrar_a56cd03cefa17b5d40d607d7efa907b86} 
-\index{capability\_registrar@{capability\_registrar}!request@{request}}
-\index{request@{request}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{request}{request}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+request = Register\+Capability.\+Request()}
-
-\Hypertarget{namespacecapability__registrar_a9e88f588295c9d1134a65813e2cba57a}\label{namespacecapability__registrar_a9e88f588295c9d1134a65813e2cba57a} 
-\index{capability\_registrar@{capability\_registrar}!required@{required}}
-\index{required@{required}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{required}{required}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+required}
-
-\Hypertarget{namespacecapability__registrar_a9824c18d0c7c2bc9602902693e664d48}\label{namespacecapability__registrar_a9824c18d0c7c2bc9602902693e664d48} 
-\index{capability\_registrar@{capability\_registrar}!spec@{spec}}
-\index{spec@{spec}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{spec}{spec}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+spec = yaml.\+safe\+\_\+load(\mbox{\hyperlink{namespacecapability__registrar_a643c87ff01a794a2f9a87c0f0c1663a9}{filename}})}
-
-\Hypertarget{namespacecapability__registrar_adb5ed3f88c50cdfd43deee3b12020bea}\label{namespacecapability__registrar_adb5ed3f88c50cdfd43deee3b12020bea} 
-\index{capability\_registrar@{capability\_registrar}!str@{str}}
-\index{str@{str}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{str}{str}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+str}
-
-\Hypertarget{namespacecapability__registrar_acfac32d04d0fcd7c8433ed1b24dc27bd}\label{namespacecapability__registrar_acfac32d04d0fcd7c8433ed1b24dc27bd} 
-\index{capability\_registrar@{capability\_registrar}!type@{type}}
-\index{type@{type}!capability\_registrar@{capability\_registrar}}
-\doxysubsubsection{\texorpdfstring{type}{type}}
-{\footnotesize\ttfamily capability\+\_\+registrar.\+type}
-
diff --git a/docs/latex/namespaces.tex b/docs/latex/namespaces.tex
deleted file mode 100644
index b3a8523..0000000
--- a/docs/latex/namespaces.tex
+++ /dev/null
@@ -1,14 +0,0 @@
-\doxysection{Namespace List}
-Here is a list of all namespaces with brief descriptions\+:\begin{DoxyCompactList}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecall__establish__bond}{call\+\_\+establish\+\_\+bond}} }{\pageref{namespacecall__establish__bond}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecall__get__interfaces}{call\+\_\+get\+\_\+interfaces}} }{\pageref{namespacecall__get__interfaces}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecall__get__providers}{call\+\_\+get\+\_\+providers}} }{\pageref{namespacecall__get__providers}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecall__get__semantic__interfaces}{call\+\_\+get\+\_\+semantic\+\_\+interfaces}} }{\pageref{namespacecall__get__semantic__interfaces}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecall__get__specs}{call\+\_\+get\+\_\+specs}} }{\pageref{namespacecall__get__specs}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecall__register__cap}{call\+\_\+register\+\_\+cap}} }{\pageref{namespacecall__register__cap}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}} }{\pageref{namespacecapabilities2__events}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}} }{\pageref{namespacecapabilities2__runner}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}} }{\pageref{namespacecapabilities2__server}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}} }{\pageref{namespacecapabilities2__server_1_1models}}{}
-\item\contentsline{section}{\mbox{\hyperlink{namespacecapability__registrar}{capability\+\_\+registrar}} }{\pageref{namespacecapability__registrar}}{}
-\end{DoxyCompactList}
diff --git a/docs/latex/notrigger__runner_8hpp.tex b/docs/latex/notrigger__runner_8hpp.tex
deleted file mode 100644
index 01fad0f..0000000
--- a/docs/latex/notrigger__runner_8hpp.tex
+++ /dev/null
@@ -1,27 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/notrigger\+\_\+runner.hpp File Reference}
-\hypertarget{notrigger__runner_8hpp}{}\label{notrigger__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/notrigger\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/notrigger\_runner.hpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
-Include dependency graph for notrigger\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{notrigger__runner_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=238pt]{notrigger__runner_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{capabilities2\+\_\+runner\+::\+No\+Trigger\+Runner}}
-\begin{DoxyCompactList}\small\item\em no-\/trigger runner \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/notrigger__runner_8hpp__dep__incl.md5 b/docs/latex/notrigger__runner_8hpp__dep__incl.md5
deleted file mode 100644
index f00d396..0000000
--- a/docs/latex/notrigger__runner_8hpp__dep__incl.md5
+++ /dev/null
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diff --git a/docs/latex/notrigger__runner_8hpp__dep__incl.pdf b/docs/latex/notrigger__runner_8hpp__dep__incl.pdf
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diff --git a/docs/latex/notrigger__runner_8hpp_source.tex b/docs/latex/notrigger__runner_8hpp_source.tex
deleted file mode 100644
index 89770b9..0000000
--- a/docs/latex/notrigger__runner_8hpp_source.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\doxysection{notrigger\+\_\+runner.\+hpp}
-\hypertarget{notrigger__runner_8hpp_source}{}\label{notrigger__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/notrigger\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/notrigger\_runner.hpp}}
-\mbox{\hyperlink{notrigger__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
-\DoxyCodeLine{00004\ }
-\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00006\ \{}
-\DoxyCodeLine{00007\ }
-\DoxyCodeLine{00015\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner}{NoTriggerRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}}
-\DoxyCodeLine{00016\ \{}
-\DoxyCodeLine{00017\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00018\ \ \ \textcolor{comment}{//\ throw\ on\ trigger\ function}}
-\DoxyCodeLine{00019\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1NoTriggerRunner_a436e2217ca2c4fd44ac79271200c64d4}{trigger}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id,}
-\DoxyCodeLine{00020\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00021\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00022\ \ \ \ \ \textcolor{comment}{//\ emit\ failed\ event}}
-\DoxyCodeLine{00023\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\_failed}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\_on\_failure}}());}
-\DoxyCodeLine{00024\ }
-\DoxyCodeLine{00025\ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ trigger\ this\ is\ a\ no-\/trigger\ runner"{}});}
-\DoxyCodeLine{00026\ \ \ \}}
-\DoxyCodeLine{00027\ \};}
-\DoxyCodeLine{00028\ }
-\DoxyCodeLine{00029\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/parameter__format_8md.tex b/docs/latex/parameter__format_8md.tex
deleted file mode 100644
index 095d02e..0000000
--- a/docs/latex/parameter__format_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/docs/parameter\+\_\+format.md File Reference}
-\hypertarget{parameter__format_8md}{}\label{parameter__format_8md}\index{capabilities2\_runner/docs/parameter\_format.md@{capabilities2\_runner/docs/parameter\_format.md}}
diff --git a/docs/latex/predicate_8hpp.tex b/docs/latex/predicate_8hpp.tex
deleted file mode 100644
index 3080144..0000000
--- a/docs/latex/predicate_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/predicate.hpp File Reference}
-\hypertarget{predicate_8hpp}{}\label{predicate_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/predicate.hpp@{capabilities2\_server/include/capabilities2\_server/models/predicate.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-Include dependency graph for predicate.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=255pt]{predicate_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{predicate_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em predicate model type \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/predicate_8hpp__dep__incl.md5 b/docs/latex/predicate_8hpp__dep__incl.md5
deleted file mode 100644
index d0efad4..0000000
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diff --git a/docs/latex/predicate_8hpp_source.tex b/docs/latex/predicate_8hpp_source.tex
deleted file mode 100644
index d4544d5..0000000
--- a/docs/latex/predicate_8hpp_source.tex
+++ /dev/null
@@ -1,42 +0,0 @@
-\doxysection{predicate.\+hpp}
-\hypertarget{predicate_8hpp_source}{}\label{predicate_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/predicate.hpp@{capabilities2\_server/include/capabilities2\_server/models/predicate.hpp}}
-\mbox{\hyperlink{predicate_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
-\DoxyCodeLine{00005\ }
-\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00007\ \{}
-\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00009\ \{}
-\DoxyCodeLine{00010\ }
-\DoxyCodeLine{00018\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\_model\_t}}}
-\DoxyCodeLine{00019\ \{}
-\DoxyCodeLine{00020\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}{subject}};}
-\DoxyCodeLine{00021\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}{predicate}};}
-\DoxyCodeLine{00022\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828}{object}};}
-\DoxyCodeLine{00023\ }
-\DoxyCodeLine{00024\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a913e6b62b99887f12ba12debea26d5ac}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
-\DoxyCodeLine{00025\ \ \ \{}
-\DoxyCodeLine{00026\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}{subject}}\ =\ node[\textcolor{stringliteral}{"{}subject"{}}].as<std::string>();}
-\DoxyCodeLine{00027\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}{predicate}}\ =\ node[\textcolor{stringliteral}{"{}predicate"{}}].as<std::string>();}
-\DoxyCodeLine{00028\ \ \ \ \ \textcolor{keywordtype}{object}\ =\ node[\textcolor{stringliteral}{"{}object"{}}].as<std::string>();}
-\DoxyCodeLine{00029\ \ \ \}}
-\DoxyCodeLine{00030\ }
-\DoxyCodeLine{00031\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_aac7a5018cdb4ffac44a5031358c7b392}{to\_yaml}}()\textcolor{keyword}{\ const}}
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-\DoxyCodeLine{00033\ \ \ \ \ YAML::Node\ node;}
-\DoxyCodeLine{00034\ \ \ \ \ node[\textcolor{stringliteral}{"{}subject"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}{subject}};}
-\DoxyCodeLine{00035\ \ \ \ \ node[\textcolor{stringliteral}{"{}predicate"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}{predicate}};}
-\DoxyCodeLine{00036\ \ \ \ \ node[\textcolor{stringliteral}{"{}object"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828}{object}};}
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-\DoxyCodeLine{00041\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
-\DoxyCodeLine{00042\ }
-\DoxyCodeLine{00043\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
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diff --git a/docs/latex/predicateable__base_8hpp.tex b/docs/latex/predicateable__base_8hpp.tex
deleted file mode 100644
index 3a644d6..0000000
--- a/docs/latex/predicateable__base_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/predicateable\+\_\+base.hpp File Reference}
-\hypertarget{predicateable__base_8hpp}{}\label{predicateable__base_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/predicateable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/predicateable\_base.hpp}}
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/predicate.\+hpp$>$}\newline
-Include dependency graph for predicateable\+\_\+base.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=307pt]{predicateable__base_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{predicateable__base_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em predicateable model base type \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/predicateable__base_8hpp__dep__incl.md5 b/docs/latex/predicateable__base_8hpp__dep__incl.md5
deleted file mode 100644
index c209958..0000000
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diff --git a/docs/latex/predicateable__base_8hpp_source.tex b/docs/latex/predicateable__base_8hpp_source.tex
deleted file mode 100644
index edddb51..0000000
--- a/docs/latex/predicateable__base_8hpp_source.tex
+++ /dev/null
@@ -1,24 +0,0 @@
-\doxysection{predicateable\+\_\+base.\+hpp}
-\hypertarget{predicateable__base_8hpp_source}{}\label{predicateable__base_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/predicateable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/predicateable\_base.hpp}}
-\mbox{\hyperlink{predicateable__base_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <vector>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{predicate_8hpp}{capabilities2\_server/models/predicate.hpp}}>}}
-\DoxyCodeLine{00005\ }
-\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00007\ \{}
-\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00009\ \{}
-\DoxyCodeLine{00010\ }
-\DoxyCodeLine{00018\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{predicateable\_base\_t}}}
-\DoxyCodeLine{00019\ \{}
-\DoxyCodeLine{00020\ \ \ std::vector<predicate\_model\_t>\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}};}
-\DoxyCodeLine{00021\ \};}
-\DoxyCodeLine{00022\ }
-\DoxyCodeLine{00023\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
-\DoxyCodeLine{00024\ }
-\DoxyCodeLine{00025\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/provider_8hpp.tex b/docs/latex/provider_8hpp.tex
deleted file mode 100644
index 9c032a8..0000000
--- a/docs/latex/provider_8hpp.tex
+++ /dev/null
@@ -1,35 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/provider.hpp File Reference}
-\hypertarget{provider_8hpp}{}\label{provider_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/provider.hpp@{capabilities2\_server/include/capabilities2\_server/models/provider.hpp}}
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/header.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/remappable\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/defineable\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/predicateable\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
-Include dependency graph for provider.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{provider_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{provider_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em provider model \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/provider_8hpp__dep__incl.md5 b/docs/latex/provider_8hpp__dep__incl.md5
deleted file mode 100644
index bc09f03..0000000
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diff --git a/docs/latex/provider_8hpp_source.tex b/docs/latex/provider_8hpp_source.tex
deleted file mode 100644
index 772d1b0..0000000
--- a/docs/latex/provider_8hpp_source.tex
+++ /dev/null
@@ -1,87 +0,0 @@
-\doxysection{provider.\+hpp}
-\hypertarget{provider_8hpp_source}{}\label{provider_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/provider.hpp@{capabilities2\_server/include/capabilities2\_server/models/provider.hpp}}
-\mbox{\hyperlink{provider_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{header_8hpp}{capabilities2\_server/models/header.hpp}}>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{remappable__base_8hpp}{capabilities2\_server/models/remappable\_base.hpp}}>}}
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{defineable__base_8hpp}{capabilities2\_server/models/defineable\_base.hpp}}>}}
-\DoxyCodeLine{00008\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{predicateable__base_8hpp}{capabilities2\_server/models/predicateable\_base.hpp}}>}}
-\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{defineable__base_8hpp}{capabilities2\_server/models/defineable\_base.hpp}}>}}
-\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{sql__safe_8hpp}{capabilities2\_server/utils/sql\_safe.hpp}}>}}
-\DoxyCodeLine{00011\ }
-\DoxyCodeLine{00012\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00013\ \{}
-\DoxyCodeLine{00014\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00015\ \{}
-\DoxyCodeLine{00016\ }
-\DoxyCodeLine{00017\ \textcolor{comment}{//\ provider\ model\ definition}}
-\DoxyCodeLine{00025\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t}{provider\_model\_t}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{remappable\_base\_t}},\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{predicateable\_base\_t}},\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{defineable\_base\_t}}}
-\DoxyCodeLine{00026\ \{}
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-\DoxyCodeLine{00028\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}};}
-\DoxyCodeLine{00029\ \ \ std::map<std::string,\ std::string>\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\_on}};}
-\DoxyCodeLine{00030\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}};}
-\DoxyCodeLine{00031\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}};}
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-\DoxyCodeLine{00034\ \ \ \{}
-\DoxyCodeLine{00035\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\_yaml}}(node);}
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-\DoxyCodeLine{00039\ \ \ \ \ \{}
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-\DoxyCodeLine{00041\ \ \ \ \ \}}
-\DoxyCodeLine{00042\ \ \ \ \ \textcolor{comment}{//\ if\ remappings\ exist}}
-\DoxyCodeLine{00043\ \ \ \ \ \textcolor{keywordflow}{if}\ (node[\textcolor{stringliteral}{"{}remappings"{}}])}
-\DoxyCodeLine{00044\ \ \ \ \ \{}
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-\DoxyCodeLine{00047\ \ \ \ \ }
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-\DoxyCodeLine{00077\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f}{to\_sql\_values}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00078\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00079\ \ \ \ \ YAML::Node\ deps;}
-\DoxyCodeLine{00080\ \ \ \ \ deps[\textcolor{stringliteral}{"{}depends\_on"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\_on}};}
-\DoxyCodeLine{00081\ }
-\DoxyCodeLine{00082\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{},\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(YAML::Dump(deps[\textcolor{stringliteral}{"{}depends\_on"{}}]))\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +}
-\DoxyCodeLine{00083\ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(YAML::Dump(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}{to\_yaml}}()))\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\_str}}\ +\ \textcolor{stringliteral}{"{}'"{}};}
-\DoxyCodeLine{00084\ \ \ \}}
-\DoxyCodeLine{00085\ \};}
-\DoxyCodeLine{00086\ }
-\DoxyCodeLine{00087\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
-\DoxyCodeLine{00088\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/providers_8md.tex b/docs/latex/providers_8md.tex
deleted file mode 100644
index 35b6542..0000000
--- a/docs/latex/providers_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs/providers.md File Reference}
-\hypertarget{providers_8md}{}\label{providers_8md}\index{docs/providers.md@{docs/providers.md}}
diff --git a/docs/latex/published__event_8hpp.tex b/docs/latex/published__event_8hpp.tex
deleted file mode 100644
index 5d9a553..0000000
--- a/docs/latex/published__event_8hpp.tex
+++ /dev/null
@@ -1,29 +0,0 @@
-\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/published\+\_\+event.hpp File Reference}
-\hypertarget{published__event_8hpp}{}\label{published__event_8hpp}\index{capabilities2\_events/include/capabilities2\_events/published\_event.hpp@{capabilities2\_events/include/capabilities2\_events/published\_event.hpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+stamped.\+hpp$>$}\newline
-Include dependency graph for published\+\_\+event.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{published__event_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{published__event_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent}{capabilities2\+\_\+events\+::\+Published\+Event}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/published__event_8hpp__dep__incl.md5 b/docs/latex/published__event_8hpp__dep__incl.md5
deleted file mode 100644
index 400bd9b..0000000
--- a/docs/latex/published__event_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/published__event_8hpp_source.tex b/docs/latex/published__event_8hpp_source.tex
deleted file mode 100644
index 2f22380..0000000
--- a/docs/latex/published__event_8hpp_source.tex
+++ /dev/null
@@ -1,128 +0,0 @@
-\doxysection{published\+\_\+event.\+hpp}
-\hypertarget{published__event_8hpp_source}{}\label{published__event_8hpp_source}\index{capabilities2\_events/include/capabilities2\_events/published\_event.hpp@{capabilities2\_events/include/capabilities2\_events/published\_event.hpp}}
-\mbox{\hyperlink{published__event_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__base_8hpp}{capabilities2\_events/event\_base.hpp}}>}}
-\DoxyCodeLine{00004\ }
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_stamped.hpp>}}
-\DoxyCodeLine{00007\ }
-\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\_events}}}
-\DoxyCodeLine{00009\ \{}
-\DoxyCodeLine{00010\ }
-\DoxyCodeLine{00011\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent}{PublishedEvent}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{EventBase}}}
-\DoxyCodeLine{00012\ \{}
-\DoxyCodeLine{00013\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00014\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a171a4a05b8abbd64093cb19cf2935f1d}{PublishedEvent}}(rclcpp::Publisher<capabilities2\_msgs::msg::CapabilityEventStamped>::SharedPtr\ event\_pub)}
-\DoxyCodeLine{00015\ \ \ \ \ :\ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase}{EventBase}}(),\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}(event\_pub)}
-\DoxyCodeLine{00016\ \ \ \{}
-\DoxyCodeLine{00017\ \ \ \}}
-\DoxyCodeLine{00018\ }
-\DoxyCodeLine{00019\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a6ab23da65edf53a46acb69d5c0e961cc}{\string~PublishedEvent}}()\ =\ \textcolor{keywordflow}{default};}
-\DoxyCodeLine{00020\ }
-\DoxyCodeLine{00024\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a53e7f3937b84b488db674020a2b90b5a}{emit}}(\textcolor{keyword}{const}\ std::string\&\ connection\_id,\ \textcolor{keyword}{const}\ uint8\_t\&\ event\_code,}
-\DoxyCodeLine{00025\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ source,\ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::Capability\&\ target,}
-\DoxyCodeLine{00026\ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{EventBase::event\_callback\_t}}\ callback)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00027\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00028\ \ \ \ \ \textcolor{comment}{//\ split\ connection\ id\ to\ get\ trigger\ id.\ Assuming\ connection\_id\ format\ is\ "{}bond\_id/instance\_id/target\_instance\_id"{}}}
-\DoxyCodeLine{00029\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ first\_pos\ =\ connection\_id.find(\textcolor{charliteral}{'/'});}
-\DoxyCodeLine{00030\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ second\_pos\ =\ connection\_id.find(\textcolor{charliteral}{'/'},\ first\_pos\ +\ 1);}
-\DoxyCodeLine{00031\ }
-\DoxyCodeLine{00032\ \ \ \ \ std::string\ instance\_id\ =\ (second\_pos\ !=\ std::string::npos)\ ?\ connection\_id.substr(first\_pos\ +\ 1,\ second\_pos\ -\/\ first\_pos\ -\/\ 1)\ :\ \textcolor{stringliteral}{"{}"{}};}
-\DoxyCodeLine{00033\ }
-\DoxyCodeLine{00034\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
-\DoxyCodeLine{00035\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
-\DoxyCodeLine{00036\ \ \ \ \ event\_msg.event.trigger\_id\ =\ instance\_id;}
-\DoxyCodeLine{00037\ \ \ \ \ event\_msg.event.code.code\ =\ event\_code;}
-\DoxyCodeLine{00038\ \ \ \ \ event\_msg.event.connection.source\ =\ source;}
-\DoxyCodeLine{00039\ \ \ \ \ event\_msg.event.connection.target\ =\ target;}
-\DoxyCodeLine{00040\ }
-\DoxyCodeLine{00041\ \ \ \ \ \textcolor{comment}{//\ publish\ event}}
-\DoxyCodeLine{00042\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
-\DoxyCodeLine{00043\ }
-\DoxyCodeLine{00044\ \ \ \ \ \textcolor{comment}{//\ call\ super}}
-\DoxyCodeLine{00045\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a0fadc2464ce9a54a913aa55e806b7d8c}{EventBase::emit}}(connection\_id,\ event\_code,\ source,\ target,\ callback);}
-\DoxyCodeLine{00046\ \ \ \}}
-\DoxyCodeLine{00047\ }
-\DoxyCodeLine{00053\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_aa27e427c12928212ca6b0d9073808787}{on\_server\_ready}}(\textcolor{keyword}{const}\ std::string\&\ msg)}
-\DoxyCodeLine{00054\ \ \ \{}
-\DoxyCodeLine{00055\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
-\DoxyCodeLine{00056\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
-\DoxyCodeLine{00057\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00058\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00059\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::SERVER\_READY;}
-\DoxyCodeLine{00060\ \ \ \ \ event\_msg.event.description\ =\ msg;}
-\DoxyCodeLine{00061\ }
-\DoxyCodeLine{00062\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
-\DoxyCodeLine{00063\ \ \ \}}
-\DoxyCodeLine{00064\ }
-\DoxyCodeLine{00070\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a7877d7f7f5112f7505286366eb1d20c4}{on\_process\_launched}}(\textcolor{keyword}{const}\ std::string\&\ pid)}
-\DoxyCodeLine{00071\ \ \ \{}
-\DoxyCodeLine{00072\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
-\DoxyCodeLine{00073\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
-\DoxyCodeLine{00074\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00075\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00076\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::LAUNCHED;}
-\DoxyCodeLine{00077\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Process\ launched\ with\ PID:\ "{}}\ +\ pid;}
-\DoxyCodeLine{00078\ }
-\DoxyCodeLine{00079\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
-\DoxyCodeLine{00080\ \ \ \}}
-\DoxyCodeLine{00081\ }
-\DoxyCodeLine{00087\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a91694a1cf354c72670fd65207986955a}{on\_process\_terminated}}(\textcolor{keyword}{const}\ std::string\&\ pid)}
-\DoxyCodeLine{00088\ \ \ \{}
-\DoxyCodeLine{00089\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
-\DoxyCodeLine{00090\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
-\DoxyCodeLine{00091\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00092\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00093\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::TERMINATED;}
-\DoxyCodeLine{00094\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Process\ terminated\ with\ PID:\ "{}}\ +\ pid;}
-\DoxyCodeLine{00095\ }
-\DoxyCodeLine{00096\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
-\DoxyCodeLine{00097\ \ \ \}}
-\DoxyCodeLine{00098\ }
-\DoxyCodeLine{00099\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a5d840357942cab6bcd4a214d7b03b774}{on\_triggered}}(\textcolor{keyword}{const}\ std::string\&\ trigger\_id)}
-\DoxyCodeLine{00100\ \ \ \{}
-\DoxyCodeLine{00101\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
-\DoxyCodeLine{00102\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
-\DoxyCodeLine{00103\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00104\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00105\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::TRIGGERED;}
-\DoxyCodeLine{00106\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Triggered\ event\ with\ ID:\ "{}}\ +\ trigger\_id;}
-\DoxyCodeLine{00107\ }
-\DoxyCodeLine{00108\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
-\DoxyCodeLine{00109\ \ \ \}}
-\DoxyCodeLine{00110\ }
-\DoxyCodeLine{00111\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_ae8bacbe30ab75a4703dda81b102b3a13}{on\_connected}}(\textcolor{keyword}{const}\ std::string\&\ source,\ \textcolor{keyword}{const}\ std::string\&\ target)}
-\DoxyCodeLine{00112\ \ \ \{}
-\DoxyCodeLine{00113\ \ \ \ \ capabilities2\_msgs::msg::CapabilityEventStamped\ event\_msg;}
-\DoxyCodeLine{00114\ \ \ \ \ event\_msg.header.stamp\ =\ rclcpp::Clock().now();}
-\DoxyCodeLine{00115\ \ \ \ \ event\_msg.event.connection.source.capability\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00116\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00117\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::CONNECTED;}
-\DoxyCodeLine{00118\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Connected\ event\ from\ "{}}\ +\ source\ +\ \textcolor{stringliteral}{"{}\ to\ "{}}\ +\ target;}
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-\DoxyCodeLine{00120\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
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-\DoxyCodeLine{00128\ \ \ \ \ event\_msg.event.connection.source.provider\ =\ \textcolor{stringliteral}{"{}capabilities2\_server"{}};}
-\DoxyCodeLine{00129\ \ \ \ \ event\_msg.event.code.code\ =\ capabilities2\_msgs::msg::CapabilityEventCode::DISCONNECTED;}
-\DoxyCodeLine{00130\ \ \ \ \ event\_msg.event.description\ =\ \textcolor{stringliteral}{"{}Disconnected\ event\ from\ "{}}\ +\ source\ +\ \textcolor{stringliteral}{"{}\ to\ "{}}\ +\ target;}
-\DoxyCodeLine{00131\ }
-\DoxyCodeLine{00132\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}}-\/>publish(event\_msg);}
-\DoxyCodeLine{00133\ \ \ \}}
-\DoxyCodeLine{00134\ }
-\DoxyCodeLine{00135\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00136\ \ \ \textcolor{comment}{//\ event\ publisher}}
-\DoxyCodeLine{00137\ \ \ rclcpp::Publisher<capabilities2\_msgs::msg::CapabilityEventStamped>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__events_1_1PublishedEvent_a9512517a8907ce9986c103dd45b4f453}{event\_pub\_}};}
-\DoxyCodeLine{00138\ \};}
-\DoxyCodeLine{00139\ }
-\DoxyCodeLine{00140\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
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deleted file mode 100644
index 245e369..0000000
--- a/docs/latex/pull__request__template_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{pull\+\_\+request\+\_\+template.\+md File Reference}
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deleted file mode 100644
index 942277a..0000000
--- a/docs/latex/readme_8md.tex
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-\chapter{File Documentation}
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-\input{event__base_8hpp_source}
-\input{event__node_8hpp}
-\input{event__node_8hpp_source}
-\input{event__parameters_8hpp}
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diff --git a/docs/latex/register_8md.tex b/docs/latex/register_8md.tex
deleted file mode 100644
index e7b0432..0000000
--- a/docs/latex/register_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+server/docs/register.md File Reference}
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diff --git a/docs/latex/remappable__base_8hpp.tex b/docs/latex/remappable__base_8hpp.tex
deleted file mode 100644
index dad4084..0000000
--- a/docs/latex/remappable__base_8hpp.tex
+++ /dev/null
@@ -1,29 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/remappable\+\_\+base.hpp File Reference}
-\hypertarget{remappable__base_8hpp}{}\label{remappable__base_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/remappable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/remappable\_base.hpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/remapping.\+hpp$>$}\newline
-Include dependency graph for remappable\+\_\+base.\+hpp\+:\nopagebreak
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-\begin{center}
-\leavevmode
-\includegraphics[width=307pt]{remappable__base_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
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-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{remappable__base_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em remappable base model definition \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/remappable__base_8hpp__dep__incl.md5 b/docs/latex/remappable__base_8hpp__dep__incl.md5
deleted file mode 100644
index 1606e18..0000000
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+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/remappable__base_8hpp__dep__incl.pdf b/docs/latex/remappable__base_8hpp__dep__incl.pdf
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diff --git a/docs/latex/remappable__base_8hpp_source.tex b/docs/latex/remappable__base_8hpp_source.tex
deleted file mode 100644
index 2c02b0c..0000000
--- a/docs/latex/remappable__base_8hpp_source.tex
+++ /dev/null
@@ -1,22 +0,0 @@
-\doxysection{remappable\+\_\+base.\+hpp}
-\hypertarget{remappable__base_8hpp_source}{}\label{remappable__base_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/remappable\_base.hpp@{capabilities2\_server/include/capabilities2\_server/models/remappable\_base.hpp}}
-\mbox{\hyperlink{remappable__base_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{remapping_8hpp}{capabilities2\_server/models/remapping.hpp}}>}}
-\DoxyCodeLine{00004\ }
-\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00006\ \{}
-\DoxyCodeLine{00007\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00008\ \{}
-\DoxyCodeLine{00009\ }
-\DoxyCodeLine{00016\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{remappable\_base\_t}}}
-\DoxyCodeLine{00017\ \{}
-\DoxyCodeLine{00018\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}};}
-\DoxyCodeLine{00019\ \};}
-\DoxyCodeLine{00020\ }
-\DoxyCodeLine{00021\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
-\DoxyCodeLine{00022\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/remapping_8hpp.tex b/docs/latex/remapping_8hpp.tex
deleted file mode 100644
index 0673e2c..0000000
--- a/docs/latex/remapping_8hpp.tex
+++ /dev/null
@@ -1,33 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/remapping.hpp File Reference}
-\hypertarget{remapping_8hpp}{}\label{remapping_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/remapping.hpp@{capabilities2\_server/include/capabilities2\_server/models/remapping.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-Include dependency graph for remapping.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=307pt]{remapping_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{remapping_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t}}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/remapping_8hpp__dep__incl.md5 b/docs/latex/remapping_8hpp__dep__incl.md5
deleted file mode 100644
index be4f87e..0000000
--- a/docs/latex/remapping_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/remapping_8hpp__dep__incl.pdf b/docs/latex/remapping_8hpp__dep__incl.pdf
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diff --git a/docs/latex/remapping_8hpp_source.tex b/docs/latex/remapping_8hpp_source.tex
deleted file mode 100644
index d8aa857..0000000
--- a/docs/latex/remapping_8hpp_source.tex
+++ /dev/null
@@ -1,135 +0,0 @@
-\doxysection{remapping.\+hpp}
-\hypertarget{remapping_8hpp_source}{}\label{remapping_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/remapping.hpp@{capabilities2\_server/include/capabilities2\_server/models/remapping.hpp}}
-\mbox{\hyperlink{remapping_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
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-\DoxyCodeLine{00012\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\_model\_t}}}
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-\DoxyCodeLine{00019\ \ \ \ \ \textcolor{comment}{//\ from\ is\ yaml\ key,\ to\ is\ yaml\ value}}
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diff --git a/docs/latex/resource_8hpp.tex b/docs/latex/resource_8hpp.tex
deleted file mode 100644
index 9b540f6..0000000
--- a/docs/latex/resource_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/resource.hpp File Reference}
-\hypertarget{resource_8hpp}{}\label{resource_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/resource.hpp@{capabilities2\_server/include/capabilities2\_server/models/resource.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-Include dependency graph for resource.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=254pt]{resource_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{resource_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
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diff --git a/docs/latex/resource_8hpp__dep__incl.md5 b/docs/latex/resource_8hpp__dep__incl.md5
deleted file mode 100644
index 7365c07..0000000
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diff --git a/docs/latex/resource_8hpp__incl.md5 b/docs/latex/resource_8hpp__incl.md5
deleted file mode 100644
index a8662a4..0000000
--- a/docs/latex/resource_8hpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/resource_8hpp_source.tex b/docs/latex/resource_8hpp_source.tex
deleted file mode 100644
index 861d8de..0000000
--- a/docs/latex/resource_8hpp_source.tex
+++ /dev/null
@@ -1,41 +0,0 @@
-\doxysection{resource.\+hpp}
-\hypertarget{resource_8hpp_source}{}\label{resource_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/resource.hpp@{capabilities2\_server/include/capabilities2\_server/models/resource.hpp}}
-\mbox{\hyperlink{resource_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
-\DoxyCodeLine{00005\ }
-\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00007\ \{}
-\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00009\ \{}
-\DoxyCodeLine{00010\ }
-\DoxyCodeLine{00020\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\_model\_t}}}
-\DoxyCodeLine{00021\ \{}
-\DoxyCodeLine{00022\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}{name}};}
-\DoxyCodeLine{00023\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}{type}};}
-\DoxyCodeLine{00024\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}{description}};}
-\DoxyCodeLine{00025\ }
-\DoxyCodeLine{00026\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a46df60e201ca7d0bc6ff3938811a87d7}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
-\DoxyCodeLine{00027\ \ \ \{}
-\DoxyCodeLine{00028\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}{name}}\ =\ node[\textcolor{stringliteral}{"{}name"{}}].as<std::string>();}
-\DoxyCodeLine{00029\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}{type}}\ =\ node[\textcolor{stringliteral}{"{}type"{}}].as<std::string>();}
-\DoxyCodeLine{00030\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}{description}}\ =\ node[\textcolor{stringliteral}{"{}description"{}}].as<std::string>();}
-\DoxyCodeLine{00031\ \ \ \}}
-\DoxyCodeLine{00032\ }
-\DoxyCodeLine{00033\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_afe7ee416240acbd2582ebc50f31359ef}{to\_yaml}}()\textcolor{keyword}{\ const}}
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-\DoxyCodeLine{00035\ \ \ \ \ YAML::Node\ node;}
-\DoxyCodeLine{00036\ \ \ \ \ node[\textcolor{stringliteral}{"{}name"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}{name}};}
-\DoxyCodeLine{00037\ \ \ \ \ node[\textcolor{stringliteral}{"{}type"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}{type}};}
-\DoxyCodeLine{00038\ \ \ \ \ node[\textcolor{stringliteral}{"{}description"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}{description}};}
-\DoxyCodeLine{00039\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
-\DoxyCodeLine{00040\ \ \ \}}
-\DoxyCodeLine{00041\ \};}
-\DoxyCodeLine{00042\ }
-\DoxyCodeLine{00043\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
-\DoxyCodeLine{00044\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
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diff --git a/docs/latex/run__config_8hpp.tex b/docs/latex/run__config_8hpp.tex
deleted file mode 100644
index 14e7aa1..0000000
--- a/docs/latex/run__config_8hpp.tex
+++ /dev/null
@@ -1,33 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/run\+\_\+config.hpp File Reference}
-\hypertarget{run__config_8hpp}{}\label{run__config_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/run\_config.hpp@{capabilities2\_server/include/capabilities2\_server/models/run\_config.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/header.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/interface.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/defineable\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
-Include dependency graph for run\+\_\+config.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{run__config_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{run__config_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em run configuration type \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/run__config_8hpp__dep__incl.md5 b/docs/latex/run__config_8hpp__dep__incl.md5
deleted file mode 100644
index 2b40ab0..0000000
--- a/docs/latex/run__config_8hpp__dep__incl.md5
+++ /dev/null
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diff --git a/docs/latex/run__config_8hpp_source.tex b/docs/latex/run__config_8hpp_source.tex
deleted file mode 100644
index 41a3072..0000000
--- a/docs/latex/run__config_8hpp_source.tex
+++ /dev/null
@@ -1,83 +0,0 @@
-\doxysection{run\+\_\+config.\+hpp}
-\hypertarget{run__config_8hpp_source}{}\label{run__config_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/run\_config.hpp@{capabilities2\_server/include/capabilities2\_server/models/run\_config.hpp}}
-\mbox{\hyperlink{run__config_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
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-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{header_8hpp}{capabilities2\_server/models/header.hpp}}>}}
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-\DoxyCodeLine{00010\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
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-\DoxyCodeLine{00012\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00013\ \{}
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-\DoxyCodeLine{00023\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{run\_config\_model\_t}}\ :\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{defineable\_base\_t}}}
-\DoxyCodeLine{00024\ \{}
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-\DoxyCodeLine{00026\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{interface\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}};}
-\DoxyCodeLine{00027\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b}{global\_namespace}};}
-\DoxyCodeLine{00028\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}};}
-\DoxyCodeLine{00029\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\_by}};}
-\DoxyCodeLine{00030\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}};}
-\DoxyCodeLine{00031\ }
-\DoxyCodeLine{00032\ \ \ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\_runner::runner\_opts}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923}{to\_runner\_opts}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00033\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00034\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\_runner::runner\_opts}}\ opts;}
-\DoxyCodeLine{00035\ }
-\DoxyCodeLine{00036\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}{interface}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
-\DoxyCodeLine{00037\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369}{provider}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}{provider}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}};}
-\DoxyCodeLine{00038\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac09a8a96d66f433fdcd43aeae8217cef}{global\_namespace}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b}{global\_namespace}};}
-\DoxyCodeLine{00039\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}};}
-\DoxyCodeLine{00040\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a574ca498d3677393093c36193cf108db}{started\_by}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\_by}};}
-\DoxyCodeLine{00041\ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb}{pid}}\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}};}
-\DoxyCodeLine{00042\ }
-\DoxyCodeLine{00043\ \ \ \ \ \textcolor{comment}{//\ lambda\ for\ pushing\ resources\ by\ type}}
-\DoxyCodeLine{00044\ \ \ \ \ \textcolor{keyword}{auto}\ push\_by\_type\ =\ [\&](\textcolor{keyword}{const}\ std::map<std::string,\ resource\_model\_t>\&\ resources,\ \textcolor{keyword}{const}\ std::string\&\ type)\ \{}
-\DoxyCodeLine{00045\ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ resource\ :\ resources)}
-\DoxyCodeLine{00046\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00047\ \ \ \ \ \ \ \ \ opts.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}{resources}}.push\_back(\{\ resource.second.name,\ type,\ resource.second.type\ \});}
-\DoxyCodeLine{00048\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00049\ \ \ \ \ \};}
-\DoxyCodeLine{00050\ }
-\DoxyCodeLine{00051\ \ \ \ \ \textcolor{comment}{//\ get\ all\ resources}}
-\DoxyCodeLine{00052\ \ \ \ \ push\_by\_type(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a7fbc888249194c37bbbcd6145cdcc272}{parameters}},\ \textcolor{stringliteral}{"{}parameter"{}});}
-\DoxyCodeLine{00053\ \ \ \ \ push\_by\_type(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a77bb428b9a7290aae1c9d1180c3c93ac}{topics}},\ \textcolor{stringliteral}{"{}topic"{}});}
-\DoxyCodeLine{00054\ \ \ \ \ push\_by\_type(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a4902547120299a085eacca24a896c11f}{services}},\ \textcolor{stringliteral}{"{}service"{}});}
-\DoxyCodeLine{00055\ \ \ \ \ push\_by\_type(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a4a842359980def295d1e9995e808d2ed}{actions}},\ \textcolor{stringliteral}{"{}action"{}});}
-\DoxyCodeLine{00056\ }
-\DoxyCodeLine{00057\ \ \ \ \ \textcolor{keywordflow}{return}\ opts;}
-\DoxyCodeLine{00058\ \ \ \}}
-\DoxyCodeLine{00059\ }
-\DoxyCodeLine{00060\ \ \ \textcolor{keyword}{const}\ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475}{is\_valid}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00061\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00062\ \ \ \ \ \textcolor{keywordflow}{return}\ !\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty()\ \&\&\ !\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}{provider}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}.empty();}
-\DoxyCodeLine{00063\ \ \ \}}
-\DoxyCodeLine{00064\ }
-\DoxyCodeLine{00065\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ab602bc027d2c75ddc51fdf190cd42442}{to\_yaml}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00066\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00067\ \ \ \ \ YAML::Node\ node;}
-\DoxyCodeLine{00068\ }
-\DoxyCodeLine{00069\ \ \ \ \ node[\textcolor{stringliteral}{"{}provider"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}{provider}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}{to\_yaml}}();}
-\DoxyCodeLine{00070\ \ \ \ \ node[\textcolor{stringliteral}{"{}interface"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ab4974dddde348826f754eeba41fab1d0}{to\_yaml}}();}
-\DoxyCodeLine{00071\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}{defined}}())}
-\DoxyCodeLine{00072\ \ \ \ \ \{}
-\DoxyCodeLine{00073\ \ \ \ \ \ \ node[\textcolor{stringliteral}{"{}definition"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\_str}};}
-\DoxyCodeLine{00074\ \ \ \ \ \}}
-\DoxyCodeLine{00075\ \ \ \ \ node[\textcolor{stringliteral}{"{}global\_namespace"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b}{global\_namespace}};}
-\DoxyCodeLine{00076\ \ \ \ \ node[\textcolor{stringliteral}{"{}runner"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}};}
-\DoxyCodeLine{00077\ \ \ \ \ node[\textcolor{stringliteral}{"{}started\_by"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\_by}};}
-\DoxyCodeLine{00078\ \ \ \ \ node[\textcolor{stringliteral}{"{}pid"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}};}
-\DoxyCodeLine{00079\ }
-\DoxyCodeLine{00080\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
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-\DoxyCodeLine{00084\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
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-
-\end{DoxyCode}
diff --git a/docs/latex/run__test__scripts_8md.tex b/docs/latex/run__test__scripts_8md.tex
deleted file mode 100644
index 9d5a01d..0000000
--- a/docs/latex/run__test__scripts_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs/run\+\_\+test\+\_\+scripts.md File Reference}
-\hypertarget{run__test__scripts_8md}{}\label{run__test__scripts_8md}\index{docs/run\_test\_scripts.md@{docs/run\_test\_scripts.md}}
diff --git a/docs/latex/runner__base_8hpp.tex b/docs/latex/runner__base_8hpp.tex
deleted file mode 100644
index db2c374..0000000
--- a/docs/latex/runner__base_8hpp.tex
+++ /dev/null
@@ -1,40 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/runner\+\_\+base.hpp File Reference}
-\hypertarget{runner__base_8hpp}{}\label{runner__base_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/runner\_base.hpp@{capabilities2\_runner/include/capabilities2\_runner/runner\_base.hpp}}
-{\ttfamily \#include $<$stdexcept$>$}\newline
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$functional$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+node.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+parameters.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+code.\+hpp$>$}\newline
-Include dependency graph for runner\+\_\+base.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{runner__base_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{runner__base_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\+\_\+runner\+::runner\+\_\+exception}}
-\begin{DoxyCompactList}\small\item\em runner exception \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{capabilities2\+\_\+runner\+::resource}}
-\begin{DoxyCompactList}\small\item\em resource definition \end{DoxyCompactList}\item 
-struct \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\+\_\+runner\+::runner\+\_\+opts}}
-\begin{DoxyCompactList}\small\item\em runner options \end{DoxyCompactList}\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}
-\begin{DoxyCompactList}\small\item\em base class for all runners \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/runner__base_8hpp__dep__incl.md5 b/docs/latex/runner__base_8hpp__dep__incl.md5
deleted file mode 100644
index 6e3d961..0000000
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diff --git a/docs/latex/runner__base_8hpp_source.tex b/docs/latex/runner__base_8hpp_source.tex
deleted file mode 100644
index 8805efe..0000000
--- a/docs/latex/runner__base_8hpp_source.tex
+++ /dev/null
@@ -1,260 +0,0 @@
-\doxysection{runner\+\_\+base.\+hpp}
-\hypertarget{runner__base_8hpp_source}{}\label{runner__base_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/runner\_base.hpp@{capabilities2\_runner/include/capabilities2\_runner/runner\_base.hpp}}
-\mbox{\hyperlink{runner__base_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <stdexcept>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <functional>}}
-\DoxyCodeLine{00006\ }
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
-\DoxyCodeLine{00008\ }
-\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__node_8hpp}{capabilities2\_events/event\_node.hpp}}>}}
-\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__parameters_8hpp}{capabilities2\_events/event\_parameters.hpp}}>}}
-\DoxyCodeLine{00011\ }
-\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability.hpp>}}
-\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_code.hpp>}}
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-\DoxyCodeLine{00015\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00016\ \{}
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-\DoxyCodeLine{00024\ \{}
-\DoxyCodeLine{00025\ \ \ \textcolor{keyword}{using\ }std::runtime\_error::runtime\_error;}
-\DoxyCodeLine{00026\ }
-\DoxyCodeLine{00027\ \ \ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_aa6373ae91bb89b6306491195465b2b07}{runner\_exception}}(\textcolor{keyword}{const}\ std::string\&\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}})\ :\ std::runtime\_error(\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}})}
-\DoxyCodeLine{00028\ \ \ \{}
-\DoxyCodeLine{00029\ \ \ \}}
-\DoxyCodeLine{00030\ }
-\DoxyCodeLine{00031\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keyword}{const}\ \textcolor{keywordtype}{char}*\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}}()\ const\ noexcept\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00032\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00033\ \ \ \ \ \textcolor{keywordflow}{return}\ std::runtime\_error::what();}
-\DoxyCodeLine{00034\ \ \ \}}
-\DoxyCodeLine{00035\ \};}
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-\DoxyCodeLine{00042\ \{}
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-\DoxyCodeLine{00045\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a1bebf375d0bb9439251e8ef393e837a5}{msg\_type}};}
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-\DoxyCodeLine{00056\ \{}
-\DoxyCodeLine{00057\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}{interface}};}
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-\DoxyCodeLine{00059\ \ \ std::vector<resource>\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}{resources}};}
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-\DoxyCodeLine{00061\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}};}
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-\DoxyCodeLine{00063\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb}{pid}};}
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-\DoxyCodeLine{00065\ \};}
-\DoxyCodeLine{00066\ }
-\DoxyCodeLine{00073\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode}{capabilities2\_events::EventNode}}}
-\DoxyCodeLine{00074\ \{}
-\DoxyCodeLine{00075\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00076\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad677f8a60b0e32510794315243a946d6}{RunnerBase}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}(nullptr),\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}()}
-\DoxyCodeLine{00077\ \ \ \{}
-\DoxyCodeLine{00078\ \ \ \}}
-\DoxyCodeLine{00079\ }
-\DoxyCodeLine{00080\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_afaf475264dc30c93758087ffca3754e6}{\string~RunnerBase}}()\ =\ \textcolor{keywordflow}{default};}
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-\DoxyCodeLine{00084\ \ \ \textcolor{comment}{//\ incorporates\ event\ callbacks}}
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-\DoxyCodeLine{00094\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af253678258e86285dc2a12ecb5c1db84}{start}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id)\ =\ 0;}
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-\DoxyCodeLine{00117\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad85529d5a99b6e1373d89beadcb71a47}{trigger}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id,}
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-\DoxyCodeLine{00127\ \ \ \{}
-\DoxyCodeLine{00128\ \ \ \ \ \textcolor{comment}{//\ store\ node\ connection\ source}}
-\DoxyCodeLine{00129\ \ \ \ \ capabilities2\_msgs::msg::Capability\ source\_capability;}
-\DoxyCodeLine{00130\ \ \ \ \ source\_capability.capability\ =\ run\_config.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}{interface}};}
-\DoxyCodeLine{00131\ \ \ \ \ source\_capability.provider\ =\ run\_config.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369}{provider}};}
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-\DoxyCodeLine{00134\ \ \ \ \ \textcolor{comment}{//\ store\ node\ pointer\ and\ opts}}
-\DoxyCodeLine{00135\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}\ =\ node;}
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-\DoxyCodeLine{00243\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}();}
-\DoxyCodeLine{00244\ \ \ \};}
-\DoxyCodeLine{00245\ }
-\DoxyCodeLine{00256\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\_on\_failure}}()}
-\DoxyCodeLine{00257\ \ \ \{}
-\DoxyCodeLine{00258\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}();}
-\DoxyCodeLine{00259\ \ \ \};}
-\DoxyCodeLine{00260\ }
-\DoxyCodeLine{00271\ \ \ \textcolor{keyword}{virtual}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\_on\_success}}()}
-\DoxyCodeLine{00272\ \ \ \{}
-\DoxyCodeLine{00273\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}();}
-\DoxyCodeLine{00274\ \ \ \};}
-\DoxyCodeLine{00275\ }
-\DoxyCodeLine{00276\ \ \ \textcolor{comment}{//\ run\ config\ getters}}
-\DoxyCodeLine{00277\ }
-\DoxyCodeLine{00289\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\_resource\_name\_by\_type}}(\textcolor{keyword}{const}\ std::string\&\ resource\_type,\ \textcolor{keyword}{const}\ std::string\&\ msg\_type)\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00290\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00291\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}{resources}})}
-\DoxyCodeLine{00292\ \ \ \ \ \{}
-\DoxyCodeLine{00293\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}.\mbox{\hyperlink{structcapabilities2__runner_1_1resource_a94b6972f420c15250a370d44bd08ccc2}{resource\_type}}\ ==\ resource\_type)}
-\DoxyCodeLine{00294\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00295\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}.\mbox{\hyperlink{structcapabilities2__runner_1_1resource_a1bebf375d0bb9439251e8ef393e837a5}{msg\_type}}\ ==\ msg\_type)}
-\DoxyCodeLine{00296\ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00297\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}.\mbox{\hyperlink{structcapabilities2__runner_1_1resource_a31be624a9bd871d94918db90d774ae46}{name}};}
-\DoxyCodeLine{00298\ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00299\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00300\ \ \ \ \ \}}
-\DoxyCodeLine{00301\ }
-\DoxyCodeLine{00302\ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}no\ resource\ found:\ "{}}\ +\ msg\_type);}
-\DoxyCodeLine{00303\ \ \ \}}
-\DoxyCodeLine{00304\ }
-\DoxyCodeLine{00311\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a7ca628af3cfb83cb2e17f2348c66f5a9}{get\_parameter\_name\_by\_type}}(\textcolor{keyword}{const}\ std::string\&\ param\_type)\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00312\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00313\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\_resource\_name\_by\_type}}(\textcolor{stringliteral}{"{}parameter"{}},\ param\_type);}
-\DoxyCodeLine{00314\ \ \ \}}
-\DoxyCodeLine{00315\ }
-\DoxyCodeLine{00322\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a921754cdc1cbf69547f67860d5fd2f92}{get\_topic\_name\_by\_type}}(\textcolor{keyword}{const}\ std::string\&\ topic\_type)\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00323\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00324\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\_resource\_name\_by\_type}}(\textcolor{stringliteral}{"{}topic"{}},\ topic\_type);}
-\DoxyCodeLine{00325\ \ \ \}}
-\DoxyCodeLine{00326\ }
-\DoxyCodeLine{00333\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af3397f1baa438b11e40a2a9c8e771f75}{get\_service\_name\_by\_type}}(\textcolor{keyword}{const}\ std::string\&\ srv\_type)\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00334\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00335\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\_resource\_name\_by\_type}}(\textcolor{stringliteral}{"{}service"{}},\ srv\_type);}
-\DoxyCodeLine{00336\ \ \ \}}
-\DoxyCodeLine{00337\ }
-\DoxyCodeLine{00344\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ad20c4a0a0d7ad6d42ef7ccf24f6a1c65}{get\_action\_name\_by\_type}}(\textcolor{keyword}{const}\ std::string\&\ action\_type)\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00345\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00346\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a819adec0f6c9d29e70fe1c39c578e96b}{get\_resource\_name\_by\_type}}(\textcolor{stringliteral}{"{}action"{}},\ action\_type);}
-\DoxyCodeLine{00347\ \ \ \}}
-\DoxyCodeLine{00348\ }
-\DoxyCodeLine{00356\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\_first\_resource\_name}}(\textcolor{keyword}{const}\ std::string\&\ resource\_type)\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00357\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00358\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}{resources}})}
-\DoxyCodeLine{00359\ \ \ \ \ \{}
-\DoxyCodeLine{00360\ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}.\mbox{\hyperlink{structcapabilities2__runner_1_1resource_a94b6972f420c15250a370d44bd08ccc2}{resource\_type}}\ ==\ resource\_type)}
-\DoxyCodeLine{00361\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00362\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}.\mbox{\hyperlink{structcapabilities2__runner_1_1resource_a31be624a9bd871d94918db90d774ae46}{name}};}
-\DoxyCodeLine{00363\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00364\ \ \ \ \ \}}
-\DoxyCodeLine{00365\ }
-\DoxyCodeLine{00366\ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}no\ "{}}\ +\ resource\_type\ +\ \textcolor{stringliteral}{"{}\ resource\ found\ for\ interface:\ "{}}\ +\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}}.\mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}{interface}});}
-\DoxyCodeLine{00367\ \ \ \}}
-\DoxyCodeLine{00368\ }
-\DoxyCodeLine{00374\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9414f4fca9459b457f306bbf8b4c1cdf}{get\_first\_parameter\_name}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00375\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00376\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\_first\_resource\_name}}(\textcolor{stringliteral}{"{}parameter"{}});}
-\DoxyCodeLine{00377\ \ \ \}}
-\DoxyCodeLine{00378\ }
-\DoxyCodeLine{00384\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_abe103d834226cfae197630ef45387e95}{get\_first\_topic\_name}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00385\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00386\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\_first\_resource\_name}}(\textcolor{stringliteral}{"{}topic"{}});}
-\DoxyCodeLine{00387\ \ \ \}}
-\DoxyCodeLine{00388\ }
-\DoxyCodeLine{00394\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a144e9cc074f34a69677fa9c2b461160e}{get\_first\_service\_name}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00395\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00396\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\_first\_resource\_name}}(\textcolor{stringliteral}{"{}service"{}});}
-\DoxyCodeLine{00397\ \ \ \}}
-\DoxyCodeLine{00398\ }
-\DoxyCodeLine{00404\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6c40b1ee8b85cd357ebc9102ee1b5d12}{get\_first\_action\_name}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00405\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00406\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a6667a04bdf0d6a83a7663b4f8b10c0cf}{get\_first\_resource\_name}}(\textcolor{stringliteral}{"{}action"{}});}
-\DoxyCodeLine{00407\ \ \ \}}
-\DoxyCodeLine{00408\ }
-\DoxyCodeLine{00409\ \ \ \textcolor{comment}{//\ FIXME:\ implement\ new\ event\ subsystem}}
-\DoxyCodeLine{00410\ \ \ \textcolor{comment}{//\ STATE\ CHANGE\ HELPERS}}
-\DoxyCodeLine{00411\ }
-\DoxyCodeLine{00418\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\_started}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
-\DoxyCodeLine{00419\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}())}
-\DoxyCodeLine{00420\ \ \ \{}
-\DoxyCodeLine{00421\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}emitting\ STARTED\ event\ with\ bond\_id:\ \%s"{}},\ bond\_id.c\_str());}
-\DoxyCodeLine{00422\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(bond\_id,\ instance\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::STARTED,\ parameters);}
-\DoxyCodeLine{00423\ \ \ \}}
-\DoxyCodeLine{00424\ }
-\DoxyCodeLine{00431\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
-\DoxyCodeLine{00432\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}())}
-\DoxyCodeLine{00433\ \ \ \{}
-\DoxyCodeLine{00434\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}emitting\ STOPPED\ event\ with\ bond\_id:\ \%s"{}},\ bond\_id.c\_str());}
-\DoxyCodeLine{00435\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(bond\_id,\ instance\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::STOPPED,\ parameters);}
-\DoxyCodeLine{00436\ \ \ \}}
-\DoxyCodeLine{00437\ }
-\DoxyCodeLine{00444\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\_succeeded}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
-\DoxyCodeLine{00445\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}())}
-\DoxyCodeLine{00446\ \ \ \{}
-\DoxyCodeLine{00447\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}emitting\ SUCCEEDED\ event\ with\ bond\_id:\ \%s"{}},\ bond\_id.c\_str());}
-\DoxyCodeLine{00448\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(bond\_id,\ instance\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::SUCCEEDED,\ parameters);}
-\DoxyCodeLine{00449\ \ \ \}}
-\DoxyCodeLine{00450\ }
-\DoxyCodeLine{00457\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\_failed}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
-\DoxyCodeLine{00458\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters\ =\ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}())}
-\DoxyCodeLine{00459\ \ \ \{}
-\DoxyCodeLine{00460\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}emitting\ FAILED\ event\ with\ bond\_id:\ \%s"{}},\ bond\_id.c\_str());}
-\DoxyCodeLine{00461\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(bond\_id,\ instance\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::FAILED,\ parameters);}
-\DoxyCodeLine{00462\ \ \ \}}
-\DoxyCodeLine{00463\ }
-\DoxyCodeLine{00464\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00469\ \ \ rclcpp::Node::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}};}
-\DoxyCodeLine{00470\ }
-\DoxyCodeLine{00474\ \ \ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a94f0b66e78d66b770ba91d9f55b202ce}{run\_config\_}};}
-\DoxyCodeLine{00475\ \};}
-\DoxyCodeLine{00476\ }
-\DoxyCodeLine{00477\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/runner__cache_8hpp.tex b/docs/latex/runner__cache_8hpp.tex
deleted file mode 100644
index 47addf7..0000000
--- a/docs/latex/runner__cache_8hpp.tex
+++ /dev/null
@@ -1,37 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/runner\+\_\+cache.hpp File Reference}
-\hypertarget{runner__cache_8hpp}{}\label{runner__cache_8hpp}\index{capabilities2\_server/include/capabilities2\_server/runner\_cache.hpp@{capabilities2\_server/include/capabilities2\_server/runner\_cache.hpp}}
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-{\ttfamily \#include $<$functional$>$}\newline
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$pluginlib/class\+\_\+loader.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/run\+\_\+config.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/event\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+connection.\+hpp$>$}\newline
-Include dependency graph for runner\+\_\+cache.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{runner__cache_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{runner__cache_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{capabilities2\+\_\+server\+::\+Runner\+Cache}}
-\begin{DoxyCompactList}\small\item\em runner cache class responsible for caching the currently active runners of capabilities this cache deals directly with the provider spec of the capability framework to determine the type of runner to use \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/runner__cache_8hpp__dep__incl.md5 b/docs/latex/runner__cache_8hpp__dep__incl.md5
deleted file mode 100644
index 5a0464f..0000000
--- a/docs/latex/runner__cache_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/runner__cache_8hpp__dep__incl.pdf b/docs/latex/runner__cache_8hpp__dep__incl.pdf
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diff --git a/docs/latex/runner__cache_8hpp_source.tex b/docs/latex/runner__cache_8hpp_source.tex
deleted file mode 100644
index a0a535b..0000000
--- a/docs/latex/runner__cache_8hpp_source.tex
+++ /dev/null
@@ -1,183 +0,0 @@
-\doxysection{runner\+\_\+cache.\+hpp}
-\hypertarget{runner__cache_8hpp_source}{}\label{runner__cache_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/runner\_cache.hpp@{capabilities2\_server/include/capabilities2\_server/runner\_cache.hpp}}
-\mbox{\hyperlink{runner__cache_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <map>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <vector>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <functional>}}
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
-\DoxyCodeLine{00008\ \textcolor{comment}{//\ \#include\ <tinyxml2.h>}}
-\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <rclcpp/rclcpp.hpp>}}
-\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <pluginlib/class\_loader.hpp>}}
-\DoxyCodeLine{00011\ }
-\DoxyCodeLine{00012\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{run__config_8hpp}{capabilities2\_server/models/run\_config.hpp}}>}}
-\DoxyCodeLine{00013\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
-\DoxyCodeLine{00014\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{event__base_8hpp}{capabilities2\_events/event\_base.hpp}}>}}
-\DoxyCodeLine{00015\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_connection.hpp>}}
-\DoxyCodeLine{00016\ }
-\DoxyCodeLine{00017\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00018\ \{}
-\DoxyCodeLine{00019\ }
-\DoxyCodeLine{00031\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache}{RunnerCache}}}
-\DoxyCodeLine{00032\ \{}
-\DoxyCodeLine{00033\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00034\ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a54ca36d2ea36c95783ed042c1ab31b7f}{RunnerCache}}()\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\_loader\_}}(\textcolor{stringliteral}{"{}capabilities2\_runner"{}},\ \textcolor{stringliteral}{"{}capabilities2\_runner::RunnerBase"{}})}
-\DoxyCodeLine{00035\ \ \ \{}
-\DoxyCodeLine{00036\ \ \ \}}
-\DoxyCodeLine{00037\ }
-\DoxyCodeLine{00045\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aefd112af41b8ef36ccdce3cfebb5dd25}{add\_runner}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ std::string\&\ capability,}
-\DoxyCodeLine{00046\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t}{models::run\_config\_model\_t}}\&\ run\_config)}
-\DoxyCodeLine{00047\ \ \ \{}
-\DoxyCodeLine{00048\ \ \ \ \ \textcolor{comment}{//\ if\ the\ runner\ exists\ then\ throw\ an\ error\ preserving\ uniqueness}}
-\DoxyCodeLine{00049\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
-\DoxyCodeLine{00050\ \ \ \ \ \{}
-\DoxyCodeLine{00051\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ is\ running\ already:\ "{}}\ +\ capability);}
-\DoxyCodeLine{00052\ \ \ \ \ \}}
-\DoxyCodeLine{00053\ }
-\DoxyCodeLine{00054\ \ \ \ \ \textcolor{comment}{//\ check\ if\ run\ config\ is\ valid}}
-\DoxyCodeLine{00055\ \ \ \ \ \textcolor{keywordflow}{if}\ (!run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475}{is\_valid}}())}
-\DoxyCodeLine{00056\ \ \ \ \ \{}
-\DoxyCodeLine{00057\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}run\ config\ is\ not\ valid:\ "{}}\ +\ YAML::Dump(run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ab602bc027d2c75ddc51fdf190cd42442}{to\_yaml}}()));}
-\DoxyCodeLine{00058\ \ \ \ \ \}}
-\DoxyCodeLine{00059\ }
-\DoxyCodeLine{00060\ \ \ \ \ \textcolor{comment}{//\ create\ the\ runner,\ add\ the\ runner\ to\ map,\ and\ if\ the\ spec\ runner\ contains\ a\ path\ to\ a\ launch\ file\ then\ use\ the}}
-\DoxyCodeLine{00061\ \ \ \ \ \textcolor{comment}{//\ launch\ file\ runner}}
-\DoxyCodeLine{00062\ \ \ \ \ \textcolor{keywordflow}{if}\ (run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}.find(\textcolor{stringliteral}{"{}.launch"{}})\ !=\ std::string::npos\ ||\ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}.find(\textcolor{stringliteral}{"{}/"{}})\ !=\ std::string::npos\ ||}
-\DoxyCodeLine{00063\ \ \ \ \ \ \ \ \ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}.find(\textcolor{stringliteral}{"{}.py"{}})\ !=\ std::string::npos)}
-\DoxyCodeLine{00064\ \ \ \ \ \{}
-\DoxyCodeLine{00065\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\_loader\_}}.createSharedInstance(\textcolor{stringliteral}{"{}capabilities2\_runner::LaunchRunner"{}});}
-\DoxyCodeLine{00066\ \ \ \ \ \}}
-\DoxyCodeLine{00067\ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00068\ \ \ \ \ \{}
-\DoxyCodeLine{00069\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]\ =\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\_loader\_}}.createSharedInstance(run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}});}
-\DoxyCodeLine{00070\ \ \ \ \ \}}
-\DoxyCodeLine{00071\ }
-\DoxyCodeLine{00072\ \ \ \ \ \textcolor{comment}{//\ start\ the\ runner}}
-\DoxyCodeLine{00073\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>start(node,\ run\_config.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923}{to\_runner\_opts}}(),\ \textcolor{stringliteral}{"{}"{}});}
-\DoxyCodeLine{00074\ \ \ \}}
-\DoxyCodeLine{00075\ }
-\DoxyCodeLine{00086\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aa3c38f7a92d055d73e3acb2422094f9a}{trigger\_runner}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id,}
-\DoxyCodeLine{00087\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters)}
-\DoxyCodeLine{00088\ \ \ \{}
-\DoxyCodeLine{00089\ \ \ \ \ \textcolor{comment}{//\ TODO:\ validate\ trigger\ id\ (DEPRECATED?)}}
-\DoxyCodeLine{00090\ }
-\DoxyCodeLine{00091\ \ \ \ \ \textcolor{comment}{//\ is\ the\ runner\ in\ the\ cache}}
-\DoxyCodeLine{00092\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
-\DoxyCodeLine{00093\ \ \ \ \ \{}
-\DoxyCodeLine{00094\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>trigger(parameters,\ bond\_id,\ instance\_id);}
-\DoxyCodeLine{00095\ \ \ \ \ \}}
-\DoxyCodeLine{00096\ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00097\ \ \ \ \ \{}
-\DoxyCodeLine{00098\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
-\DoxyCodeLine{00099\ \ \ \ \ \}}
-\DoxyCodeLine{00100\ \ \ \}}
-\DoxyCodeLine{00101\ }
-\DoxyCodeLine{00111\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_aba905c19f2ffec5e72028d8a246a3edf}{add\_connection}}(\textcolor{keyword}{const}\ std::string\&\ capability,\ \textcolor{keyword}{const}\ std::string\&\ connection\_id,}
-\DoxyCodeLine{00112\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ capabilities2\_msgs::msg::CapabilityConnection\&\ connection,}
-\DoxyCodeLine{00113\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::shared\_ptr<capabilities2\_events::EventBase>\ event\_emitter\ =\ \textcolor{keyword}{nullptr})}
-\DoxyCodeLine{00114\ \ \ \{}
-\DoxyCodeLine{00115\ \ \ \ \ \textcolor{comment}{//\ find\ the\ runner\ in\ the\ cache\ and\ if\ not\ found\ then\ throw\ an\ error}}
-\DoxyCodeLine{00116\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
-\DoxyCodeLine{00117\ \ \ \ \ \{}
-\DoxyCodeLine{00118\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
-\DoxyCodeLine{00119\ \ \ \ \ \}}
-\DoxyCodeLine{00120\ }
-\DoxyCodeLine{00121\ \ \ \ \ \textcolor{comment}{//\ pass\ the\ event\ api\ to\ the\ runner}}
-\DoxyCodeLine{00122\ \ \ \ \ \textcolor{comment}{//\ for\ emitting\ events\ on\ state\ changes}}
-\DoxyCodeLine{00123\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>enable\_events(event\_emitter);}
-\DoxyCodeLine{00124\ }
-\DoxyCodeLine{00125\ \ \ \ \ \textcolor{keywordflow}{try}}
-\DoxyCodeLine{00126\ \ \ \ \ \{}
-\DoxyCodeLine{00127\ \ \ \ \ \ \ \textcolor{comment}{//\ add\ connection\ to\ the\ runner}}
-\DoxyCodeLine{00128\ \ \ \ \ \ \ \textcolor{comment}{//\ callback\ signature:\ (capability,\ parameters,\ bond\_id,\ instance\_id)}}
-\DoxyCodeLine{00129\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>add\_connection(connection\_id,\ connection.type,\ connection.target,}
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-\DoxyCodeLine{00131\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::placeholders::\_1,\ std::placeholders::\_2,}
-\DoxyCodeLine{00132\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ std::placeholders::\_3,\ std::placeholders::\_4));}
-\DoxyCodeLine{00133\ \ \ \ \ \}}
-\DoxyCodeLine{00134\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__events_1_1event__exception}{capabilities2\_events::event\_exception}}\&\ e)}
-\DoxyCodeLine{00135\ \ \ \ \ \{}
-\DoxyCodeLine{00136\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(e.\mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}}());}
-\DoxyCodeLine{00137\ \ \ \ \ \}}
-\DoxyCodeLine{00138\ \ \ \}}
-\DoxyCodeLine{00139\ }
-\DoxyCodeLine{00148\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a38cd41426d0a9dbe36d3842e5ef0310c}{remove\_runner}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00149\ \ \ \{}
-\DoxyCodeLine{00150\ \ \ \ \ \textcolor{comment}{//\ find\ the\ runner\ in\ the\ cache\ and\ if\ not\ found\ then\ throw\ an\ error}}
-\DoxyCodeLine{00151\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
-\DoxyCodeLine{00152\ \ \ \ \ \{}
-\DoxyCodeLine{00153\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
-\DoxyCodeLine{00154\ \ \ \ \ \}}
-\DoxyCodeLine{00155\ }
-\DoxyCodeLine{00156\ \ \ \ \ \textcolor{comment}{//\ safely\ stop\ the\ runner}}
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-\DoxyCodeLine{00158\ \ \ \ \ \{}
-\DoxyCodeLine{00159\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>stop(\textcolor{stringliteral}{"{}"{}});}
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-\DoxyCodeLine{00161\ \ \ \ \ \textcolor{keywordflow}{catch}\ (\textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}\&\ e)}
-\DoxyCodeLine{00162\ \ \ \ \ \{}
-\DoxyCodeLine{00163\ \ \ \ \ \ \ \textcolor{comment}{//\ pass}}
-\DoxyCodeLine{00164\ \ \ \ \ \ \ \textcolor{comment}{//\ RCLCPP\_ERROR(node\_logging\_interface\_ptr\_-\/>get\_logger(),\ "{}\%s"{},\ e.what());}}
-\DoxyCodeLine{00165\ \ \ \ \ \}}
-\DoxyCodeLine{00166\ }
-\DoxyCodeLine{00167\ \ \ \ \ \textcolor{comment}{//\ reset\ the\ runner\ pointer}}
-\DoxyCodeLine{00168\ \ \ \ \ \textcolor{comment}{//\ runner\_cache\_[capability].reset();}}
-\DoxyCodeLine{00169\ }
-\DoxyCodeLine{00170\ \ \ \ \ \textcolor{comment}{//\ remove\ the\ runner\ from\ map}}
-\DoxyCodeLine{00171\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}.erase(capability);}
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-\DoxyCodeLine{00173\ }
-\DoxyCodeLine{00179\ \ \ \textcolor{keyword}{const}\ std::vector<std::string>\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a245acdb1f0c4b4b81f1ed46906b446cb}{get\_running\_capabilities}}()}
-\DoxyCodeLine{00180\ \ \ \{}
-\DoxyCodeLine{00181\ \ \ \ \ std::vector<std::string>\ runners;}
-\DoxyCodeLine{00182\ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{const}\ \textcolor{keyword}{auto}\&\ runner\ :\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}})}
-\DoxyCodeLine{00183\ \ \ \ \ \{}
-\DoxyCodeLine{00184\ \ \ \ \ \ \ runners.push\_back(runner.first);}
-\DoxyCodeLine{00185\ \ \ \ \ \}}
-\DoxyCodeLine{00186\ \ \ \ \ \textcolor{keywordflow}{return}\ runners;}
-\DoxyCodeLine{00187\ \ \ \}}
-\DoxyCodeLine{00188\ }
-\DoxyCodeLine{00195\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a20513c9b45a313ab7bdc6f2d15f490c8}{provider}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00196\ \ \ \{}
-\DoxyCodeLine{00197\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
-\DoxyCodeLine{00198\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
-\DoxyCodeLine{00199\ }
-\DoxyCodeLine{00200\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>get\_provider();}
-\DoxyCodeLine{00201\ \ \ \}}
-\DoxyCodeLine{00202\ }
-\DoxyCodeLine{00209\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ad07093aa785e7f24ef4e1648e46c7c0f}{started\_by}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00210\ \ \ \{}
-\DoxyCodeLine{00211\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
-\DoxyCodeLine{00212\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
-\DoxyCodeLine{00213\ }
-\DoxyCodeLine{00214\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>get\_started\_by();}
-\DoxyCodeLine{00215\ \ \ \}}
-\DoxyCodeLine{00216\ }
-\DoxyCodeLine{00223\ \ \ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a64a32e4605c82f06baf0902bd0bab746}{pid}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00224\ \ \ \{}
-\DoxyCodeLine{00225\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(capability))}
-\DoxyCodeLine{00226\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{capabilities2\_runner::runner\_exception}}(\textcolor{stringliteral}{"{}capability\ runner\ not\ found:\ "{}}\ +\ capability);}
-\DoxyCodeLine{00227\ }
-\DoxyCodeLine{00228\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}[capability]-\/>get\_pid();}
-\DoxyCodeLine{00229\ \ \ \}}
-\DoxyCodeLine{00230\ }
-\DoxyCodeLine{00238\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a278cd90fadd01341151fb48b8c93745e}{running}}(\textcolor{keyword}{const}\ std::string\&\ capability)}
-\DoxyCodeLine{00239\ \ \ \{}
-\DoxyCodeLine{00240\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}.find(capability)\ !=\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}}.end();}
-\DoxyCodeLine{00241\ \ \ \}}
-\DoxyCodeLine{00242\ }
-\DoxyCodeLine{00243\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00244\ \ \ \textcolor{comment}{//\ map\ capability\ to\ running\ model}}
-\DoxyCodeLine{00245\ \ \ \textcolor{comment}{//\ capability\ /\ provider\ specs\ -\/>\ runner}}
-\DoxyCodeLine{00246\ \ \ std::map<std::string,\ std::shared\_ptr<capabilities2\_runner::RunnerBase>>\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_ae72647019b3b65e02ee663652b208b32}{runner\_cache\_}};}
-\DoxyCodeLine{00247\ }
-\DoxyCodeLine{00248\ \ \ \textcolor{comment}{//\ runner\ plugin\ loader}}
-\DoxyCodeLine{00249\ \ \ pluginlib::ClassLoader<capabilities2\_runner::RunnerBase>\ \mbox{\hyperlink{classcapabilities2__server_1_1RunnerCache_a4a485c20947d8e4808556630b593d6b4}{runner\_loader\_}};}
-\DoxyCodeLine{00250\ \};}
-\DoxyCodeLine{00251\ }
-\DoxyCodeLine{00252\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/running_8hpp.tex b/docs/latex/running_8hpp.tex
deleted file mode 100644
index a97416e..0000000
--- a/docs/latex/running_8hpp.tex
+++ /dev/null
@@ -1,32 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/running.hpp File Reference}
-\hypertarget{running_8hpp}{}\label{running_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/running.hpp@{capabilities2\_server/include/capabilities2\_server/models/running.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$vector$>$}\newline
-Include dependency graph for running.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=232pt]{running_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{running_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t}}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em running capability model \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/running_8hpp__dep__incl.md5 b/docs/latex/running_8hpp__dep__incl.md5
deleted file mode 100644
index 2c53c3a..0000000
--- a/docs/latex/running_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/running_8hpp_source.tex b/docs/latex/running_8hpp_source.tex
deleted file mode 100644
index 796787d..0000000
--- a/docs/latex/running_8hpp_source.tex
+++ /dev/null
@@ -1,33 +0,0 @@
-\doxysection{running.\+hpp}
-\hypertarget{running_8hpp_source}{}\label{running_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/running.hpp@{capabilities2\_server/include/capabilities2\_server/models/running.hpp}}
-\mbox{\hyperlink{running_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
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-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <vector>}}
-\DoxyCodeLine{00005\ }
-\DoxyCodeLine{00006\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00007\ \{}
-\DoxyCodeLine{00008\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00009\ \{}
-\DoxyCodeLine{00010\ }
-\DoxyCodeLine{00012\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\_model\_t}}}
-\DoxyCodeLine{00013\ \{}
-\DoxyCodeLine{00014\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}};}
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-\DoxyCodeLine{00017\ }
-\DoxyCodeLine{00026\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t}{running\_model\_t}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\_model\_t}}}
-\DoxyCodeLine{00027\ \{}
-\DoxyCodeLine{00028\ \ \ \textcolor{comment}{//\ std::string\ interface;}}
-\DoxyCodeLine{00029\ \ \ \textcolor{comment}{//\ std::string\ provider;}}
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-\DoxyCodeLine{00034\ }
-\DoxyCodeLine{00035\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
-\DoxyCodeLine{00036\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
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diff --git a/docs/latex/securing__capabilities_8md.tex b/docs/latex/securing__capabilities_8md.tex
deleted file mode 100644
index 8703ec1..0000000
--- a/docs/latex/securing__capabilities_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs/securing\+\_\+capabilities.md File Reference}
-\hypertarget{securing__capabilities_8md}{}\label{securing__capabilities_8md}\index{docs/securing\_capabilities.md@{docs/securing\_capabilities.md}}
diff --git a/docs/latex/semantic__interface_8hpp.tex b/docs/latex/semantic__interface_8hpp.tex
deleted file mode 100644
index 0d8b58c..0000000
--- a/docs/latex/semantic__interface_8hpp.tex
+++ /dev/null
@@ -1,33 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/semantic\+\_\+interface.hpp File Reference}
-\hypertarget{semantic__interface_8hpp}{}\label{semantic__interface_8hpp}\index{capabilities2\_server/include/capabilities2\_server/models/semantic\_interface.hpp@{capabilities2\_server/include/capabilities2\_server/models/semantic\_interface.hpp}}
-{\ttfamily \#include $<$yaml-\/cpp/yaml.\+h$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/header.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/remappable\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/models/predicateable\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/utils/sql\+\_\+safe.\+hpp$>$}\newline
-Include dependency graph for semantic\+\_\+interface.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{semantic__interface_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{semantic__interface_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-struct \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t}}
-\begin{DoxyCompactList}\small\item\em semantic interface model \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server_1_1models}{capabilities2\+\_\+server\+::models}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/semantic__interface_8hpp__dep__incl.md5 b/docs/latex/semantic__interface_8hpp__dep__incl.md5
deleted file mode 100644
index 3048fc9..0000000
--- a/docs/latex/semantic__interface_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-7c73cd6838dbf8a81a956f9ed8d92d94
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diff --git a/docs/latex/semantic__interface_8hpp__dep__incl.pdf b/docs/latex/semantic__interface_8hpp__dep__incl.pdf
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diff --git a/docs/latex/semantic__interface_8hpp_source.tex b/docs/latex/semantic__interface_8hpp_source.tex
deleted file mode 100644
index 3390ff7..0000000
--- a/docs/latex/semantic__interface_8hpp_source.tex
+++ /dev/null
@@ -1,64 +0,0 @@
-\doxysection{semantic\+\_\+interface.\+hpp}
-\hypertarget{semantic__interface_8hpp_source}{}\label{semantic__interface_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/models/semantic\_interface.hpp@{capabilities2\_server/include/capabilities2\_server/models/semantic\_interface.hpp}}
-\mbox{\hyperlink{semantic__interface_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <yaml-\/cpp/yaml.h>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{header_8hpp}{capabilities2\_server/models/header.hpp}}>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{remappable__base_8hpp}{capabilities2\_server/models/remappable\_base.hpp}}>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{predicateable__base_8hpp}{capabilities2\_server/models/predicateable\_base.hpp}}>}}
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{sql__safe_8hpp}{capabilities2\_server/utils/sql\_safe.hpp}}>}}
-\DoxyCodeLine{00008\ }
-\DoxyCodeLine{00009\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00010\ \{}
-\DoxyCodeLine{00011\ \textcolor{keyword}{namespace\ }models}
-\DoxyCodeLine{00012\ \{}
-\DoxyCodeLine{00013\ }
-\DoxyCodeLine{00014\ \textcolor{comment}{//\ semantic\ interface\ model\ definition}}
-\DoxyCodeLine{00024\ \textcolor{keyword}{struct\ }\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{semantic\_interface\_model\_t}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{remappable\_base\_t}},\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{predicateable\_base\_t}}}
-\DoxyCodeLine{00025\ \{}
-\DoxyCodeLine{00026\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}};}
-\DoxyCodeLine{00027\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}};}
-\DoxyCodeLine{00028\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\_namespace}};}
-\DoxyCodeLine{00029\ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\_model\_t}}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}};}
-\DoxyCodeLine{00030\ }
-\DoxyCodeLine{00031\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a1c82841795835d4359d6bc1fd40b9f26}{from\_yaml}}(\textcolor{keyword}{const}\ YAML::Node\&\ node)}
-\DoxyCodeLine{00032\ \ \ \{}
-\DoxyCodeLine{00033\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\_yaml}}(node);}
-\DoxyCodeLine{00034\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}}\ =\ node[\textcolor{stringliteral}{"{}redefines"{}}].as<std::string>();}
-\DoxyCodeLine{00035\ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\_namespace}}\ =\ node[\textcolor{stringliteral}{"{}global\_namespace"{}}].as<std::string>();}
-\DoxyCodeLine{00036\ \ \ \ \ \textcolor{comment}{//\ if\ remappings\ exist}}
-\DoxyCodeLine{00037\ \ \ \ \ \textcolor{keywordflow}{if}\ (node[\textcolor{stringliteral}{"{}remappings"{}}])}
-\DoxyCodeLine{00038\ \ \ \ \ \{}
-\DoxyCodeLine{00039\ \ \ \ \ \ \ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}{from\_yaml}}(node[\textcolor{stringliteral}{"{}remappings"{}}]);}
-\DoxyCodeLine{00040\ \ \ \ \ \}}
-\DoxyCodeLine{00041\ \ \ \}}
-\DoxyCodeLine{00042\ }
-\DoxyCodeLine{00043\ \ \ YAML::Node\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a27bcd752bad7f0e68baaa7754a6221c5}{to\_yaml}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00044\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00045\ \ \ \ \ YAML::Node\ node\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}{to\_yaml}}();}
-\DoxyCodeLine{00046\ \ \ \ \ node[\textcolor{stringliteral}{"{}redefines"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}};}
-\DoxyCodeLine{00047\ \ \ \ \ node[\textcolor{stringliteral}{"{}global\_namespace"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\_namespace}};}
-\DoxyCodeLine{00048\ \ \ \ \ node[\textcolor{stringliteral}{"{}remappings"{}}]\ =\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}{to\_yaml}}();}
-\DoxyCodeLine{00049\ \ \ \ \ \textcolor{keywordflow}{return}\ node;}
-\DoxyCodeLine{00050\ \ \ \};}
-\DoxyCodeLine{00051\ }
-\DoxyCodeLine{00052\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd}{to\_sql\_table}}()}
-\DoxyCodeLine{00053\ \ \ \{}
-\DoxyCodeLine{00054\ \ \ \ \ \textcolor{comment}{//\ redefines\ is\ foreign\ key\ to\ interfaces}}
-\DoxyCodeLine{00055\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}{header\_model\_t::to\_sql\_table}}()\ +\ \textcolor{stringliteral}{"{},\ redefines\ TEXT\ NOT\ NULL,\ global\_namespace\ TEXT,\ remappings\ TEXT,\ "{}}}
-\DoxyCodeLine{00056\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{stringliteral}{"{}FOREIGN\ KEY(redefines)\ REFERENCES\ interfaces(name)"{}};}
-\DoxyCodeLine{00057\ \ \ \}}
-\DoxyCodeLine{00058\ }
-\DoxyCodeLine{00059\ \ \ std::string\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee}{to\_sql\_values}}()\textcolor{keyword}{\ const}}
-\DoxyCodeLine{00060\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00061\ \ \ \ \ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}{to\_sql\_values}}()\ +\ \textcolor{stringliteral}{"{},\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +\ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\_namespace}}\ +\ \textcolor{stringliteral}{"{}',\ '"{}}\ +}
-\DoxyCodeLine{00062\ \ \ \ \ \ \ \ \ \ \ \ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(YAML::Dump(\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}}.\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}{to\_yaml}}()))\ +\ \textcolor{stringliteral}{"{}'"{}};}
-\DoxyCodeLine{00063\ \ \ \}}
-\DoxyCodeLine{00064\ \};}
-\DoxyCodeLine{00065\ }
-\DoxyCodeLine{00066\ \}\ \ \textcolor{comment}{//\ namespace\ models}}
-\DoxyCodeLine{00067\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/semantic__interfaces_8md.tex b/docs/latex/semantic__interfaces_8md.tex
deleted file mode 100644
index 2ddb91a..0000000
--- a/docs/latex/semantic__interfaces_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs/semantic\+\_\+interfaces.md File Reference}
-\hypertarget{semantic__interfaces_8md}{}\label{semantic__interfaces_8md}\index{docs/semantic\_interfaces.md@{docs/semantic\_interfaces.md}}
diff --git a/docs/latex/service__runner_8hpp.tex b/docs/latex/service__runner_8hpp.tex
deleted file mode 100644
index 989bb1c..0000000
--- a/docs/latex/service__runner_8hpp.tex
+++ /dev/null
@@ -1,28 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/service\+\_\+runner.hpp File Reference}
-\hypertarget{service__runner_8hpp}{}\label{service__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/service\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/service\_runner.hpp}}
-{\ttfamily \#include $<$chrono$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/threadtrigger\+\_\+runner.\+hpp$>$}\newline
-Include dependency graph for service\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{service__runner_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=254pt]{service__runner_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{capabilities2\+\_\+runner\+::\+Service\+Runner$<$ Service\+T $>$}}
-\begin{DoxyCompactList}\small\item\em service runner base class \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/service__runner_8hpp__dep__incl.md5 b/docs/latex/service__runner_8hpp__dep__incl.md5
deleted file mode 100644
index 21ba7de..0000000
--- a/docs/latex/service__runner_8hpp__dep__incl.md5
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diff --git a/docs/latex/service__runner_8hpp_source.tex b/docs/latex/service__runner_8hpp_source.tex
deleted file mode 100644
index dc51821..0000000
--- a/docs/latex/service__runner_8hpp_source.tex
+++ /dev/null
@@ -1,119 +0,0 @@
-\doxysection{service\+\_\+runner.\+hpp}
-\hypertarget{service__runner_8hpp_source}{}\label{service__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/service\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/service\_runner.hpp}}
-\mbox{\hyperlink{service__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <chrono>}}
-\DoxyCodeLine{00004\ }
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{threadtrigger__runner_8hpp}{capabilities2\_runner/threadtrigger\_runner.hpp}}>}}
-\DoxyCodeLine{00006\ }
-\DoxyCodeLine{00007\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00008\ \{}
-\DoxyCodeLine{00009\ }
-\DoxyCodeLine{00015\ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ ServiceT>}
-\DoxyCodeLine{00016\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner}{ServiceRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}}
-\DoxyCodeLine{00017\ \{}
-\DoxyCodeLine{00018\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00022\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac32c7560e8ae8138cf88616644a65804}{ServiceRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}()}
-\DoxyCodeLine{00023\ \ \ \{}
-\DoxyCodeLine{00024\ \ \ \}}
-\DoxyCodeLine{00025\ }
-\DoxyCodeLine{00033\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ace6965aa2bfd8927f48977a0125f2e87}{init\_service}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,}
-\DoxyCodeLine{00034\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ service\_name)}
-\DoxyCodeLine{00035\ \ \ \{}
-\DoxyCodeLine{00036\ \ \ \ \ \textcolor{comment}{//\ initialize\ the\ runner\ base\ by\ storing\ node\ pointer\ and\ run\ config}}
-\DoxyCodeLine{00037\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
-\DoxyCodeLine{00038\ }
-\DoxyCodeLine{00039\ \ \ \ \ \textcolor{comment}{//\ create\ a\ service\ client}}
-\DoxyCodeLine{00040\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>create\_client<ServiceT>(service\_name);}
-\DoxyCodeLine{00041\ }
-\DoxyCodeLine{00042\ \ \ \ \ \textcolor{comment}{//\ wait\ for\ service\ server}}
-\DoxyCodeLine{00043\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}waiting\ for\ service:\ \%s"{}},\ service\_name.c\_str());}
-\DoxyCodeLine{00044\ }
-\DoxyCodeLine{00045\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}}-\/>wait\_for\_service(std::chrono::seconds(3)))}
-\DoxyCodeLine{00046\ \ \ \ \ \{}
-\DoxyCodeLine{00047\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}failed\ to\ connect\ to\ service:\ \%s"{}},\ service\_name.c\_str());}
-\DoxyCodeLine{00048\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}failed\ to\ connect\ to\ server"{}});}
-\DoxyCodeLine{00049\ \ \ \ \ \}}
-\DoxyCodeLine{00050\ }
-\DoxyCodeLine{00051\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}connected\ with\ service:\ \%s"{}},\ service\_name.c\_str());}
-\DoxyCodeLine{00052\ \ \ \}}
-\DoxyCodeLine{00053\ }
-\DoxyCodeLine{00058\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a32ecc311b5288486dc0c3625a8cb2633}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00059\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00060\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
-\DoxyCodeLine{00061\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
-\DoxyCodeLine{00062\ }
-\DoxyCodeLine{00063\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
-\DoxyCodeLine{00064\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
-\DoxyCodeLine{00065\ }
-\DoxyCodeLine{00066\ \ \ \ \ \textcolor{comment}{//\ throw\ an\ error\ if\ the\ service\ client\ is\ null}}
-\DoxyCodeLine{00067\ \ \ \ \ \textcolor{comment}{//\ this\ can\ happen\ if\ the\ runner\ is\ not\ able\ to\ find\ the\ action\ resource}}
-\DoxyCodeLine{00068\ }
-\DoxyCodeLine{00069\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}})}
-\DoxyCodeLine{00070\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ action\ that\ was\ not\ started"{}});}
-\DoxyCodeLine{00071\ }
-\DoxyCodeLine{00072\ \ \ \ \ \textcolor{comment}{//\ emit\ stopped\ event}}
-\DoxyCodeLine{00073\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
-\DoxyCodeLine{00074\ }
-\DoxyCodeLine{00075\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}runner\ cleaned.\ stopping.."{}});}
-\DoxyCodeLine{00076\ \ \ \}}
-\DoxyCodeLine{00077\ }
-\DoxyCodeLine{00078\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00087\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_aaeb5709d7016d6d71df4d1528b61ca41}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00088\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00089\ \ \ \ \ \textcolor{comment}{//\ split\ thread\_id\ to\ get\ bond\_id\ and\ instance\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
-\DoxyCodeLine{00090\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{ThreadTriggerRunner::bond\_from\_thread\_id}}(thread\_id);}
-\DoxyCodeLine{00091\ \ \ \ \ std::string\ instance\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{ThreadTriggerRunner::instance\_from\_thread\_id}}(thread\_id);}
-\DoxyCodeLine{00092\ }
-\DoxyCodeLine{00093\ \ \ \ \ \textcolor{comment}{//\ generate\ a\ goal\ from\ parameters\ if\ provided}}
-\DoxyCodeLine{00094\ \ \ \ \ \textcolor{keyword}{auto}\ request\_msg\ =\ std::make\_shared<typename\ ServiceT::Request>(\mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}{generate\_request}}(parameters));}
-\DoxyCodeLine{00095\ }
-\DoxyCodeLine{00096\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}request\ generated\ for\ event\ :\%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00097\ }
-\DoxyCodeLine{00098\ \ \ \ \ std::mutex\ block\_mutex;}
-\DoxyCodeLine{00099\ \ \ \ \ std::unique\_lock<std::mutex>\ lock(block\_mutex);}
-\DoxyCodeLine{00100\ \ \ \ \ std::condition\_variable\ cv;}
-\DoxyCodeLine{00101\ \ \ \ \ \textcolor{keywordtype}{bool}\ completed\ =\ \textcolor{keyword}{false};}
-\DoxyCodeLine{00102\ }
-\DoxyCodeLine{00103\ \ \ \ \ \textcolor{keyword}{auto}\ result\_future\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}}-\/>async\_send\_request(}
-\DoxyCodeLine{00104\ \ \ \ \ \ \ \ \ request\_msg,\ [\textcolor{keyword}{this},\ \ \&instance\_id,\ \&completed,\ \&bond\_id,\ \&cv](\textcolor{keyword}{typename}\ rclcpp::Client<ServiceT>::SharedFuture\ future)\ \{}
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-\DoxyCodeLine{00106\ \ \ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00107\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_ERROR(node\_-\/>get\_logger(),\ \textcolor{stringliteral}{"{}get\ result\ call\ failed"{}});}
-\DoxyCodeLine{00108\ }
-\DoxyCodeLine{00109\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ failed\ event}}
-\DoxyCodeLine{00110\ \ \ \ \ \ \ \ \ \ \ \ \ emit\_failed(bond\_id,\ instance\_id,\ param\_on\_failure());}
-\DoxyCodeLine{00111\ \ \ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00112\ \ \ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00113\ \ \ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00114\ \ \ \ \ \ \ \ \ \ \ \ \ RCLCPP\_INFO(node\_-\/>get\_logger(),\ \textcolor{stringliteral}{"{}get\ result\ call\ succeeded\ for\ event\ :\%s"{}},\ instance\_id.c\_str());}
-\DoxyCodeLine{00115\ }
-\DoxyCodeLine{00116\ \ \ \ \ \ \ \ \ \ \ \ \ response\_\ =\ future.get();}
-\DoxyCodeLine{00117\ \ \ \ \ \ \ \ \ \ \ \ \ process\_response(response\_);}
-\DoxyCodeLine{00118\ }
-\DoxyCodeLine{00119\ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ success\ event}}
-\DoxyCodeLine{00120\ \ \ \ \ \ \ \ \ \ \ \ \ emit\_succeeded(bond\_id,\ instance\_id,\ param\_on\_success());}
-\DoxyCodeLine{00121\ \ \ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00122\ }
-\DoxyCodeLine{00123\ \ \ \ \ \ \ \ \ \ \ completed\ =\ \textcolor{keyword}{true};}
-\DoxyCodeLine{00124\ \ \ \ \ \ \ \ \ \ \ cv.notify\_all();}
-\DoxyCodeLine{00125\ \ \ \ \ \ \ \ \ \});}
-\DoxyCodeLine{00126\ }
-\DoxyCodeLine{00127\ \ \ \ \ \textcolor{comment}{//\ Conditional\ wait}}
-\DoxyCodeLine{00128\ \ \ \ \ cv.wait(lock,\ [\&completed]\ \{\ \textcolor{keywordflow}{return}\ completed;\ \});}
-\DoxyCodeLine{00129\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Service\ request\ complete.\ Thread\ closing."{}});}
-\DoxyCodeLine{00130\ \ \ \}}
-\DoxyCodeLine{00131\ }
-\DoxyCodeLine{00132\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00144\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keyword}{typename}\ ServiceT::Request\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a922e5faa87fc64185221e220bb9450dc}{generate\_request}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters)\ =\ 0;}
-\DoxyCodeLine{00145\ }
-\DoxyCodeLine{00156\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_a20fd8d22e15f75d7acb79663fec67f6c}{process\_response}}(\textcolor{keyword}{typename}\ ServiceT::Response::SharedPtr\ \textcolor{comment}{/*response*/})\ \{\}}
-\DoxyCodeLine{00157\ }
-\DoxyCodeLine{00158\ \ \ \textcolor{keyword}{typename}\ rclcpp::Client<ServiceT>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_ac79326190434b37f66792de962c9a431}{service\_client\_}};}
-\DoxyCodeLine{00159\ \ \ \textcolor{keyword}{typename}\ ServiceT::Response::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1ServiceRunner_af9e954bc70da5f30aaf2906658805188}{response\_}};}
-\DoxyCodeLine{00160\ \};}
-\DoxyCodeLine{00161\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/setup_8md.tex b/docs/latex/setup_8md.tex
deleted file mode 100644
index 7663cdd..0000000
--- a/docs/latex/setup_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs/setup.md File Reference}
-\hypertarget{setup_8md}{}\label{setup_8md}\index{docs/setup.md@{docs/setup.md}}
diff --git a/docs/latex/setup__with__dev_8md.tex b/docs/latex/setup__with__dev_8md.tex
deleted file mode 100644
index c15673c..0000000
--- a/docs/latex/setup__with__dev_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{docs/setup\+\_\+with\+\_\+dev.md File Reference}
-\hypertarget{setup__with__dev_8md}{}\label{setup__with__dev_8md}\index{docs/setup\_with\_dev.md@{docs/setup\_with\_dev.md}}
diff --git a/docs/latex/sql__safe_8hpp.tex b/docs/latex/sql__safe_8hpp.tex
deleted file mode 100644
index 1d14a36..0000000
--- a/docs/latex/sql__safe_8hpp.tex
+++ /dev/null
@@ -1,30 +0,0 @@
-\doxysection{capabilities2\+\_\+server/include/capabilities2\+\_\+server/utils/sql\+\_\+safe.hpp File Reference}
-\hypertarget{sql__safe_8hpp}{}\label{sql__safe_8hpp}\index{capabilities2\_server/include/capabilities2\_server/utils/sql\_safe.hpp@{capabilities2\_server/include/capabilities2\_server/utils/sql\_safe.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-{\ttfamily \#include $<$regex$>$}\newline
-Include dependency graph for sql\+\_\+safe.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=221pt]{sql__safe_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{sql__safe_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\+\_\+server}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{capabilities2\+\_\+server\+::to\+\_\+sql\+\_\+safe}} (const std\+::string \&input)
-\begin{DoxyCompactList}\small\item\em convert a generic std\+::string to a sql safe std\+::string \end{DoxyCompactList}\item 
-std\+::string \mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{capabilities2\+\_\+server\+::from\+\_\+sql\+\_\+safe}} (const std\+::string \&input)
-\begin{DoxyCompactList}\small\item\em convert a sql safe std\+::string to a generic std\+::string \end{DoxyCompactList}\end{DoxyCompactItemize}
diff --git a/docs/latex/sql__safe_8hpp__dep__incl.md5 b/docs/latex/sql__safe_8hpp__dep__incl.md5
deleted file mode 100644
index a191976..0000000
--- a/docs/latex/sql__safe_8hpp__dep__incl.md5
+++ /dev/null
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-b05b172c92bdf60836ce4babe281d3e3
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diff --git a/docs/latex/sql__safe_8hpp__dep__incl.pdf b/docs/latex/sql__safe_8hpp__dep__incl.pdf
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diff --git a/docs/latex/sql__safe_8hpp_source.tex b/docs/latex/sql__safe_8hpp_source.tex
deleted file mode 100644
index 3849ea2..0000000
--- a/docs/latex/sql__safe_8hpp_source.tex
+++ /dev/null
@@ -1,39 +0,0 @@
-\doxysection{sql\+\_\+safe.\+hpp}
-\hypertarget{sql__safe_8hpp_source}{}\label{sql__safe_8hpp_source}\index{capabilities2\_server/include/capabilities2\_server/utils/sql\_safe.hpp@{capabilities2\_server/include/capabilities2\_server/utils/sql\_safe.hpp}}
-\mbox{\hyperlink{sql__safe_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <regex>}}
-\DoxyCodeLine{00004\ }
-\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__server}{capabilities2\_server}}}
-\DoxyCodeLine{00006\ \{}
-\DoxyCodeLine{00007\ }
-\DoxyCodeLine{00015\ std::string\ \mbox{\hyperlink{namespacecapabilities2__server_aee2e1db0d5ab5e2c6252db5378dc9d53}{to\_sql\_safe}}(\textcolor{keyword}{const}\ std::string\&\ input)}
-\DoxyCodeLine{00016\ \{}
-\DoxyCodeLine{00017\ \ \ std::string\ result\ =\ input;}
-\DoxyCodeLine{00018\ }
-\DoxyCodeLine{00019\ \ \ \textcolor{comment}{//\ Escape\ backslashes\ (if\ necessary\ for\ your\ SQL\ dialect)}}
-\DoxyCodeLine{00020\ \ \ result\ =\ std::regex\_replace(result,\ std::regex(R\textcolor{stringliteral}{"{}(\(\backslash\)\(\backslash\))"{}),\ R}\textcolor{stringliteral}{"{}(\(\backslash\)\(\backslash\)\(\backslash\)\(\backslash\))"{});}}
-\DoxyCodeLine{00021\ \textcolor{stringliteral}{}}
-\DoxyCodeLine{00022\ \textcolor{stringliteral}{\ \ }\textcolor{comment}{//\ Escape\ single\ quotes\ by\ replacing\ them\ with\ two\ single\ quotes}}
-\DoxyCodeLine{00023\ \ \ result\ =\ std::regex\_replace(result,\ std::regex(R\textcolor{stringliteral}{"{}(')"{}),\ R}\textcolor{stringliteral}{"{}('')"{});}}
-\DoxyCodeLine{00024\ \textcolor{stringliteral}{}}
-\DoxyCodeLine{00025\ \textcolor{stringliteral}{\ \ }\textcolor{keywordflow}{return}\ result;}
-\DoxyCodeLine{00026\ \}}
-\DoxyCodeLine{00027\ }
-\DoxyCodeLine{00035\ std::string\ \mbox{\hyperlink{namespacecapabilities2__server_a2fefe1de489dfc709310ae4fa1afaa13}{from\_sql\_safe}}(\textcolor{keyword}{const}\ std::string\&\ input)}
-\DoxyCodeLine{00036\ \{}
-\DoxyCodeLine{00037\ \ \ std::string\ result\ =\ input;}
-\DoxyCodeLine{00038\ }
-\DoxyCodeLine{00039\ \ \ \textcolor{comment}{//\ Escape\ backslashes\ (if\ necessary\ for\ your\ SQL\ dialect)}}
-\DoxyCodeLine{00040\ \ \ result\ =\ std::regex\_replace(result,\ std::regex(R\textcolor{stringliteral}{"{}(\(\backslash\)\(\backslash\)\(\backslash\)\(\backslash\))"{}),\ R}\textcolor{stringliteral}{"{}(\(\backslash\)\(\backslash\))"{});}}
-\DoxyCodeLine{00041\ \textcolor{stringliteral}{}}
-\DoxyCodeLine{00042\ \textcolor{stringliteral}{\ \ }\textcolor{comment}{//\ Escape\ single\ quotes\ by\ replacing\ them\ with\ two\ single\ quotes}}
-\DoxyCodeLine{00043\ \ \ result\ =\ std::regex\_replace(result,\ std::regex(R\textcolor{stringliteral}{"{}('')"{}),\ R}\textcolor{stringliteral}{"{}(')"{});}}
-\DoxyCodeLine{00044\ \textcolor{stringliteral}{}}
-\DoxyCodeLine{00045\ \textcolor{stringliteral}{\ \ }\textcolor{keywordflow}{return}\ result;}
-\DoxyCodeLine{00046\ \}}
-\DoxyCodeLine{00047\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_server}}
-
-\end{DoxyCode}
diff --git a/docs/latex/structcapabilities2__events_1_1EventNode_1_1EventPipe.tex b/docs/latex/structcapabilities2__events_1_1EventNode_1_1EventPipe.tex
deleted file mode 100644
index 682585d..0000000
--- a/docs/latex/structcapabilities2__events_1_1EventNode_1_1EventPipe.tex
+++ /dev/null
@@ -1,47 +0,0 @@
-\doxysection{capabilities2\+\_\+events\+::Event\+Node\+::Event\+Pipe Struct Reference}
-\hypertarget{structcapabilities2__events_1_1EventNode_1_1EventPipe}{}\label{structcapabilities2__events_1_1EventNode_1_1EventPipe}\index{capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}}
-
-
-event pipe structure  
-
-
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b}{type}}
-\item 
-capabilities2\+\_\+msgs\+::msg\+::\+Capability \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33}{target}}
-\item 
-\mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} \mbox{\hyperlink{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40}{callback}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-event pipe structure 
-
-represents a connection from this event node to a target capability contains the callback to be invoked when the event is emitted 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40}\label{structcapabilities2__events_1_1EventNode_1_1EventPipe_a16c36ae362fd1de3c6046acbe0307c40} 
-\index{capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}!callback@{callback}}
-\index{callback@{callback}!capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}}
-\doxysubsubsection{\texorpdfstring{callback}{callback}}
-{\footnotesize\ttfamily \mbox{\hyperlink{classcapabilities2__events_1_1EventBase_a01f110c6b7c9517f8f8ae134b8b22c8e}{Event\+Base\+::event\+\_\+callback\+\_\+t}} capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe\+::callback}
-
-\Hypertarget{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33}\label{structcapabilities2__events_1_1EventNode_1_1EventPipe_a94675fdb0b3dd0e0f490b2878da45b33} 
-\index{capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}!target@{target}}
-\index{target@{target}!capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}}
-\doxysubsubsection{\texorpdfstring{target}{target}}
-{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe\+::target}
-
-\Hypertarget{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b}\label{structcapabilities2__events_1_1EventNode_1_1EventPipe_a6ba64f70d3638982a9ed986a57b30e5b} 
-\index{capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}!type@{type}}
-\index{type@{type}!capabilities2\_events::EventNode::EventPipe@{capabilities2\_events::EventNode::EventPipe}}
-\doxysubsubsection{\texorpdfstring{type}{type}}
-{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Event\+Code capabilities2\+\_\+events\+::\+Event\+Node\+::\+Event\+Pipe\+::type}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__node_8hpp}{event\+\_\+node.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1EventParameters.tex b/docs/latex/structcapabilities2__events_1_1EventParameters.tex
deleted file mode 100644
index d184707..0000000
--- a/docs/latex/structcapabilities2__events_1_1EventParameters.tex
+++ /dev/null
@@ -1,156 +0,0 @@
-\doxysection{capabilities2\+\_\+events\+::Event\+Parameters Struct Reference}
-\hypertarget{structcapabilities2__events_1_1EventParameters}{}\label{structcapabilities2__events_1_1EventParameters}\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
-
-
-capability options for a capability runner given by interface and provider  
-
-
-
-
-{\ttfamily \#include "{}event\+\_\+parameters.\+hpp"{}}
-
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a57fdeb9d660eee744ef4bcd58e96339e}{Event\+Parameters}} ()=default
-\item 
-\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a124050d50c5d5870b1e85697c33ba759}{Event\+Parameters}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&msg)
-\item 
-bool \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ac26732100aab80ff256b54636c57b85c}{is\+\_\+empty}} () const
-\item 
-bool \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_af3f6a280eb464e33f4f4ba7092a70cac}{has\+\_\+value}} (const std\+::string \&key) const
-\begin{DoxyCompactList}\small\item\em Check if an option with the given key exists. \end{DoxyCompactList}\item 
-std\+::any \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_a06e1a6f60cb6c8830d6769532b1f3cdb}{get\+\_\+value}} (const std\+::string \&key, std\+::any default\+\_\+value)
-\begin{DoxyCompactList}\small\item\em Get the value of an option by key. \end{DoxyCompactList}\item 
-void \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_abc8bda9430434f26bb4db99e17455e5a}{set\+\_\+value}} (const std\+::string \&key, const std\+::any \&value, const \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} \&type)
-\begin{DoxyCompactList}\small\item\em Set the value of an option by key, if the option does not exist it will be created. \end{DoxyCompactList}\item 
-capabilities2\+\_\+msgs\+::msg\+::\+Capability \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_af4cb9521061d29b8e77d19cd7b13cfdd}{to\+Msg}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{Parameter}} $>$ \mbox{\hyperlink{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}{options}} = \{\}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-capability options for a capability runner given by interface and provider 
-
-
-\begin{DoxyParams}{Parameters}
-{\em interface} & the interface of the capability \\
-\hline
-{\em provider} & the provider of the capability \\
-\hline
-{\em options} & the options for the capability \\
-\hline
-\end{DoxyParams}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{structcapabilities2__events_1_1EventParameters_a57fdeb9d660eee744ef4bcd58e96339e}\label{structcapabilities2__events_1_1EventParameters_a57fdeb9d660eee744ef4bcd58e96339e} 
-\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!EventParameters@{EventParameters}}
-\index{EventParameters@{EventParameters}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
-\doxysubsubsection{\texorpdfstring{EventParameters()}{EventParameters()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Parameters\+::\+Event\+Parameters (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
-
-\Hypertarget{structcapabilities2__events_1_1EventParameters_a124050d50c5d5870b1e85697c33ba759}\label{structcapabilities2__events_1_1EventParameters_a124050d50c5d5870b1e85697c33ba759} 
-\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!EventParameters@{EventParameters}}
-\index{EventParameters@{EventParameters}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
-\doxysubsubsection{\texorpdfstring{EventParameters()}{EventParameters()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Event\+Parameters\+::\+Event\+Parameters (\begin{DoxyParamCaption}\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__events_1_1EventParameters_a06e1a6f60cb6c8830d6769532b1f3cdb}\label{structcapabilities2__events_1_1EventParameters_a06e1a6f60cb6c8830d6769532b1f3cdb} 
-\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!get\_value@{get\_value}}
-\index{get\_value@{get\_value}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
-\doxysubsubsection{\texorpdfstring{get\_value()}{get\_value()}}
-{\footnotesize\ttfamily std\+::any capabilities2\+\_\+events\+::\+Event\+Parameters\+::get\+\_\+value (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{key,  }\item[{std\+::any}]{default\+\_\+value }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Get the value of an option by key. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em key} & the key of the option to get the value of \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-std\+::any the value of the option, can be cast to the appropriate type based on the Option\+Type 
-\end{DoxyReturn}
-
-\begin{DoxyExceptions}{Exceptions}
-{\em \doxylink{structcapabilities2__events_1_1options__exception}{options\+\_\+exception}} & if the key is not found or if there is a type conversion error \\
-\hline
-\end{DoxyExceptions}
-\Hypertarget{structcapabilities2__events_1_1EventParameters_af3f6a280eb464e33f4f4ba7092a70cac}\label{structcapabilities2__events_1_1EventParameters_af3f6a280eb464e33f4f4ba7092a70cac} 
-\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!has\_value@{has\_value}}
-\index{has\_value@{has\_value}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
-\doxysubsubsection{\texorpdfstring{has\_value()}{has\_value()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+events\+::\+Event\+Parameters\+::has\+\_\+value (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{key }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Check if an option with the given key exists. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em key} & the key of the option to check \\
-\hline
-\end{DoxyParams}
-\begin{DoxyReturn}{Returns}
-true if the option exists, false otherwise 
-\end{DoxyReturn}
-\Hypertarget{structcapabilities2__events_1_1EventParameters_ac26732100aab80ff256b54636c57b85c}\label{structcapabilities2__events_1_1EventParameters_ac26732100aab80ff256b54636c57b85c} 
-\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!is\_empty@{is\_empty}}
-\index{is\_empty@{is\_empty}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
-\doxysubsubsection{\texorpdfstring{is\_empty()}{is\_empty()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+events\+::\+Event\+Parameters\+::is\+\_\+empty (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__events_1_1EventParameters_abc8bda9430434f26bb4db99e17455e5a}\label{structcapabilities2__events_1_1EventParameters_abc8bda9430434f26bb4db99e17455e5a} 
-\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!set\_value@{set\_value}}
-\index{set\_value@{set\_value}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
-\doxysubsubsection{\texorpdfstring{set\_value()}{set\_value()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Event\+Parameters\+::set\+\_\+value (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{key,  }\item[{const std\+::any \&}]{value,  }\item[{const \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} \&}]{type }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-Set the value of an option by key, if the option does not exist it will be created. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em key} & the key of the option to set the value of \\
-\hline
-{\em type} & the type of the option to set \\
-\hline
-{\em value} & the value to set, should be castable to the appropriate type based on the Option\+Type \\
-\hline
-\end{DoxyParams}
-
-\begin{DoxyExceptions}{Exceptions}
-{\em \doxylink{structcapabilities2__events_1_1options__exception}{options\+\_\+exception}} & if there is a type conversion error \\
-\hline
-\end{DoxyExceptions}
-\Hypertarget{structcapabilities2__events_1_1EventParameters_af4cb9521061d29b8e77d19cd7b13cfdd}\label{structcapabilities2__events_1_1EventParameters_af4cb9521061d29b8e77d19cd7b13cfdd} 
-\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!toMsg@{toMsg}}
-\index{toMsg@{toMsg}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
-\doxysubsubsection{\texorpdfstring{toMsg()}{toMsg()}}
-{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability capabilities2\+\_\+events\+::\+Event\+Parameters\+::to\+Msg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308}\label{structcapabilities2__events_1_1EventParameters_ae339697fb5abfa540e2e4338f9266308} 
-\index{capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}!options@{options}}
-\index{options@{options}!capabilities2\_events::EventParameters@{capabilities2\_events::EventParameters}}
-\doxysubsubsection{\texorpdfstring{options}{options}}
-{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__events_1_1Parameter}{Parameter}}$>$ capabilities2\+\_\+events\+::\+Event\+Parameters\+::options = \{\}}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1Parameter.tex b/docs/latex/structcapabilities2__events_1_1Parameter.tex
deleted file mode 100644
index e9fa9c4..0000000
--- a/docs/latex/structcapabilities2__events_1_1Parameter.tex
+++ /dev/null
@@ -1,107 +0,0 @@
-\doxysection{capabilities2\+\_\+events\+::Parameter Struct Reference}
-\hypertarget{structcapabilities2__events_1_1Parameter}{}\label{structcapabilities2__events_1_1Parameter}\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
-
-
-Key value pair for capability options.  
-
-
-
-
-{\ttfamily \#include "{}event\+\_\+parameters.\+hpp"{}}
-
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a3fd3f8d62c0e49aa657535e3df9c8430}{Parameter}} ()=default
-\item 
-\mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a097dc936b8692fa57498b7975a3fe8a9}{Parameter}} (const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Parameter \&msg)
-\item 
-std\+::any \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a3b30e4d048001e9cd6e25df5f8ebc392}{get\+\_\+value}} ()
-\item 
-void \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a7e297cd1d51c0c23a56146275f41c431}{set\+\_\+value}} (std\+::string new\+\_\+key, std\+::any new\+\_\+value, \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} new\+\_\+type)
-\item 
-capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Parameter \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a40731837f170a632f96e0187c8138e7a}{to\+Msg}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a57b71a8358c3a4af184b1713a772474a}{key}}
-\item 
-std\+::vector$<$ std\+::string $>$ \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a5cd5fb07b1a96468bdbed99bd904a234}{value}}
-\item 
-\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} \mbox{\hyperlink{structcapabilities2__events_1_1Parameter_a63eaf7bcb8ab3f2a3839c9963563b546}{type}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-Key value pair for capability options. 
-
-
-\begin{DoxyParams}{Parameters}
-{\em key} & the key of the option \\
-\hline
-{\em value} & the value of the option \\
-\hline
-\end{DoxyParams}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{structcapabilities2__events_1_1Parameter_a3fd3f8d62c0e49aa657535e3df9c8430}\label{structcapabilities2__events_1_1Parameter_a3fd3f8d62c0e49aa657535e3df9c8430} 
-\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!Parameter@{Parameter}}
-\index{Parameter@{Parameter}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
-\doxysubsubsection{\texorpdfstring{Parameter()}{Parameter()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Parameter\+::\+Parameter (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [default]}}
-
-\Hypertarget{structcapabilities2__events_1_1Parameter_a097dc936b8692fa57498b7975a3fe8a9}\label{structcapabilities2__events_1_1Parameter_a097dc936b8692fa57498b7975a3fe8a9} 
-\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!Parameter@{Parameter}}
-\index{Parameter@{Parameter}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
-\doxysubsubsection{\texorpdfstring{Parameter()}{Parameter()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::\+Parameter\+::\+Parameter (\begin{DoxyParamCaption}\item[{const capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Parameter \&}]{msg }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__events_1_1Parameter_a3b30e4d048001e9cd6e25df5f8ebc392}\label{structcapabilities2__events_1_1Parameter_a3b30e4d048001e9cd6e25df5f8ebc392} 
-\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!get\_value@{get\_value}}
-\index{get\_value@{get\_value}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
-\doxysubsubsection{\texorpdfstring{get\_value()}{get\_value()}}
-{\footnotesize\ttfamily std\+::any capabilities2\+\_\+events\+::\+Parameter\+::get\+\_\+value (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__events_1_1Parameter_a7e297cd1d51c0c23a56146275f41c431}\label{structcapabilities2__events_1_1Parameter_a7e297cd1d51c0c23a56146275f41c431} 
-\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!set\_value@{set\_value}}
-\index{set\_value@{set\_value}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
-\doxysubsubsection{\texorpdfstring{set\_value()}{set\_value()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+events\+::\+Parameter\+::set\+\_\+value (\begin{DoxyParamCaption}\item[{std\+::string}]{new\+\_\+key,  }\item[{std\+::any}]{new\+\_\+value,  }\item[{\mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}}}]{new\+\_\+type }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__events_1_1Parameter_a40731837f170a632f96e0187c8138e7a}\label{structcapabilities2__events_1_1Parameter_a40731837f170a632f96e0187c8138e7a} 
-\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!toMsg@{toMsg}}
-\index{toMsg@{toMsg}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
-\doxysubsubsection{\texorpdfstring{toMsg()}{toMsg()}}
-{\footnotesize\ttfamily capabilities2\+\_\+msgs\+::msg\+::\+Capability\+Parameter capabilities2\+\_\+events\+::\+Parameter\+::to\+Msg (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__events_1_1Parameter_a57b71a8358c3a4af184b1713a772474a}\label{structcapabilities2__events_1_1Parameter_a57b71a8358c3a4af184b1713a772474a} 
-\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!key@{key}}
-\index{key@{key}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
-\doxysubsubsection{\texorpdfstring{key}{key}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+events\+::\+Parameter\+::key}
-
-\Hypertarget{structcapabilities2__events_1_1Parameter_a63eaf7bcb8ab3f2a3839c9963563b546}\label{structcapabilities2__events_1_1Parameter_a63eaf7bcb8ab3f2a3839c9963563b546} 
-\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!type@{type}}
-\index{type@{type}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
-\doxysubsubsection{\texorpdfstring{type}{type}}
-{\footnotesize\ttfamily \mbox{\hyperlink{namespacecapabilities2__events_a3106fe3e6bc3d9a5744cae761879b5af}{Option\+Type}} capabilities2\+\_\+events\+::\+Parameter\+::type}
-
-\Hypertarget{structcapabilities2__events_1_1Parameter_a5cd5fb07b1a96468bdbed99bd904a234}\label{structcapabilities2__events_1_1Parameter_a5cd5fb07b1a96468bdbed99bd904a234} 
-\index{capabilities2\_events::Parameter@{capabilities2\_events::Parameter}!value@{value}}
-\index{value@{value}!capabilities2\_events::Parameter@{capabilities2\_events::Parameter}}
-\doxysubsubsection{\texorpdfstring{value}{value}}
-{\footnotesize\ttfamily std\+::vector$<$std\+::string$>$ capabilities2\+\_\+events\+::\+Parameter\+::value}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1event__exception.tex b/docs/latex/structcapabilities2__events_1_1event__exception.tex
deleted file mode 100644
index a7b30eb..0000000
--- a/docs/latex/structcapabilities2__events_1_1event__exception.tex
+++ /dev/null
@@ -1,64 +0,0 @@
-\doxysection{capabilities2\+\_\+events\+::event\+\_\+exception Struct Reference}
-\hypertarget{structcapabilities2__events_1_1event__exception}{}\label{structcapabilities2__events_1_1event__exception}\index{capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}}
-
-
-event exception  
-
-
-
-
-{\ttfamily \#include "{}event\+\_\+base.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+events\+::event\+\_\+exception\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{structcapabilities2__events_1_1event__exception__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+events\+::event\+\_\+exception\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{structcapabilities2__events_1_1event__exception__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__events_1_1event__exception_ad7d805afcac28ab78f9323bd6a740962}{event\+\_\+exception}} (const std\+::string \&\mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}})
-\item 
-virtual const char \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}{what}} () const noexcept override
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-event exception 
-
-Base class for event exceptions 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{structcapabilities2__events_1_1event__exception_ad7d805afcac28ab78f9323bd6a740962}\label{structcapabilities2__events_1_1event__exception_ad7d805afcac28ab78f9323bd6a740962} 
-\index{capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}!event\_exception@{event\_exception}}
-\index{event\_exception@{event\_exception}!capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}}
-\doxysubsubsection{\texorpdfstring{event\_exception()}{event\_exception()}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::event\+\_\+exception\+::event\+\_\+exception (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{what }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3}\label{structcapabilities2__events_1_1event__exception_a44b87bc6a5964f8f3eeadf062df8fbe3} 
-\index{capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}!what@{what}}
-\index{what@{what}!capabilities2\_events::event\_exception@{capabilities2\_events::event\_exception}}
-\doxysubsubsection{\texorpdfstring{what()}{what()}}
-{\footnotesize\ttfamily virtual const char \texorpdfstring{$\ast$}{*} capabilities2\+\_\+events\+::event\+\_\+exception\+::what (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}, {\ttfamily [noexcept]}}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__base_8hpp}{event\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.md5 b/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.md5
deleted file mode 100644
index c5a8bf9..0000000
--- a/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-fc245f8b7160ea179ff1ee08def4148c
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.pdf b/docs/latex/structcapabilities2__events_1_1event__exception__coll__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/structcapabilities2__events_1_1options__exception.tex b/docs/latex/structcapabilities2__events_1_1options__exception.tex
deleted file mode 100644
index 8691fc6..0000000
--- a/docs/latex/structcapabilities2__events_1_1options__exception.tex
+++ /dev/null
@@ -1,54 +0,0 @@
-\doxysection{capabilities2\+\_\+events\+::options\+\_\+exception Struct Reference}
-\hypertarget{structcapabilities2__events_1_1options__exception}{}\label{structcapabilities2__events_1_1options__exception}\index{capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}}
-
-
-{\ttfamily \#include "{}event\+\_\+parameters.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+events\+::options\+\_\+exception\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{structcapabilities2__events_1_1options__exception__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+events\+::options\+\_\+exception\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=197pt]{structcapabilities2__events_1_1options__exception__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__events_1_1options__exception_af6cd097f7264ece12deaa7ae6cc9f0dc}{options\+\_\+exception}} (const std\+::string \&\mbox{\hyperlink{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532}{what}})
-\item 
-virtual const char \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532}{what}} () const noexcept override
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{structcapabilities2__events_1_1options__exception_af6cd097f7264ece12deaa7ae6cc9f0dc}\label{structcapabilities2__events_1_1options__exception_af6cd097f7264ece12deaa7ae6cc9f0dc} 
-\index{capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}!options\_exception@{options\_exception}}
-\index{options\_exception@{options\_exception}!capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}}
-\doxysubsubsection{\texorpdfstring{options\_exception()}{options\_exception()}}
-{\footnotesize\ttfamily capabilities2\+\_\+events\+::options\+\_\+exception\+::options\+\_\+exception (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{what }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532}\label{structcapabilities2__events_1_1options__exception_ac09b30e0d9fa0933bd3ba0cee8d53532} 
-\index{capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}!what@{what}}
-\index{what@{what}!capabilities2\_events::options\_exception@{capabilities2\_events::options\_exception}}
-\doxysubsubsection{\texorpdfstring{what()}{what()}}
-{\footnotesize\ttfamily virtual const char \texorpdfstring{$\ast$}{*} capabilities2\+\_\+events\+::options\+\_\+exception\+::what (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}, {\ttfamily [noexcept]}}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+events/include/capabilities2\+\_\+events/\mbox{\hyperlink{event__parameters_8hpp}{event\+\_\+parameters.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.md5 b/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.md5
deleted file mode 100644
index a203ac9..0000000
--- a/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.pdf b/docs/latex/structcapabilities2__events_1_1options__exception__coll__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/structcapabilities2__runner_1_1resource.tex b/docs/latex/structcapabilities2__runner_1_1resource.tex
deleted file mode 100644
index f263c10..0000000
--- a/docs/latex/structcapabilities2__runner_1_1resource.tex
+++ /dev/null
@@ -1,49 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::resource Struct Reference}
-\hypertarget{structcapabilities2__runner_1_1resource}{}\label{structcapabilities2__runner_1_1resource}\index{capabilities2\_runner::resource@{capabilities2\_runner::resource}}
-
-
-resource definition  
-
-
-
-
-{\ttfamily \#include "{}runner\+\_\+base.\+hpp"{}}
-
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a31be624a9bd871d94918db90d774ae46}{name}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a94b6972f420c15250a370d44bd08ccc2}{resource\+\_\+type}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1resource_a1bebf375d0bb9439251e8ef393e837a5}{msg\+\_\+type}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-resource definition 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__runner_1_1resource_a1bebf375d0bb9439251e8ef393e837a5}\label{structcapabilities2__runner_1_1resource_a1bebf375d0bb9439251e8ef393e837a5} 
-\index{capabilities2\_runner::resource@{capabilities2\_runner::resource}!msg\_type@{msg\_type}}
-\index{msg\_type@{msg\_type}!capabilities2\_runner::resource@{capabilities2\_runner::resource}}
-\doxysubsubsection{\texorpdfstring{msg\_type}{msg\_type}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::resource\+::msg\+\_\+type}
-
-\Hypertarget{structcapabilities2__runner_1_1resource_a31be624a9bd871d94918db90d774ae46}\label{structcapabilities2__runner_1_1resource_a31be624a9bd871d94918db90d774ae46} 
-\index{capabilities2\_runner::resource@{capabilities2\_runner::resource}!name@{name}}
-\index{name@{name}!capabilities2\_runner::resource@{capabilities2\_runner::resource}}
-\doxysubsubsection{\texorpdfstring{name}{name}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::resource\+::name}
-
-\Hypertarget{structcapabilities2__runner_1_1resource_a94b6972f420c15250a370d44bd08ccc2}\label{structcapabilities2__runner_1_1resource_a94b6972f420c15250a370d44bd08ccc2} 
-\index{capabilities2\_runner::resource@{capabilities2\_runner::resource}!resource\_type@{resource\_type}}
-\index{resource\_type@{resource\_type}!capabilities2\_runner::resource@{capabilities2\_runner::resource}}
-\doxysubsubsection{\texorpdfstring{resource\_type}{resource\_type}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::resource\+::resource\+\_\+type}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__runner_1_1runner__exception.tex b/docs/latex/structcapabilities2__runner_1_1runner__exception.tex
deleted file mode 100644
index 3c192e6..0000000
--- a/docs/latex/structcapabilities2__runner_1_1runner__exception.tex
+++ /dev/null
@@ -1,64 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::runner\+\_\+exception Struct Reference}
-\hypertarget{structcapabilities2__runner_1_1runner__exception}{}\label{structcapabilities2__runner_1_1runner__exception}\index{capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}}
-
-
-runner exception  
-
-
-
-
-{\ttfamily \#include "{}runner\+\_\+base.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+runner\+::runner\+\_\+exception\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=196pt]{structcapabilities2__runner_1_1runner__exception__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+runner\+::runner\+\_\+exception\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=196pt]{structcapabilities2__runner_1_1runner__exception__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_aa6373ae91bb89b6306491195465b2b07}{runner\+\_\+exception}} (const std\+::string \&\mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}})
-\item 
-virtual const char \texorpdfstring{$\ast$}{*} \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}{what}} () const noexcept override
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-runner exception 
-
-Base class for runner exceptions 
-
-\doxysubsection{Constructor \& Destructor Documentation}
-\Hypertarget{structcapabilities2__runner_1_1runner__exception_aa6373ae91bb89b6306491195465b2b07}\label{structcapabilities2__runner_1_1runner__exception_aa6373ae91bb89b6306491195465b2b07} 
-\index{capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}!runner\_exception@{runner\_exception}}
-\index{runner\_exception@{runner\_exception}!capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}}
-\doxysubsubsection{\texorpdfstring{runner\_exception()}{runner\_exception()}}
-{\footnotesize\ttfamily capabilities2\+\_\+runner\+::runner\+\_\+exception\+::runner\+\_\+exception (\begin{DoxyParamCaption}\item[{const std\+::string \&}]{what }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473}\label{structcapabilities2__runner_1_1runner__exception_a5d58c674021b3d7bd0599b73c5617473} 
-\index{capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}!what@{what}}
-\index{what@{what}!capabilities2\_runner::runner\_exception@{capabilities2\_runner::runner\_exception}}
-\doxysubsubsection{\texorpdfstring{what()}{what()}}
-{\footnotesize\ttfamily virtual const char \texorpdfstring{$\ast$}{*} capabilities2\+\_\+runner\+::runner\+\_\+exception\+::what (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [override]}, {\ttfamily [virtual]}, {\ttfamily [noexcept]}}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.md5 b/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.md5
deleted file mode 100644
index 357b137..0000000
--- a/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-4c91277e37601a9cbaac0792c308a534
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.pdf b/docs/latex/structcapabilities2__runner_1_1runner__exception__coll__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/structcapabilities2__runner_1_1runner__opts.tex b/docs/latex/structcapabilities2__runner_1_1runner__opts.tex
deleted file mode 100644
index d5f6ee9..0000000
--- a/docs/latex/structcapabilities2__runner_1_1runner__opts.tex
+++ /dev/null
@@ -1,91 +0,0 @@
-\doxysection{capabilities2\+\_\+runner\+::runner\+\_\+opts Struct Reference}
-\hypertarget{structcapabilities2__runner_1_1runner__opts}{}\label{structcapabilities2__runner_1_1runner__opts}\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
-
-
-runner options  
-
-
-
-
-{\ttfamily \#include "{}runner\+\_\+base.\+hpp"{}}
-
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}{interface}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369}{provider}}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}} $>$ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}{resources}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac09a8a96d66f433fdcd43aeae8217cef}{global\+\_\+namespace}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}{runner}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a574ca498d3677393093c36193cf108db}{started\+\_\+by}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb}{pid}}
-\item 
-int \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts_a42f3c1ecdad43cea48e2ae4df1bfcdbd}{input\+\_\+count}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-runner options 
-
-Contains the options required to start and maintain a consistent runner. normally loaded from the yaml file 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__runner_1_1runner__opts_ac09a8a96d66f433fdcd43aeae8217cef}\label{structcapabilities2__runner_1_1runner__opts_ac09a8a96d66f433fdcd43aeae8217cef} 
-\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!global\_namespace@{global\_namespace}}
-\index{global\_namespace@{global\_namespace}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
-\doxysubsubsection{\texorpdfstring{global\_namespace}{global\_namespace}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::global\+\_\+namespace}
-
-\Hypertarget{structcapabilities2__runner_1_1runner__opts_a42f3c1ecdad43cea48e2ae4df1bfcdbd}\label{structcapabilities2__runner_1_1runner__opts_a42f3c1ecdad43cea48e2ae4df1bfcdbd} 
-\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!input\_count@{input\_count}}
-\index{input\_count@{input\_count}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
-\doxysubsubsection{\texorpdfstring{input\_count}{input\_count}}
-{\footnotesize\ttfamily int capabilities2\+\_\+runner\+::runner\+\_\+opts\+::input\+\_\+count}
-
-\Hypertarget{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc}\label{structcapabilities2__runner_1_1runner__opts_a72794f94e6e05ab6de8f5ff0200658cc} 
-\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!interface@{interface}}
-\index{interface@{interface}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
-\doxysubsubsection{\texorpdfstring{interface}{interface}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::interface}
-
-\Hypertarget{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb}\label{structcapabilities2__runner_1_1runner__opts_a2af9b9108b7a7a08c35f674b6c684dbb} 
-\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!pid@{pid}}
-\index{pid@{pid}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
-\doxysubsubsection{\texorpdfstring{pid}{pid}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::pid}
-
-\Hypertarget{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369}\label{structcapabilities2__runner_1_1runner__opts_ae271547e3464d837ba35365591393369} 
-\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!provider@{provider}}
-\index{provider@{provider}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
-\doxysubsubsection{\texorpdfstring{provider}{provider}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::provider}
-
-\Hypertarget{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948}\label{structcapabilities2__runner_1_1runner__opts_af54ee8576a824bb7b5a09879a2f33948} 
-\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!resources@{resources}}
-\index{resources@{resources}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
-\doxysubsubsection{\texorpdfstring{resources}{resources}}
-{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__runner_1_1resource}{resource}}$>$ capabilities2\+\_\+runner\+::runner\+\_\+opts\+::resources}
-
-\Hypertarget{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e}\label{structcapabilities2__runner_1_1runner__opts_ac592b9b0cde8eef4f39dfa9ed619252e} 
-\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!runner@{runner}}
-\index{runner@{runner}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
-\doxysubsubsection{\texorpdfstring{runner}{runner}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::runner}
-
-\Hypertarget{structcapabilities2__runner_1_1runner__opts_a574ca498d3677393093c36193cf108db}\label{structcapabilities2__runner_1_1runner__opts_a574ca498d3677393093c36193cf108db} 
-\index{capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}!started\_by@{started\_by}}
-\index{started\_by@{started\_by}!capabilities2\_runner::runner\_opts@{capabilities2\_runner::runner\_opts}}
-\doxysubsubsection{\texorpdfstring{started\_by}{started\_by}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+runner\+::runner\+\_\+opts\+::started\+\_\+by}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/\mbox{\hyperlink{runner__base_8hpp}{runner\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t.tex
deleted file mode 100644
index f0dc183..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t.tex
+++ /dev/null
@@ -1,42 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1capability__model__t}{}\label{structcapabilities2__server_1_1models_1_1capability__model__t}\index{capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}}
-
-
-{\ttfamily \#include "{}running.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=226pt]{structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}\label{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918} 
-\index{capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}!interface@{interface}}
-\index{interface@{interface}!capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}}
-\doxysubsubsection{\texorpdfstring{interface}{interface}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t\+::interface}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}\label{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb} 
-\index{capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}!provider@{provider}}
-\index{provider@{provider}!capabilities2\_server::models::capability\_model\_t@{capabilities2\_server::models::capability\_model\_t}}
-\doxysubsubsection{\texorpdfstring{provider}{provider}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t\+::provider}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{running_8hpp}{running.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.md5
deleted file mode 100644
index 8d00ec2..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-7d6748c151a0c4e1b09337d53ca2a93a
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1capability__model__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t.tex
deleted file mode 100644
index 2427a5c..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t.tex
+++ /dev/null
@@ -1,82 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t}{}\label{structcapabilities2__server_1_1models_1_1defineable__base__t}\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
-
-
-defineable base  
-
-
-
-
-{\ttfamily \#include "{}defineable\+\_\+base.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1}{to\+\_\+yaml}} () const
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}{defined}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\+\_\+str}} = "{}"{}
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}{valid}} = false
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-defineable base 
-
-store the definition of an implementation of a capability the definition is stored in a character format but may contain a specific behaviour language to define a provider specialise the definition later when the capability is run 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96} 
-\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!defined@{defined}}
-\index{defined@{defined}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{defined()}{defined()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::defined (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63} 
-\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!from\_yaml@{from\_yaml}}
-\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1} 
-\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a} 
-\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!definition\_str@{definition\_str}}
-\index{definition\_str@{definition\_str}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{definition\_str}{definition\_str}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::definition\+\_\+str = "{}"{}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}\label{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0} 
-\index{capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}!valid@{valid}}
-\index{valid@{valid}!capabilities2\_server::models::defineable\_base\_t@{capabilities2\_server::models::defineable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{valid}{valid}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t\+::valid = false}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{defineable__base_8hpp}{defineable\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.md5
deleted file mode 100644
index 1521b63..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1defineable__base__t__inherit__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t.tex
deleted file mode 100644
index 02e47e1..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t.tex
+++ /dev/null
@@ -1,133 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1header__model__t}{}\label{structcapabilities2__server_1_1models_1_1header__model__t}\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
-
-
-the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability  
-
-
-
-
-{\ttfamily \#include "{}header.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1header__model__t__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1header__model__t__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}{to\+\_\+yaml}} () const
-\item 
-const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}{to\+\_\+sql\+\_\+values}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Static Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}{to\+\_\+sql\+\_\+table}} ()
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}{name}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}{version}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}{type}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}{description}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t}{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-int \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba}{id}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5}{is\+\_\+deleted}} = false
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t}{capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2}{date\+\_\+created}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e}{date\+\_\+modified}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-the header model is a simple model for the header of a capability type it includes the name, version, type, and description of the capability 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576}\label{structcapabilities2__server_1_1models_1_1header__model__t_a184f5969009afde38cf0933b73f58576} 
-\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!from\_yaml@{from\_yaml}}
-\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608}\label{structcapabilities2__server_1_1models_1_1header__model__t_aaf1c85918945d7e2468748b32c840608} 
-\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!to\_sql\_table@{to\_sql\_table}}
-\index{to\_sql\_table@{to\_sql\_table}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_sql\_table()}{to\_sql\_table()}}
-{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+table (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1}\label{structcapabilities2__server_1_1models_1_1header__model__t_a5df92e5526b56a061f1b87057926f8f1} 
-\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!to\_sql\_values@{to\_sql\_values}}
-\index{to\_sql\_values@{to\_sql\_values}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_sql\_values()}{to\_sql\_values()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+values (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378}\label{structcapabilities2__server_1_1models_1_1header__model__t_abb29092ded958613d7bd3e0a6b947378} 
-\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a}\label{structcapabilities2__server_1_1models_1_1header__model__t_a4dc71e2c184d9c1c87de51f21983df4a} 
-\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!description@{description}}
-\index{description@{description}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
-\doxysubsubsection{\texorpdfstring{description}{description}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::description}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f}\label{structcapabilities2__server_1_1models_1_1header__model__t_a3a9a79ce313a985930e2cd97d27ebd5f} 
-\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!name@{name}}
-\index{name@{name}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
-\doxysubsubsection{\texorpdfstring{name}{name}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::name}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284}\label{structcapabilities2__server_1_1models_1_1header__model__t_ac0e94588685ed968c2466ad9860c1284} 
-\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!type@{type}}
-\index{type@{type}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
-\doxysubsubsection{\texorpdfstring{type}{type}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::type}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf}\label{structcapabilities2__server_1_1models_1_1header__model__t_ac6bf4416ee1f6a0e1781c366eab26acf} 
-\index{capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}!version@{version}}
-\index{version@{version}!capabilities2\_server::models::header\_model\_t@{capabilities2\_server::models::header\_model\_t}}
-\doxysubsubsection{\texorpdfstring{version}{version}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::header\+\_\+model\+\_\+t\+::version}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.md5
deleted file mode 100644
index ad972f8..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1header__model__t__coll__graph.pdf
deleted file mode 100644
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t.tex
deleted file mode 100644
index 29df970..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t.tex
+++ /dev/null
@@ -1,42 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1identifiable__base__t}{}\label{structcapabilities2__server_1_1models_1_1identifiable__base__t}\index{capabilities2\_server::models::identifiable\_base\_t@{capabilities2\_server::models::identifiable\_base\_t}}
-
-
-unique key for a row  
-
-
-
-
-{\ttfamily \#include "{}header.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=223pt]{structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-int \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba}{id}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-unique key for a row 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba}\label{structcapabilities2__server_1_1models_1_1identifiable__base__t_a9926e5d160570e2c46e1dfc56da5b5ba} 
-\index{capabilities2\_server::models::identifiable\_base\_t@{capabilities2\_server::models::identifiable\_base\_t}!id@{id}}
-\index{id@{id}!capabilities2\_server::models::identifiable\_base\_t@{capabilities2\_server::models::identifiable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{id}{id}}
-{\footnotesize\ttfamily int capabilities2\+\_\+server\+::models\+::identifiable\+\_\+base\+\_\+t\+::id}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.md5
deleted file mode 100644
index 9d9f904..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1identifiable__base__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t.tex
deleted file mode 100644
index 80c1db7..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t.tex
+++ /dev/null
@@ -1,107 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t}{}\label{structcapabilities2__server_1_1models_1_1interface__model__t}\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
-
-
-interface model  
-
-
-
-
-{\ttfamily \#include "{}interface.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=233pt]{structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a379d6d70a00d7ed95c279bd2d38cd286}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ab4974dddde348826f754eeba41fab1d0}{to\+\_\+yaml}} () const
-\item 
-const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5}{to\+\_\+sql\+\_\+values}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Static Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a3e1b6a0fbb148703a6a2bfab6a4f2003}{to\+\_\+sql\+\_\+table}} ()
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}{header}}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{specification\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}{interface}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-interface model 
-
-the main representation of a capability mapping skill-\/like concepts to ROS-\/resources that usually make up a logical robot subsystem 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_a379d6d70a00d7ed95c279bd2d38cd286}\label{structcapabilities2__server_1_1models_1_1interface__model__t_a379d6d70a00d7ed95c279bd2d38cd286} 
-\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!from\_yaml@{from\_yaml}}
-\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_a3e1b6a0fbb148703a6a2bfab6a4f2003}\label{structcapabilities2__server_1_1models_1_1interface__model__t_a3e1b6a0fbb148703a6a2bfab6a4f2003} 
-\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!to\_sql\_table@{to\_sql\_table}}
-\index{to\_sql\_table@{to\_sql\_table}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_sql\_table()}{to\_sql\_table()}}
-{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+table (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5}\label{structcapabilities2__server_1_1models_1_1interface__model__t_a7909ec1d2a43ec77d95e22465ae586e5} 
-\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!to\_sql\_values@{to\_sql\_values}}
-\index{to\_sql\_values@{to\_sql\_values}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_sql\_values()}{to\_sql\_values()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+values (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_ab4974dddde348826f754eeba41fab1d0}\label{structcapabilities2__server_1_1models_1_1interface__model__t_ab4974dddde348826f754eeba41fab1d0} 
-\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64}\label{structcapabilities2__server_1_1models_1_1interface__model__t_ad4dfd8817581f04f0def9017ca898c64} 
-\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!header@{header}}
-\index{header@{header}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{header}{header}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::header}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07}\label{structcapabilities2__server_1_1models_1_1interface__model__t_a9e396d80ed9427c8020057757a605c07} 
-\index{capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}!interface@{interface}}
-\index{interface@{interface}!capabilities2\_server::models::interface\_model\_t@{capabilities2\_server::models::interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{interface}{interface}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t}{specification\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::interface\+\_\+model\+\_\+t\+::interface}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{interface_8hpp}{interface.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.md5
deleted file mode 100644
index c1a4c05..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.md5
+++ /dev/null
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1interface__model__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t.tex
deleted file mode 100644
index 3713860..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t.tex
+++ /dev/null
@@ -1,50 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1modifiable__base__t}{}\label{structcapabilities2__server_1_1models_1_1modifiable__base__t}\index{capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}}
-
-
-base model for all models that can be modified  
-
-
-
-
-{\ttfamily \#include "{}header.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=223pt]{structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2}{date\+\_\+created}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e}{date\+\_\+modified}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-base model for all models that can be modified 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2}\label{structcapabilities2__server_1_1models_1_1modifiable__base__t_aebfa99a284e69c5e560962f61fe283e2} 
-\index{capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}!date\_created@{date\_created}}
-\index{date\_created@{date\_created}!capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{date\_created}{date\_created}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t\+::date\+\_\+created}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e}\label{structcapabilities2__server_1_1models_1_1modifiable__base__t_a176b552939443a9c0d329b12ad604b0e} 
-\index{capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}!date\_modified@{date\_modified}}
-\index{date\_modified@{date\_modified}!capabilities2\_server::models::modifiable\_base\_t@{capabilities2\_server::models::modifiable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{date\_modified}{date\_modified}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::modifiable\+\_\+base\+\_\+t\+::date\+\_\+modified}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.md5
deleted file mode 100644
index 91f1be4..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1modifiable__base__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1predicate__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1predicate__model__t.tex
deleted file mode 100644
index 18fb916..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1predicate__model__t.tex
+++ /dev/null
@@ -1,73 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t}{}\label{structcapabilities2__server_1_1models_1_1predicate__model__t}\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
-
-
-predicate model type  
-
-
-
-
-{\ttfamily \#include "{}predicate.\+hpp"{}}
-
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a913e6b62b99887f12ba12debea26d5ac}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_aac7a5018cdb4ffac44a5031358c7b392}{to\+\_\+yaml}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}{subject}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}{predicate}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828}{object}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-predicate model type 
-
-the predicate model is used to specify a relation between two capability resources subject -\/\texorpdfstring{$>$}{>} predicate -\/\texorpdfstring{$>$}{>} object 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_a913e6b62b99887f12ba12debea26d5ac}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_a913e6b62b99887f12ba12debea26d5ac} 
-\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!from\_yaml@{from\_yaml}}
-\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_aac7a5018cdb4ffac44a5031358c7b392}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_aac7a5018cdb4ffac44a5031358c7b392} 
-\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_a170de1f39f437dfad9254bc117431828} 
-\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!object@{object}}
-\index{object@{object}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
-\doxysubsubsection{\texorpdfstring{object}{object}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::object}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_a0ccafaa770f2722fa3c32e9e4924eef9} 
-\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!predicate@{predicate}}
-\index{predicate@{predicate}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
-\doxysubsubsection{\texorpdfstring{predicate}{predicate}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::predicate}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0}\label{structcapabilities2__server_1_1models_1_1predicate__model__t_a0e770a26565f064e86ff4251cde950b0} 
-\index{capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}!subject@{subject}}
-\index{subject@{subject}!capabilities2\_server::models::predicate\_model\_t@{capabilities2\_server::models::predicate\_model\_t}}
-\doxysubsubsection{\texorpdfstring{subject}{subject}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::predicate\+\_\+model\+\_\+t\+::subject}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{predicate_8hpp}{predicate.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t.tex
deleted file mode 100644
index f43e9b6..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t.tex
+++ /dev/null
@@ -1,44 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1predicateable__base__t}{}\label{structcapabilities2__server_1_1models_1_1predicateable__base__t}\index{capabilities2\_server::models::predicateable\_base\_t@{capabilities2\_server::models::predicateable\_base\_t}}
-
-
-predicateable model base type  
-
-
-
-
-{\ttfamily \#include "{}predicateable\+\_\+base.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-predicateable model base type 
-
-base class for all models with relations contains a vector of relations (see \doxylink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}) 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}\label{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7} 
-\index{capabilities2\_server::models::predicateable\_base\_t@{capabilities2\_server::models::predicateable\_base\_t}!relations@{relations}}
-\index{relations@{relations}!capabilities2\_server::models::predicateable\_base\_t@{capabilities2\_server::models::predicateable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{relations}{relations}}
-{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t\+::relations}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{predicateable__base_8hpp}{predicateable\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.md5
deleted file mode 100644
index c99aeb5..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1predicateable__base__t__inherit__graph.pdf
deleted file mode 100644
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GIT binary patch
literal 0
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t.tex
deleted file mode 100644
index 1b6bb8c..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t.tex
+++ /dev/null
@@ -1,152 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t}{}\label{structcapabilities2__server_1_1models_1_1provider__model__t}\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-
-
-provider model  
-
-
-
-
-{\ttfamily \#include "{}provider.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1provider__model__t__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_aeaffd1a45ccb1f72dcbca71425ac57c3}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1a91763b3ebf0fe9fc9d38a0b9315fb9}{to\+\_\+yaml}} () const
-\item 
-const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f}{to\+\_\+sql\+\_\+values}} () const
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1}{to\+\_\+yaml}} () const
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}{defined}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Static Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a1c7dc74c7eaa402394f4d9e8e917d337}{to\+\_\+sql\+\_\+table}} ()
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}{header}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}{implements}}
-\item 
-std\+::map$<$ std\+::string, std\+::string $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}{depends\+\_\+on}}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}{remappings}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}{runner}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\+\_\+str}} = "{}"{}
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}{valid}} = false
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-provider model 
-
-a provider model defines the implementation of a capability the provider can be specific to a robot implementation of a general capability 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_aeaffd1a45ccb1f72dcbca71425ac57c3}\label{structcapabilities2__server_1_1models_1_1provider__model__t_aeaffd1a45ccb1f72dcbca71425ac57c3} 
-\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!from\_yaml@{from\_yaml}}
-\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a1c7dc74c7eaa402394f4d9e8e917d337}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a1c7dc74c7eaa402394f4d9e8e917d337} 
-\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!to\_sql\_table@{to\_sql\_table}}
-\index{to\_sql\_table@{to\_sql\_table}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_sql\_table()}{to\_sql\_table()}}
-{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+table (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a04a6e71a9466c7db0c908b1279e7ef0f} 
-\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!to\_sql\_values@{to\_sql\_values}}
-\index{to\_sql\_values@{to\_sql\_values}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_sql\_values()}{to\_sql\_values()}}
-{\footnotesize\ttfamily const std\+::string capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+values (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a1a91763b3ebf0fe9fc9d38a0b9315fb9}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a1a91763b3ebf0fe9fc9d38a0b9315fb9} 
-\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001}\label{structcapabilities2__server_1_1models_1_1provider__model__t_ab621238ee4492bc03265cdf0bfb84001} 
-\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!depends\_on@{depends\_on}}
-\index{depends\_on@{depends\_on}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-\doxysubsubsection{\texorpdfstring{depends\_on}{depends\_on}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, std\+::string$>$ capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::depends\+\_\+on}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a0ad3fa187ea591bbcf1f4ab6d312dac0} 
-\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!header@{header}}
-\index{header@{header}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-\doxysubsubsection{\texorpdfstring{header}{header}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::header}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a635ca15a93793a2dfb210d8392a07e0d} 
-\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!implements@{implements}}
-\index{implements@{implements}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-\doxysubsubsection{\texorpdfstring{implements}{implements}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::implements}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a73b1ea916d98d18ee300968381d6824b} 
-\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!remappings@{remappings}}
-\index{remappings@{remappings}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-\doxysubsubsection{\texorpdfstring{remappings}{remappings}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::remappings}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26}\label{structcapabilities2__server_1_1models_1_1provider__model__t_a257a04fc106cbb8b5175768d4e68ce26} 
-\index{capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}!runner@{runner}}
-\index{runner@{runner}!capabilities2\_server::models::provider\_model\_t@{capabilities2\_server::models::provider\_model\_t}}
-\doxysubsubsection{\texorpdfstring{runner}{runner}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::provider\+\_\+model\+\_\+t\+::runner}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{provider_8hpp}{provider.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.md5
deleted file mode 100644
index ca6406e..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1provider__model__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t.tex
deleted file mode 100644
index 212a100..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t.tex
+++ /dev/null
@@ -1,53 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1remappable__base__t}{}\label{structcapabilities2__server_1_1models_1_1remappable__base__t}\index{capabilities2\_server::models::remappable\_base\_t@{capabilities2\_server::models::remappable\_base\_t}}
-
-
-remappable base model definition  
-
-
-
-
-{\ttfamily \#include "{}remappable\+\_\+base.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=203pt]{structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-remappable base model definition 
-
-base class for remappable models to inherit from 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}\label{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd} 
-\index{capabilities2\_server::models::remappable\_base\_t@{capabilities2\_server::models::remappable\_base\_t}!remappings@{remappings}}
-\index{remappings@{remappings}!capabilities2\_server::models::remappable\_base\_t@{capabilities2\_server::models::remappable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{remappings}{remappings}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t\+::remappings}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remappable__base_8hpp}{remappable\+\_\+base.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.md5
deleted file mode 100644
index 40ce940..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-5ca15235373610092ba83cbbd763400b
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.md5
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1remappable__base__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remapping__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1remapping__model__t.tex
deleted file mode 100644
index 4921a48..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1remapping__model__t.tex
+++ /dev/null
@@ -1,71 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t}{}\label{structcapabilities2__server_1_1models_1_1remapping__model__t}\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
-
-
-{\ttfamily \#include "{}remapping.\+hpp"{}}
-
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a169c348158aeb78da894c0c5dea81332}{from\+\_\+yaml\+\_\+detail\+\_\+iterator\+\_\+value}} (const YAML\+::detail\+::iterator\+\_\+value \&iter)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a399e580fe9ca87f3f79413693545452e}{to\+\_\+yaml}} () const
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a07a6910b05af84b8601fe8fd984b8932}{operator==}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} \&other) const
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a50910626d9a86e867108f51640c8d3b9}{operator!=}} (const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} \&other) const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_ad797637f1fb60e5cceb5c614695353a3}{from}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t_a121b210905dbc80d5ed8904e0009579c}{to}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a169c348158aeb78da894c0c5dea81332}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a169c348158aeb78da894c0c5dea81332} 
-\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!from\_yaml\_detail\_iterator\_value@{from\_yaml\_detail\_iterator\_value}}
-\index{from\_yaml\_detail\_iterator\_value@{from\_yaml\_detail\_iterator\_value}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml\_detail\_iterator\_value()}{from\_yaml\_detail\_iterator\_value()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::from\+\_\+yaml\+\_\+detail\+\_\+iterator\+\_\+value (\begin{DoxyParamCaption}\item[{const YAML\+::detail\+::iterator\+\_\+value \&}]{iter }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a50910626d9a86e867108f51640c8d3b9}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a50910626d9a86e867108f51640c8d3b9} 
-\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!operator"!=@{operator"!=}}
-\index{operator"!=@{operator"!=}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
-\doxysubsubsection{\texorpdfstring{operator"!=()}{operator!=()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::operator!= (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} \&}]{other }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a07a6910b05af84b8601fe8fd984b8932}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a07a6910b05af84b8601fe8fd984b8932} 
-\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!operator==@{operator==}}
-\index{operator==@{operator==}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
-\doxysubsubsection{\texorpdfstring{operator==()}{operator==()}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::operator== (\begin{DoxyParamCaption}\item[{const \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} \&}]{other }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a399e580fe9ca87f3f79413693545452e}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a399e580fe9ca87f3f79413693545452e} 
-\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_ad797637f1fb60e5cceb5c614695353a3}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_ad797637f1fb60e5cceb5c614695353a3} 
-\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!from@{from}}
-\index{from@{from}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from}{from}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::from}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1remapping__model__t_a121b210905dbc80d5ed8904e0009579c}\label{structcapabilities2__server_1_1models_1_1remapping__model__t_a121b210905dbc80d5ed8904e0009579c} 
-\index{capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}!to@{to}}
-\index{to@{to}!capabilities2\_server::models::remapping\_model\_t@{capabilities2\_server::models::remapping\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to}{to}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::remapping\+\_\+model\+\_\+t\+::to}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remapping_8hpp}{remapping.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1remappings__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1remappings__model__t.tex
deleted file mode 100644
index 4144c3a..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1remappings__model__t.tex
+++ /dev/null
@@ -1,71 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t}{}\label{structcapabilities2__server_1_1models_1_1remappings__model__t}\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
-
-
-{\ttfamily \#include "{}remapping.\+hpp"{}}
-
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}{to\+\_\+yaml}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a1570369d1b89a3ba0a9cbff9419422cc}{parameters}}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a9b83cf9b0b6306e5580f9babb42b8a11}{topics}}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_aba5002e746519b1ca48238e6d26c2054}{services}}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t_a62e2be32cc2b051f7bdfba15ab17a95d}{actions}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_afc4a97cb962d255f268dbe6970ac59a8} 
-\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!from\_yaml@{from\_yaml}}
-\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_a528143f92b13f7633859774443ee7adc} 
-\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_a62e2be32cc2b051f7bdfba15ab17a95d}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_a62e2be32cc2b051f7bdfba15ab17a95d} 
-\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!actions@{actions}}
-\index{actions@{actions}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
-\doxysubsubsection{\texorpdfstring{actions}{actions}}
-{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::actions}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_a1570369d1b89a3ba0a9cbff9419422cc}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_a1570369d1b89a3ba0a9cbff9419422cc} 
-\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!parameters@{parameters}}
-\index{parameters@{parameters}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
-\doxysubsubsection{\texorpdfstring{parameters}{parameters}}
-{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::parameters}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_aba5002e746519b1ca48238e6d26c2054}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_aba5002e746519b1ca48238e6d26c2054} 
-\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!services@{services}}
-\index{services@{services}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
-\doxysubsubsection{\texorpdfstring{services}{services}}
-{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::services}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1remappings__model__t_a9b83cf9b0b6306e5580f9babb42b8a11}\label{structcapabilities2__server_1_1models_1_1remappings__model__t_a9b83cf9b0b6306e5580f9babb42b8a11} 
-\index{capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}!topics@{topics}}
-\index{topics@{topics}!capabilities2\_server::models::remappings\_model\_t@{capabilities2\_server::models::remappings\_model\_t}}
-\doxysubsubsection{\texorpdfstring{topics}{topics}}
-{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remapping__model__t}{remapping\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::remappings\+\_\+model\+\_\+t\+::topics}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{remapping_8hpp}{remapping.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1resource__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1resource__model__t.tex
deleted file mode 100644
index 8bff162..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1resource__model__t.tex
+++ /dev/null
@@ -1,71 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t}{}\label{structcapabilities2__server_1_1models_1_1resource__model__t}\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
-
-
-computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph  
-
-
-
-
-{\ttfamily \#include "{}resource.\+hpp"{}}
-
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a46df60e201ca7d0bc6ff3938811a87d7}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_afe7ee416240acbd2582ebc50f31359ef}{to\+\_\+yaml}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}{name}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}{type}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}{description}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-computation graph resource type definition this could be a parameter, topic, service, action, or node the name is the unique identifier for the resource within the graph for example /foo/bar the type is the data type for the resource for example std\+\_\+msgs/\+String the description is a human readable description of the resource which can be used to generate documentation or understand the resource in the context of the graph 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_a46df60e201ca7d0bc6ff3938811a87d7}\label{structcapabilities2__server_1_1models_1_1resource__model__t_a46df60e201ca7d0bc6ff3938811a87d7} 
-\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!from\_yaml@{from\_yaml}}
-\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_afe7ee416240acbd2582ebc50f31359ef}\label{structcapabilities2__server_1_1models_1_1resource__model__t_afe7ee416240acbd2582ebc50f31359ef} 
-\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f}\label{structcapabilities2__server_1_1models_1_1resource__model__t_a9baef31aac5d2ebfa99cf4af10e3421f} 
-\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!description@{description}}
-\index{description@{description}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
-\doxysubsubsection{\texorpdfstring{description}{description}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::description}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674}\label{structcapabilities2__server_1_1models_1_1resource__model__t_a9bbd5d0805bca1df20010321ac578674} 
-\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!name@{name}}
-\index{name@{name}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
-\doxysubsubsection{\texorpdfstring{name}{name}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::name}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208}\label{structcapabilities2__server_1_1models_1_1resource__model__t_a610bb2907636c8ed8c841b76e3778208} 
-\index{capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}!type@{type}}
-\index{type@{type}!capabilities2\_server::models::resource\_model\_t@{capabilities2\_server::models::resource\_model\_t}}
-\doxysubsubsection{\texorpdfstring{type}{type}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::resource\+\_\+model\+\_\+t\+::type}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{resource_8hpp}{resource.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t.tex
deleted file mode 100644
index 39686d3..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t.tex
+++ /dev/null
@@ -1,139 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t}{}\label{structcapabilities2__server_1_1models_1_1run__config__model__t}\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-
-
-run configuration type  
-
-
-
-
-{\ttfamily \#include "{}run\+\_\+config.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=196pt]{structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\+\_\+runner\+::runner\+\_\+opts}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923}{to\+\_\+runner\+\_\+opts}} () const
-\item 
-const bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475}{is\+\_\+valid}} () const
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_ab602bc027d2c75ddc51fdf190cd42442}{to\+\_\+yaml}} () const
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Member Functions inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_ae1bfa5befe1ab21658aeb3e733471f63}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a1cdd384efe4e025a1e5d85438ab2bae1}{to\+\_\+yaml}} () const
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a85af59696809d15f7c890864a80bee96}{defined}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}{provider}}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{interface\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}{interface}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b}{global\+\_\+namespace}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}{runner}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}{started\+\_\+by}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}{pid}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t}{capabilities2\+\_\+server\+::models\+::defineable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a42cc3313c4a42b7024a455a6b1a4af8a}{definition\+\_\+str}} = "{}"{}
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1defineable__base__t_a5d607a31ac2fa6e91c3503795336b8f0}{valid}} = false
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-run configuration type 
-
-This type represents the configuration required to actually run a capability this includes the name of the capability, the provider, and fully qualified resource names 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a7ce34838226d280eba1e9498acf20475} 
-\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!is\_valid@{is\_valid}}
-\index{is\_valid@{is\_valid}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-\doxysubsubsection{\texorpdfstring{is\_valid()}{is\_valid()}}
-{\footnotesize\ttfamily const bool capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::is\+\_\+valid (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_ad04c7331d5e39eecfff7cd104c0ad923} 
-\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!to\_runner\_opts@{to\_runner\_opts}}
-\index{to\_runner\_opts@{to\_runner\_opts}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_runner\_opts()}{to\_runner\_opts()}}
-{\footnotesize\ttfamily const \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{capabilities2\+\_\+runner\+::runner\+\_\+opts}} capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::to\+\_\+runner\+\_\+opts (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_ab602bc027d2c75ddc51fdf190cd42442}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_ab602bc027d2c75ddc51fdf190cd42442} 
-\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_af71c28c7a74a86e2f667fedaade4cf0b} 
-\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!global\_namespace@{global\_namespace}}
-\index{global\_namespace@{global\_namespace}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-\doxysubsubsection{\texorpdfstring{global\_namespace}{global\_namespace}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::global\+\_\+namespace}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_affb0c8921530314028f04b4d1fa19306} 
-\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!interface@{interface}}
-\index{interface@{interface}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-\doxysubsubsection{\texorpdfstring{interface}{interface}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1interface__model__t}{interface\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::interface}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a9b14481ebe1d875a691437a77a1ce992} 
-\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!pid@{pid}}
-\index{pid@{pid}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-\doxysubsubsection{\texorpdfstring{pid}{pid}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::pid}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a8edab59f62bc89e5a7dc4a7c1508f79c} 
-\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!provider@{provider}}
-\index{provider@{provider}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-\doxysubsubsection{\texorpdfstring{provider}{provider}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::provider}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a49ff00fef777b60efedd894d773d9153} 
-\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!runner@{runner}}
-\index{runner@{runner}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-\doxysubsubsection{\texorpdfstring{runner}{runner}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::runner}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3}\label{structcapabilities2__server_1_1models_1_1run__config__model__t_a2b11f1cbc79ce42856b706df73bb87e3} 
-\index{capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}!started\_by@{started\_by}}
-\index{started\_by@{started\_by}!capabilities2\_server::models::run\_config\_model\_t@{capabilities2\_server::models::run\_config\_model\_t}}
-\doxysubsubsection{\texorpdfstring{started\_by}{started\_by}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::run\+\_\+config\+\_\+model\+\_\+t\+::started\+\_\+by}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{run__config_8hpp}{run\+\_\+config.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.md5
deleted file mode 100644
index 18410ab..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-d090cb3dfb4b624b55fbd29134857375
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__coll__graph.pdf
deleted file mode 100644
index abb76f0c39c7ef3cb961f2b048aba93265a5238c..0000000000000000000000000000000000000000
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1run__config__model__t__inherit__graph.md5
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t.tex
deleted file mode 100644
index 4356485..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t.tex
+++ /dev/null
@@ -1,76 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1running__model__t}{}\label{structcapabilities2__server_1_1models_1_1running__model__t}\index{capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}}
-
-
-running capability model  
-
-
-
-
-{\ttfamily \#include "{}running.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=226pt]{structcapabilities2__server_1_1models_1_1running__model__t__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=226pt]{structcapabilities2__server_1_1models_1_1running__model__t__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}{dependencies}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a0037a0006d89c68a56be1ed1337f7c37}{started\+\_\+by}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1running__model__t_a1c0cff01cc7973eb2f1ffa49ae2ad5b9}{pid}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capabilities2\+\_\+server\+::models\+::capability\+\_\+model\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a73be59339462fe3f6699bd127e99a918}{interface}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t_a23939963edc32d7a2da5f1552973fecb}{provider}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-running capability model 
-
-the running model describes the run-\/time requirements of a capability. this is a recursive model that can have dependencies on other run specs. it is derived from interfaces, semantic interfaces, and providers. 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029}\label{structcapabilities2__server_1_1models_1_1running__model__t_af93e104248e91870612dcf3a82e29029} 
-\index{capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}!dependencies@{dependencies}}
-\index{dependencies@{dependencies}!capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}}
-\doxysubsubsection{\texorpdfstring{dependencies}{dependencies}}
-{\footnotesize\ttfamily std\+::vector$<$\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1capability__model__t}{capability\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+::dependencies}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1running__model__t_a1c0cff01cc7973eb2f1ffa49ae2ad5b9}\label{structcapabilities2__server_1_1models_1_1running__model__t_a1c0cff01cc7973eb2f1ffa49ae2ad5b9} 
-\index{capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}!pid@{pid}}
-\index{pid@{pid}!capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}}
-\doxysubsubsection{\texorpdfstring{pid}{pid}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+::pid}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1running__model__t_a0037a0006d89c68a56be1ed1337f7c37}\label{structcapabilities2__server_1_1models_1_1running__model__t_a0037a0006d89c68a56be1ed1337f7c37} 
-\index{capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}!started\_by@{started\_by}}
-\index{started\_by@{started\_by}!capabilities2\_server::models::running\_model\_t@{capabilities2\_server::models::running\_model\_t}}
-\doxysubsubsection{\texorpdfstring{started\_by}{started\_by}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::running\+\_\+model\+\_\+t\+::started\+\_\+by}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{running_8hpp}{running.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.md5
deleted file mode 100644
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1running__model__t__coll__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t.tex
deleted file mode 100644
index f1fcfb5..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t.tex
+++ /dev/null
@@ -1,128 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}{}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t}\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
-
-
-semantic interface model  
-
-
-
-
-{\ttfamily \#include "{}semantic\+\_\+interface.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1semantic__interface__model__t__inherit__graph}
-\end{center}
-\end{figure}
-
-
-Collaboration diagram for capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a1c82841795835d4359d6bc1fd40b9f26}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a27bcd752bad7f0e68baaa7754a6221c5}{to\+\_\+yaml}} () const
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee}{to\+\_\+sql\+\_\+values}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Static Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-static const std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd}{to\+\_\+sql\+\_\+table}} ()
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}{header}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}{redefines}}
-\item 
-std\+::string \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}{global\+\_\+namespace}}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}{remappings}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t}{capabilities2\+\_\+server\+::models\+::remappable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappable__base__t_a4a19d77530cc86fc3cd798eaaea9a8dd}{remappings}}
-\end{DoxyCompactItemize}
-\doxysubsection*{Public Attributes inherited from \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t}{capabilities2\+\_\+server\+::models\+::predicateable\+\_\+base\+\_\+t}}}
-\begin{DoxyCompactItemize}
-\item 
-std\+::vector$<$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicate__model__t}{predicate\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1predicateable__base__t_a997eab789e250da877a23377975dafe7}{relations}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-semantic interface model 
-
-a semantic interface redefines an interface in a semantic way this helps avoid resource collisions in the computation graph when using abstract capabilities such as when capabilities are shared between different robot implementations 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a1c82841795835d4359d6bc1fd40b9f26}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a1c82841795835d4359d6bc1fd40b9f26} 
-\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!from\_yaml@{from\_yaml}}
-\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a189e051f8785603c611c13a71f202fdd} 
-\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!to\_sql\_table@{to\_sql\_table}}
-\index{to\_sql\_table@{to\_sql\_table}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_sql\_table()}{to\_sql\_table()}}
-{\footnotesize\ttfamily static const std\+::string capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+table (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_ac26f0357597dbe2946d9278e5433c8ee} 
-\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!to\_sql\_values@{to\_sql\_values}}
-\index{to\_sql\_values@{to\_sql\_values}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_sql\_values()}{to\_sql\_values()}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::to\+\_\+sql\+\_\+values (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a27bcd752bad7f0e68baaa7754a6221c5}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a27bcd752bad7f0e68baaa7754a6221c5} 
-\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a9a47cbad7f378a30f467cb0520213e3b} 
-\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!global\_namespace@{global\_namespace}}
-\index{global\_namespace@{global\_namespace}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{global\_namespace}{global\_namespace}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::global\+\_\+namespace}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8650d24298ea55e6f6f810e507618fec} 
-\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!header@{header}}
-\index{header@{header}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{header}{header}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1header__model__t}{header\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::header}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a8af68a40a89859515ca22b006099a8c7} 
-\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!redefines@{redefines}}
-\index{redefines@{redefines}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{redefines}{redefines}}
-{\footnotesize\ttfamily std\+::string capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::redefines}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366}\label{structcapabilities2__server_1_1models_1_1semantic__interface__model__t_a78bbcbe2e8e34c29600a02d20a064366} 
-\index{capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}!remappings@{remappings}}
-\index{remappings@{remappings}!capabilities2\_server::models::semantic\_interface\_model\_t@{capabilities2\_server::models::semantic\_interface\_model\_t}}
-\doxysubsubsection{\texorpdfstring{remappings}{remappings}}
-{\footnotesize\ttfamily \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1remappings__model__t}{remappings\+\_\+model\+\_\+t}} capabilities2\+\_\+server\+::models\+::semantic\+\_\+interface\+\_\+model\+\_\+t\+::remappings}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{semantic__interface_8hpp}{semantic\+\_\+interface.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.md5
deleted file mode 100644
index 3600b30..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1semantic__interface__model__t__coll__graph.md5
+++ /dev/null
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.tex
deleted file mode 100644
index 3015b55..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t.tex
+++ /dev/null
@@ -1,42 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}{}\label{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t}\index{capabilities2\_server::models::soft\_deleteable\_base\_t@{capabilities2\_server::models::soft\_deleteable\_base\_t}}
-
-
-base model for all models that can be soft deleted  
-
-
-
-
-{\ttfamily \#include "{}header.\+hpp"{}}
-
-
-
-Inheritance diagram for capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=223pt]{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-bool \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5}{is\+\_\+deleted}} = false
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-base model for all models that can be soft deleted 
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5}\label{structcapabilities2__server_1_1models_1_1soft__deleteable__base__t_a1480da544e2fcd0a4bda449621f472a5} 
-\index{capabilities2\_server::models::soft\_deleteable\_base\_t@{capabilities2\_server::models::soft\_deleteable\_base\_t}!is\_deleted@{is\_deleted}}
-\index{is\_deleted@{is\_deleted}!capabilities2\_server::models::soft\_deleteable\_base\_t@{capabilities2\_server::models::soft\_deleteable\_base\_t}}
-\doxysubsubsection{\texorpdfstring{is\_deleted}{is\_deleted}}
-{\footnotesize\ttfamily bool capabilities2\+\_\+server\+::models\+::soft\+\_\+deleteable\+\_\+base\+\_\+t\+::is\+\_\+deleted = false}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{header_8hpp}{header.\+hpp}}\end{DoxyCompactItemize}
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.md5 b/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.md5
deleted file mode 100644
index 6b8a177..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.md5
+++ /dev/null
@@ -1 +0,0 @@
-7fe96a3f9e7e651deda6f9d07a546c26
\ No newline at end of file
diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.pdf b/docs/latex/structcapabilities2__server_1_1models_1_1soft__deleteable__base__t__inherit__graph.pdf
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diff --git a/docs/latex/structcapabilities2__server_1_1models_1_1specification__model__t.tex b/docs/latex/structcapabilities2__server_1_1models_1_1specification__model__t.tex
deleted file mode 100644
index 0bf54d1..0000000
--- a/docs/latex/structcapabilities2__server_1_1models_1_1specification__model__t.tex
+++ /dev/null
@@ -1,79 +0,0 @@
-\doxysection{capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t Struct Reference}
-\hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t}{}\label{structcapabilities2__server_1_1models_1_1specification__model__t}\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
-
-
-interface specification type the specification model is the computation graph blueprint of a capability  
-
-
-
-
-{\ttfamily \#include "{}interface.\+hpp"{}}
-
-\doxysubsubsection*{Public Member Functions}
-\begin{DoxyCompactItemize}
-\item 
-void \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a62197b4cea21b4597d900f8a13f5f908}{from\+\_\+yaml}} (const YAML\+::\+Node \&node)
-\item 
-YAML\+::\+Node \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_ad892ff5233a2990c8de643a8a18d4211}{to\+\_\+yaml}} () const
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Public Attributes}
-\begin{DoxyCompactItemize}
-\item 
-std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a7fbc888249194c37bbbcd6145cdcc272}{parameters}}
-\item 
-std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a77bb428b9a7290aae1c9d1180c3c93ac}{topics}}
-\item 
-std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a4902547120299a085eacca24a896c11f}{services}}
-\item 
-std\+::map$<$ std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}} $>$ \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1specification__model__t_a4a842359980def295d1e9995e808d2ed}{actions}}
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Detailed Description}
-interface specification type the specification model is the computation graph blueprint of a capability 
-
-\doxysubsection{Member Function Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a62197b4cea21b4597d900f8a13f5f908}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a62197b4cea21b4597d900f8a13f5f908} 
-\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!from\_yaml@{from\_yaml}}
-\index{from\_yaml@{from\_yaml}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
-\doxysubsubsection{\texorpdfstring{from\_yaml()}{from\_yaml()}}
-{\footnotesize\ttfamily void capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::from\+\_\+yaml (\begin{DoxyParamCaption}\item[{const YAML\+::\+Node \&}]{node }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_ad892ff5233a2990c8de643a8a18d4211}\label{structcapabilities2__server_1_1models_1_1specification__model__t_ad892ff5233a2990c8de643a8a18d4211} 
-\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!to\_yaml@{to\_yaml}}
-\index{to\_yaml@{to\_yaml}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
-\doxysubsubsection{\texorpdfstring{to\_yaml()}{to\_yaml()}}
-{\footnotesize\ttfamily YAML\+::\+Node capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::to\+\_\+yaml (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption}) const\hspace{0.3cm}{\ttfamily [inline]}}
-
-
-
-\doxysubsection{Member Data Documentation}
-\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a4a842359980def295d1e9995e808d2ed}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a4a842359980def295d1e9995e808d2ed} 
-\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!actions@{actions}}
-\index{actions@{actions}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
-\doxysubsubsection{\texorpdfstring{actions}{actions}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::actions}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a7fbc888249194c37bbbcd6145cdcc272}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a7fbc888249194c37bbbcd6145cdcc272} 
-\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!parameters@{parameters}}
-\index{parameters@{parameters}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
-\doxysubsubsection{\texorpdfstring{parameters}{parameters}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::parameters}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a4902547120299a085eacca24a896c11f}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a4902547120299a085eacca24a896c11f} 
-\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!services@{services}}
-\index{services@{services}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
-\doxysubsubsection{\texorpdfstring{services}{services}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::services}
-
-\Hypertarget{structcapabilities2__server_1_1models_1_1specification__model__t_a77bb428b9a7290aae1c9d1180c3c93ac}\label{structcapabilities2__server_1_1models_1_1specification__model__t_a77bb428b9a7290aae1c9d1180c3c93ac} 
-\index{capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}!topics@{topics}}
-\index{topics@{topics}!capabilities2\_server::models::specification\_model\_t@{capabilities2\_server::models::specification\_model\_t}}
-\doxysubsubsection{\texorpdfstring{topics}{topics}}
-{\footnotesize\ttfamily std\+::map$<$std\+::string, \mbox{\hyperlink{structcapabilities2__server_1_1models_1_1resource__model__t}{resource\+\_\+model\+\_\+t}}$>$ capabilities2\+\_\+server\+::models\+::specification\+\_\+model\+\_\+t\+::topics}
-
-
-
-The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize}
-\item 
-capabilities2\+\_\+server/include/capabilities2\+\_\+server/models/\mbox{\hyperlink{interface_8hpp}{interface.\+hpp}}\end{DoxyCompactItemize}
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diff --git a/docs/latex/system__runners_8cpp.tex b/docs/latex/system__runners_8cpp.tex
deleted file mode 100644
index eaf2f2a..0000000
--- a/docs/latex/system__runners_8cpp.tex
+++ /dev/null
@@ -1,35 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/src/system/system\+\_\+runners.cpp File Reference}
-\hypertarget{system__runners_8cpp}{}\label{system__runners_8cpp}\index{capabilities2\_runner/src/system/system\_runners.cpp@{capabilities2\_runner/src/system/system\_runners.cpp}}
-{\ttfamily \#include $<$pluginlib/class\+\_\+list\+\_\+macros.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/system/get\+\_\+capability\+\_\+specs\+\_\+runner.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/system/input\+\_\+multiplex\+\_\+runner.\+hpp$>$}\newline
-Include dependency graph for system\+\_\+runners.\+cpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{system__runners_8cpp__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-\mbox{\hyperlink{system__runners_8cpp_a17206555b3cc77986a56c860d68f7dd0}{PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS}} (\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}})
-\item 
-\mbox{\hyperlink{system__runners_8cpp_aaeef62a016f244f5c2d306cd6c880bbe}{PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS}} (\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}, \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}})
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Function Documentation}
-\Hypertarget{system__runners_8cpp_a17206555b3cc77986a56c860d68f7dd0}\label{system__runners_8cpp_a17206555b3cc77986a56c860d68f7dd0} 
-\index{system\_runners.cpp@{system\_runners.cpp}!PLUGINLIB\_EXPORT\_CLASS@{PLUGINLIB\_EXPORT\_CLASS}}
-\index{PLUGINLIB\_EXPORT\_CLASS@{PLUGINLIB\_EXPORT\_CLASS}!system\_runners.cpp@{system\_runners.cpp}}
-\doxysubsubsection{\texorpdfstring{PLUGINLIB\_EXPORT\_CLASS()}{PLUGINLIB\_EXPORT\_CLASS()}\hspace{0.1cm}{\footnotesize\ttfamily [1/2]}}
-{\footnotesize\ttfamily PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{classcapabilities2__runner_1_1GetCapabilitySpecsRunner}{capabilities2\+\_\+runner\+::\+Get\+Capability\+Specs\+Runner}}}]{,  }\item[{\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}]{ }\end{DoxyParamCaption})}
-
-\Hypertarget{system__runners_8cpp_aaeef62a016f244f5c2d306cd6c880bbe}\label{system__runners_8cpp_aaeef62a016f244f5c2d306cd6c880bbe} 
-\index{system\_runners.cpp@{system\_runners.cpp}!PLUGINLIB\_EXPORT\_CLASS@{PLUGINLIB\_EXPORT\_CLASS}}
-\index{PLUGINLIB\_EXPORT\_CLASS@{PLUGINLIB\_EXPORT\_CLASS}!system\_runners.cpp@{system\_runners.cpp}}
-\doxysubsubsection{\texorpdfstring{PLUGINLIB\_EXPORT\_CLASS()}{PLUGINLIB\_EXPORT\_CLASS()}\hspace{0.1cm}{\footnotesize\ttfamily [2/2]}}
-{\footnotesize\ttfamily PLUGINLIB\+\_\+\+EXPORT\+\_\+\+CLASS (\begin{DoxyParamCaption}\item[{\mbox{\hyperlink{classcapabilities2__runner_1_1InputMultiplexRunner}{capabilities2\+\_\+runner\+::\+Input\+Multiplex\+Runner}}}]{,  }\item[{\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{capabilities2\+\_\+runner\+::\+Runner\+Base}}}]{ }\end{DoxyParamCaption})}
-
diff --git a/docs/latex/system__runners_8cpp__incl.md5 b/docs/latex/system__runners_8cpp__incl.md5
deleted file mode 100644
index d4c0ddc..0000000
--- a/docs/latex/system__runners_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-f79d644b9b4ca7ecadde327f631fcda6
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diff --git a/docs/latex/system__runners_8cpp__incl.pdf b/docs/latex/system__runners_8cpp__incl.pdf
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diff --git a/docs/latex/tabu_doxygen.sty b/docs/latex/tabu_doxygen.sty
deleted file mode 100644
index 3f17d1d..0000000
--- a/docs/latex/tabu_doxygen.sty
+++ /dev/null
@@ -1,2557 +0,0 @@
-%%
-%% This is file `tabu.sty',
-%% generated with the docstrip utility.
-%%
-%% The original source files were:
-%%
-%% tabu.dtx  (with options: `package')
-%% 
-%% This is a generated file.
-%% Copyright (FC) 2010-2011 - lppl
-%% 
-%% tabu : 2011/02/26 v2.8 - tabu : Flexible LaTeX tabulars
-%% 
-%% **********************************************************************************************
-%% \begin{tabu}               { preamble } => default target: \linewidth or \linegoal
-%% \begin{tabu} to     <dimen>{ preamble } => target specified
-%% \begin{tabu} spread <dimen>{ preamble } => target relative to the ``natural width''
-%% 
-%%  tabu works in text and in math modes.
-%% 
-%%  X columns: automatic width adjustment + horizontal and vertical alignment
-%%  \begin{tabu}   { X[4c] X[1c] X[-2ml]  }
-%% 
-%%  Horizontal lines and / or leaders:
-%%         \hline\hline                          => double horizontal line
-%%         \firsthline\hline                     => for nested tabulars
-%%         \lasthline\hline                      => for nested tabulars
-%%         \tabucline[line spec]{column-column}  => ``funny'' lines (dash/leader)
-%%  Automatic lines / leaders :
-%%         \everyrow{\hline\hline}
-%% 
-%%  Vertical lines and / or leaders:
-%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt blue] }
-%%  \begin{tabu}   { |[3pt red] X[4c] X[1c] X[-2ml] |[3pt on 2pt off 4pt blue] }
-%% 
-%%  Fixed vertical spacing adjustment:
-%%         \extrarowheight=<dimen>     \extrarowdepth=<dimen>
-%%    or:     \extrarowsep=<dimen>               => may be prefixed by \global
-%% 
-%%  Dynamic vertical spacing adjustment:
-%%       \abovetabulinesep=<dimen>  \belowtabulinesep=<dimen>
-%%   or:      \tabulinesep=<dimen>               => may be prefixed by \global
-%% 
-%%  delarray.sty shortcuts: in math and text modes
-%%  \begin{tabu} ....        \({ preamble }\)
-%% 
-%%  Algorithms reports:
-%%            \tracingtabu=1             \tracingtabu=2
-%% 
-%% **********************************************************************************************
-%% 
-%% This work may be distributed and/or modified under the
-%% conditions of the LaTeX Project Public License, either
-%% version 1.3 of this license or (at your option) any later
-%% version. The latest version of this license is in
-%%    http://www.latex-project.org/lppl.txt
-%% 
-%% This work consists of the main source file tabu.dtx
-%% and the derived files
-%%    tabu.sty, tabu.pdf, tabu.ins
-%% 
-%% tabu : Flexible LaTeX tabulars
-%% lppl copyright 2010-2011 by FC <florent.chervet@free.fr>
-%% 
-
-\NeedsTeXFormat{LaTeX2e}[2005/12/01]
-\ProvidesPackage{tabu_doxygen}[2011/02/26 v2.8 - flexible LaTeX tabulars (FC), frozen version for doxygen]
-\RequirePackage{array}[2008/09/09]
-\RequirePackage{varwidth}[2009/03/30]
-\AtEndOfPackage{\tabu@AtEnd \let\tabu@AtEnd \@undefined}
-\let\tabu@AtEnd\@empty
-\def\TMP@EnsureCode#1={%
-    \edef\tabu@AtEnd{\tabu@AtEnd
-                     \catcode#1 \the\catcode#1}%
-    \catcode#1=%
-}% \TMP@EnsureCode
-\TMP@EnsureCode 33 = 12 % !
-\TMP@EnsureCode 58 = 12 % : (for siunitx)
-\TMP@EnsureCode124 = 12 % |
-\TMP@EnsureCode 36 =  3 % $ = math shift
-\TMP@EnsureCode 38 =  4 % & = tab alignment character
-\TMP@EnsureCode 32 = 10 % space
-\TMP@EnsureCode 94 =  7 % ^
-\TMP@EnsureCode 95 =  8 % _
-%% Constants --------------------------------------------------------
-\newcount \c@taburow        \def\thetaburow {\number\c@taburow}
-\newcount \tabu@nbcols
-\newcount \tabu@cnt
-\newcount \tabu@Xcol
-\let\tabu@start \@tempcnta
-\let\tabu@stop  \@tempcntb
-\newcount \tabu@alloc  \tabu@alloc=\m@ne
-\newcount \tabu@nested
-\def\tabu@alloc@{\global\advance\tabu@alloc \@ne \tabu@nested\tabu@alloc}
-\newdimen \tabu@target
-\newdimen \tabu@spreadtarget
-\newdimen \tabu@naturalX
-\newdimen \tabucolX
-\let\tabu@DELTA \@tempdimc
-\let\tabu@thick \@tempdima
-\let\tabu@on    \@tempdimb
-\let\tabu@off   \@tempdimc
-\newdimen \tabu@Xsum
-\newdimen \extrarowdepth
-\newdimen \abovetabulinesep
-\newdimen \belowtabulinesep
-\newdimen \tabustrutrule      \tabustrutrule \z@
-\newtoks \tabu@thebody
-\newtoks \tabu@footnotes
-\newsavebox \tabu@box
-\newsavebox \tabu@arstrutbox
-\newsavebox \tabu@hleads
-\newsavebox \tabu@vleads
-\newif \iftabu@colortbl
-\newif \iftabu@siunitx
-\newif \iftabu@measuring
-\newif \iftabu@spread
-\newif \iftabu@negcoef
-\newif \iftabu@everyrow
-\def\tabu@everyrowtrue {\global\let\iftabu@everyrow \iftrue}
-\def\tabu@everyrowfalse{\global\let\iftabu@everyrow \iffalse}
-\newif \iftabu@long
-\newif \iftabuscantokens
-\def\tabu@rescan {\tabu@verbatim \scantokens  }
-%% Utilities (for internal usage) -----------------------------------
-\def\tabu@gobblespace #1  {#1}
-\def\tabu@gobbletoken #1#2{#1}
-\def\tabu@gobbleX{\futurelet\@let@token \tabu@gobblex}
-\def\tabu@gobblex{\if ^^J\noexpand\@let@token \expandafter\@gobble
-                  \else\ifx \@sptoken\@let@token
-                    \expandafter\tabu@gobblespace\expandafter\tabu@gobbleX
-                  \fi\fi
-}% \tabu@gobblex
-\def\tabu@X{^^J}
-{\obeyspaces
-\global\let\tabu@spxiii= % saves an active space (for \ifx)
-\gdef\tabu@@spxiii{ }}
-\def\tabu@ifenvir {% only for \multicolumn
-    \expandafter\tabu@if@nvir\csname\@currenvir\endcsname
-}% \tabu@ifenvir
-\def\tabu@if@nvir #1{\csname @\ifx\tabu#1first\else
-                              \ifx\longtabu#1first\else
-                              second\fi\fi oftwo\endcsname
-}% \tabu@ifenvir
-\def\tabu@modulo #1#2{\numexpr\ifnum\numexpr#1=\z@ 0\else #1-(#1-(#2-1)/2)/(#2)*(#2)\fi}
-{\catcode`\&=3
-\gdef\tabu@strtrim  #1{% #1 = control sequence to trim
-    \ifodd 1\ifx #1\@empty \else \ifx #1\space \else 0\fi \fi
-            \let\tabu@c@l@r \@empty       \let#1\@empty
-    \else   \expandafter  \tabu@trimspaces  #1&#1\@nnil
-    \fi
-}% \tabu@strtrim
-\gdef\tabu@trimspaces #1&#2\@nnil{\let\tabu@c@l@r=#2\tabu@firstspace .#1& &#2}%
-\gdef\tabu@firstspace #1#2#3 &{\tabu@lastspace #2#3&}
-\gdef\tabu@lastspace #1&#2&#3{\def #3{#1}%
-    \ifx #3\tabu@c@l@r \def\tabu@c@l@r{\protect\color{#1}}\expandafter\remove@to@nnil \fi
-    \tabu@trimspaces #1&#3\@nnil}
-}% \catcode
-\def\tabu@sanitizearg #1#2{{%
-    \csname \ifcsname if@safe@actives\endcsname         % <babel>
-                      @safe@activestrue\else
-                      relax\fi       \endcsname
-    \edef#2{#1}\tabu@strtrim#2\@onelevel@sanitize#2%
-    \expandafter}\expandafter\def\expandafter#2\expandafter{#2}%
-}% \tabu@sanitizearg
-\def\tabu@textbar #1{\begingroup \endlinechar\m@ne \scantokens{\def\:{|}}%
-    \expandafter\endgroup \expandafter#1\:% !!! semi simple group !!!
-}% \tabu@textbar
-\def\tabu@everyrow@bgroup{\iftabu@everyrow \begingroup \else \noalign{\ifnum0=`}\fi \fi}
-\def\tabu@everyrow@egroup{%
-    \iftabu@everyrow \expandafter \endgroup \the\toks@
-    \else            \ifnum0=`{\fi}%
-    \fi
-}% \tabu@everyrow@egroup
-\def\tabu@arstrut {\global\setbox\@arstrutbox \hbox{\vrule
-    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
-    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
-    width  \z@}%
-}% \tabu@arstrut
-\def\tabu@rearstrut {%
-    \@tempdima \arraystretch\dimexpr\ht\strutbox+\extrarowheight \relax
-    \@tempdimb \arraystretch\dimexpr\dp\strutbox+\extrarowdepth  \relax
-    \ifodd 1\ifdim \ht\@arstrutbox=\@tempdima
-            \ifdim \dp\@arstrutbox=\@tempdimb 0 \fi\fi
-        \tabu@mkarstrut
-    \fi
-}% \tabu@rearstrut
-\def\tabu@@DBG #1{\ifdim\tabustrutrule>\z@ \color{#1}\fi}
-\def\tabu@DBG@arstrut {\global\setbox\@arstrutbox
-    \hbox to\z@{\hbox to\z@{\hss
-    {\tabu@DBG{cyan}\vrule
-    height \arraystretch \dimexpr\ht\strutbox+\extrarowheight
-    depth  \z@
-    width  \tabustrutrule}\kern-\tabustrutrule
-    {\tabu@DBG{pink}\vrule
-    height \z@
-    depth  \arraystretch \dimexpr\dp\strutbox+\extrarowdepth
-    width \tabustrutrule}}}%
-}% \tabu@DBG@arstrut
-\def\tabu@save@decl{\toks\count@ \expandafter{\the\toks\expandafter\count@
-                                                              \@nextchar}}%
-\def\tabu@savedecl{\ifcat$\d@llarend\else
-       \let\save@decl \tabu@save@decl \fi % no inversion of tokens in text mode
-}% \tabu@savedecl
-\def\tabu@finalstrut #1{\unskip\ifhmode\nobreak\fi\vrule height\z@ depth\z@ width\z@}
-\newcommand*\tabuDisableCommands {\g@addto@macro\tabu@trialh@@k }
-\let\tabu@trialh@@k \@empty
-\def\tabu@nowrite #1#{{\afterassignment}\toks@}
-\let\tabu@write\write
-\let\tabu@immediate\immediate
-\def\tabu@WRITE{\begingroup
-   \def\immediate\write{\aftergroup\endgroup
-                  \tabu@immediate\tabu@write}%
-}% \tabu@WRITE
-\expandafter\def\expandafter\tabu@GenericError\expandafter{%
-                      \expandafter\tabu@WRITE\GenericError}
-\def\tabu@warn{\tabu@WRITE\PackageWarning{tabu}}
-\def\tabu@noxfootnote [#1]{\@gobble}
-\def\tabu@nocolor #1#{\@gobble}
-\newcommand*\tabu@norowcolor[2][]{}
-\def\tabu@maybesiunitx #1{\def\tabu@temp{#1}%
-                          \futurelet\@let@token \tabu@m@ybesiunitx}
-\def\tabu@m@ybesiunitx #1{\def\tabu@m@ybesiunitx {%
-    \ifx #1\@let@token \let\tabu@cellleft \@empty \let\tabu@cellright \@empty \fi
-    \tabu@temp}% \tabu@m@ybesiunitx
-}\expandafter\tabu@m@ybesiunitx \csname siunitx_table_collect_begin:Nn\endcsname
-\def\tabu@celllalign@def #1{\def\tabu@celllalign{\tabu@maybesiunitx{#1}}}%
-%% Fixed vertical spacing adjustment: \extrarowsep ------------------
-\newcommand*\extrarowsep{\edef\tabu@C@extra{\the\numexpr\tabu@C@extra+1}%
-    \iftabu@everyrow    \aftergroup\tabu@Gextra
-    \else               \aftergroup\tabu@n@Gextra
-    \fi
-    \@ifnextchar={\tabu@gobbletoken\tabu@extra} \tabu@extra
-}% \extrarowsep
-\def\tabu@extra {\@ifnextchar_%
-    {\tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}
-    {\ifx ^\@let@token \def\tabu@temp{%
-            \tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}%
-    \else   \let\tabu@temp \@empty
-            \afterassignment \tabu@setextrasep \extrarowdepth
-    \fi \tabu@temp}%
-}% \tabu@extra
-\def\tabu@setextra #1#2{\def\tabu@temp{\tabu@extr@#1#2}\afterassignment\tabu@temp#2}
-\def\tabu@extr@ #1#2{\@ifnextchar^%
-    {\tabu@gobbletoken{\tabu@setextra\extrarowdepth \extrarowheight}}
-    {\ifx _\@let@token \def\tabu@temp{%
-            \tabu@gobbletoken{\tabu@setextra\extrarowheight \extrarowdepth}}%
-    \else   \let\tabu@temp \@empty
-            \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
-    \fi \tabu@temp}%
-}% \tabu@extr@
-\def\tabu@setextrasep {\extrarowheight=\extrarowdepth
-    \tabu@Gsave \tabu@G@extra \tabu@C@extra \extrarowheight \extrarowdepth
-}% \tabu@setextrasep
-\def\tabu@Gextra{\ifx \tabu@G@extra\@empty \else {\tabu@Rextra}\fi}
-\def\tabu@n@Gextra{\ifx \tabu@G@extra\@empty \else \noalign{\tabu@Rextra}\fi}
-\def\tabu@Rextra{\tabu@Grestore \tabu@G@extra \tabu@C@extra}
-\let\tabu@C@extra \z@
-\let\tabu@G@extra \@empty
-%% Dynamic vertical spacing adjustment: \tabulinesep ----------------
-\newcommand*\tabulinesep{\edef\tabu@C@linesep{\the\numexpr\tabu@C@linesep+1}%
-    \iftabu@everyrow    \aftergroup\tabu@Glinesep
-    \else               \aftergroup\tabu@n@Glinesep
-    \fi
-    \@ifnextchar={\tabu@gobbletoken\tabu@linesep} \tabu@linesep
-}% \tabulinesep
-\def\tabu@linesep {\@ifnextchar_%
-    {\tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}
-    {\ifx ^\@let@token \def\tabu@temp{%
-            \tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}%
-     \else  \let\tabu@temp \@empty
-            \afterassignment \tabu@setlinesep \abovetabulinesep
-     \fi \tabu@temp}%
-}% \tabu@linesep
-\def\tabu@setsep #1#2{\def\tabu@temp{\tabu@sets@p#1#2}\afterassignment\tabu@temp#2}
-\def\tabu@sets@p #1#2{\@ifnextchar^%
-    {\tabu@gobbletoken{\tabu@setsep\belowtabulinesep \abovetabulinesep}}
-    {\ifx _\@let@token \def\tabu@temp{%
-            \tabu@gobbletoken{\tabu@setsep\abovetabulinesep \belowtabulinesep}}%
-    \else   \let\tabu@temp \@empty
-            \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
-    \fi \tabu@temp}%
-}% \tabu@sets@p
-\def\tabu@setlinesep {\belowtabulinesep=\abovetabulinesep
-    \tabu@Gsave \tabu@G@linesep \tabu@C@linesep \abovetabulinesep \belowtabulinesep
-}% \tabu@setlinesep
-\def\tabu@Glinesep{\ifx \tabu@G@linesep\@empty \else {\tabu@Rlinesep}\fi}
-\def\tabu@n@Glinesep{\ifx \tabu@G@linesep\@empty \else \noalign{\tabu@Rlinesep}\fi}
-\def\tabu@Rlinesep{\tabu@Grestore \tabu@G@linesep \tabu@C@linesep}
-\let\tabu@C@linesep \z@
-\let\tabu@G@linesep \@empty
-%% \global\extrarowsep  and  \global\tabulinesep  -------------------
-\def\tabu@Gsave #1#2#3#4{\xdef#1{#1%
-    \toks#2{\toks\the\currentgrouplevel{\global#3\the#3\global#4\the#4}}}%
-}% \tabu@Gsave
-\def\tabu@Grestore#1#2{%
-    \toks#2{}#1\toks\currentgrouplevel\expandafter{\expandafter}\the\toks#2\relax
-    \ifcat$\the\toks\currentgrouplevel$\else
-        \global\let#1\@empty \global\let#2\z@
-        \the\toks\currentgrouplevel
-    \fi
-}% \tabu@Grestore
-%% Setting code for every row ---------------------------------------
-\newcommand*\everyrow{\tabu@everyrow@bgroup
-                      \tabu@start \z@ \tabu@stop \z@ \tabu@evrstartstop
-}% \everyrow
-\def\tabu@evrstartstop {\@ifnextchar^%
-    {\afterassignment \tabu@evrstartstop \tabu@stop=}%
-    {\ifx ^\@let@token
-            \afterassignment\tabu@evrstartstop \tabu@start=%
-     \else  \afterassignment\tabu@everyr@w     \toks@
-     \fi}%
-}% \tabu@evrstartstop
-\def\tabu@everyr@w {%
-    \xdef\tabu@everyrow{%
-        \noexpand\tabu@everyrowfalse
-        \let\noalign \relax
-        \noexpand\tabu@rowfontreset
-        \iftabu@colortbl \noexpand\tabu@rc@ \fi % \taburowcolors
-        \let\noexpand\tabu@docline \noexpand\tabu@docline@evr
-        \the\toks@
-        \noexpand\tabu@evrh@@k
-        \noexpand\tabu@rearstrut
-        \global\advance\c@taburow \@ne}%
-    \iftabu@everyrow \toks@\expandafter
-        {\expandafter\def\expandafter\tabu@evr@L\expandafter{\the\toks@}\ignorespaces}%
-    \else \xdef\tabu@evr@G{\the\toks@}%
-    \fi
-    \tabu@everyrow@egroup
-}% \tabu@everyr@w
-\def\tabu@evr {\def\tabu@evrh@@k}         % for internal use only
-\tabu@evr{}
-%% line style and leaders -------------------------------------------
-\newcommand*\newtabulinestyle [1]{%
-    {\@for \@tempa :=#1\do{\expandafter\tabu@newlinestyle \@tempa==\@nil}}%
-}% \newtabulinestyle
-\def\tabu@newlinestyle #1=#2=#3\@nil{\tabu@getline {#2}%
-    \tabu@sanitizearg {#1}\@tempa
-    \ifodd 1\ifx \@tempa\@empty \ifdefined\tabu@linestyle@ 0 \fi\fi
-    \global\expandafter\let
-        \csname tabu@linestyle@\@tempa \endcsname =\tabu@thestyle \fi
-}% \tabu@newlinestyle
-\newcommand*\tabulinestyle [1]{\tabu@everyrow@bgroup \tabu@getline{#1}%
-    \iftabu@everyrow
-        \toks@\expandafter{\expandafter \def \expandafter
-                    \tabu@ls@L\expandafter{\tabu@thestyle}\ignorespaces}%
-        \gdef\tabu@ls@{\tabu@ls@L}%
-    \else
-        \global\let\tabu@ls@G \tabu@thestyle
-        \gdef\tabu@ls@{\tabu@ls@G}%
-    \fi
-    \tabu@everyrow@egroup
-}% \tabulinestyle
-\newcommand*\taburulecolor{\tabu@everyrow@bgroup \tabu@textbar \tabu@rulecolor}
-\def\tabu@rulecolor #1{\toks@{}%
-    \def\tabu@temp #1##1#1{\tabu@ruledrsc{##1}}\@ifnextchar #1%
-                                                    \tabu@temp
-                                                 \tabu@rulearc
-}% \tabu@rulecolor
-\def\tabu@ruledrsc #1{\edef\tabu@temp{#1}\tabu@strtrim\tabu@temp
-    \ifx \tabu@temp\@empty \def\tabu@temp{\tabu@rule@drsc@ {}{}}%
-    \else \edef\tabu@temp{\noexpand\tabu@rule@drsc@ {}{\tabu@temp}}%
-    \fi
-    \tabu@temp
-}% \tabu@ruledrsc@
-\def\tabu@ruledrsc@   #1#{\tabu@rule@drsc@ {#1}}
-\def\tabu@rule@drsc@ #1#2{%
-    \iftabu@everyrow
-        \ifx \\#1#2\\\toks@{\let\CT@drsc@ \relax}%
-        \else        \toks@{\def\CT@drsc@{\color #1{#2}}}%
-        \fi
-    \else
-        \ifx \\#1#2\\\global\let\CT@drsc@ \relax
-        \else        \gdef\CT@drsc@{\color #1{#2}}%
-        \fi
-    \fi
-    \tabu@rulearc
-}% \tabu@rule@drsc@
-\def\tabu@rulearc    #1#{\tabu@rule@arc@ {#1}}
-\def\tabu@rule@arc@ #1#2{%
-    \iftabu@everyrow
-        \ifx \\#1#2\\\toks@\expandafter{\the\toks@ \def\CT@arc@{}}%
-        \else        \toks@\expandafter{\the\toks@ \def\CT@arc@{\color #1{#2}}}%
-        \fi
-        \toks@\expandafter{\the\toks@
-            \let\tabu@arc@L  \CT@arc@
-            \let\tabu@drsc@L \CT@drsc@
-            \ignorespaces}%
-    \else
-        \ifx \\#1#2\\\gdef\CT@arc@{}%
-        \else        \gdef\CT@arc@{\color #1{#2}}%
-        \fi
-        \global\let\tabu@arc@G  \CT@arc@
-        \global\let\tabu@drsc@G \CT@drsc@
-    \fi
-    \tabu@everyrow@egroup
-}% \tabu@rule@arc@
-\def\taburowcolors {\tabu@everyrow@bgroup \@testopt \tabu@rowcolors 1}
-\def\tabu@rowcolors [#1]#2#{\tabu@rowc@lors{#1}{#2}}
-\def\tabu@rowc@lors #1#2#3{%
-    \toks@{}\@defaultunits \count@      =\number0#2\relax \@nnil
-            \@defaultunits \tabu@start  =\number0#1\relax \@nnil
-    \ifnum \count@<\tw@ \count@=\tw@ \fi
-    \advance\tabu@start \m@ne
-    \ifnum \tabu@start<\z@ \tabu@start \z@ \fi
-    \tabu@rowcolorseries #3\in@..\in@ \@nnil
-}% \tabu@rowcolors
-\def\tabu@rowcolorseries #1..#2\in@ #3\@nnil {%
-    \ifx \in@#1\relax
-        \iftabu@everyrow \toks@{\def\tabu@rc@{}\let\tabu@rc@L \tabu@rc@}%
-        \else   \gdef\tabu@rc@{}\global\let\tabu@rc@G \tabu@rc@
-        \fi
-    \else
-        \ifx \\#2\\\tabu@rowcolorserieserror \fi
-        \tabu@sanitizearg{#1}\tabu@temp
-        \tabu@sanitizearg{#2}\@tempa
-        \advance\count@ \m@ne
-    \iftabu@everyrow
-        \def\tabu@rc@ ##1##2##3##4{\def\tabu@rc@{%
-            \ifnum ##2=\c@taburow
-                \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{##3}{##4}\fi
-            \ifnum \c@taburow<##2 \else
-                \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\z@
-                    \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
-                \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
-                \rowcolor{tabu@rc@\the\tabu@nested}\fi}%
-        }\edef\x{\noexpand\tabu@rc@           {\the\count@}
-                                          {\the\tabu@start}
-                                               {\tabu@temp}
-                                                  {\@tempa}%
-                }\x
-        \toks@\expandafter{\expandafter\def\expandafter\tabu@rc@\expandafter{\tabu@rc@}}%
-        \toks@\expandafter{\the\toks@ \let\tabu@rc@L \tabu@rc@ \ignorespaces}%
-    \else   % inside \noalign
-        \definecolorseries{tabu@rcseries@\the\tabu@nested}{rgb}{last}{\tabu@temp}{\@tempa}%
-        \expandafter\resetcolorseries\expandafter[\the\count@]{tabu@rcseries@\the\tabu@nested}%
-        \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
-        \let\noalign \relax \rowcolor{tabu@rc@\the\tabu@nested}%
-        \def\tabu@rc@ ##1##2{\gdef\tabu@rc@{%
-            \ifnum \tabu@modulo {\c@taburow-##2}{##1+1}=\@ne
-                \resetcolorseries[{##1}]{tabu@rcseries@\the\tabu@nested}\fi
-            \xglobal\colorlet{tabu@rc@\the\tabu@nested}{tabu@rcseries@\the\tabu@nested!!+}%
-            \rowcolor{tabu@rc@\the\tabu@nested}}%
-        }\edef\x{\noexpand\tabu@rc@{\the\count@}{\the\c@taburow}}\x
-        \global\let\tabu@rc@G \tabu@rc@
-    \fi
-    \fi
-    \tabu@everyrow@egroup
-}% \tabu@rowcolorseries
-\tabuDisableCommands {\let\tabu@rc@ \@empty }
-\def\tabu@rowcolorserieserror {\PackageError{tabu}
-    {Invalid syntax for \string\taburowcolors
-    \MessageBreak Please look at the documentation!}\@ehd
-}% \tabu@rowcolorserieserror
-\newcommand*\tabureset {%
-    \tabulinesep=\z@ \extrarowsep=\z@ \extratabsurround=\z@
-    \tabulinestyle{}\everyrow{}\taburulecolor||{}\taburowcolors{}%
-}% \tabureset
-%% Parsing the line styles ------------------------------------------
-\def\tabu@getline #1{\begingroup
-    \csname \ifcsname if@safe@actives\endcsname         % <babel>
-                      @safe@activestrue\else
-                      relax\fi       \endcsname
-    \edef\tabu@temp{#1}\tabu@sanitizearg{#1}\@tempa
-    \let\tabu@thestyle \relax
-    \ifcsname tabu@linestyle@\@tempa \endcsname
-            \edef\tabu@thestyle{\endgroup
-                \def\tabu@thestyle{\expandafter\noexpand
-                    \csname tabu@linestyle@\@tempa\endcsname}%
-            }\tabu@thestyle
-    \else   \expandafter\tabu@definestyle \tabu@temp \@nil
-    \fi
-}% \tabu@getline
-\def\tabu@definestyle #1#2\@nil {\endlinechar \m@ne \makeatletter
-    \tabu@thick \maxdimen  \tabu@on \maxdimen   \tabu@off \maxdimen
-    \let\tabu@c@lon \@undefined  \let\tabu@c@loff \@undefined
-    \ifodd 1\ifcat .#1\else\ifcat\relax #1\else 0\fi\fi % catcode 12 or non expandable cs
-            \def\tabu@temp{\tabu@getparam{thick}}%
-    \else   \def\tabu@temp{\tabu@getparam{thick}\maxdimen}%
-    \fi
-    {%
-        \let\tabu@ \relax
-        \def\:{\obeyspaces \tabu@oXIII \tabu@commaXIII \edef\:}% (space active \: happy ;-))
-        \scantokens{\:{\tabu@temp #1#2 \tabu@\tabu@}}%
-                        \expandafter}\expandafter
-                                \def\expandafter\:\expandafter{\:}% line spec rewritten now ;-)
-    \def\;{\def\:}%
-    \scantokens\expandafter{\expandafter\;\expandafter{\:}}% space is now inactive (catcode 10)
-    \let\tabu@ \tabu@getcolor    \:%    all arguments are ready now ;-)
-    \ifdefined\tabu@c@lon \else \let\tabu@c@lon\@empty \fi
-    \ifx \tabu@c@lon\@empty \def\tabu@c@lon{\CT@arc@}\fi
-    \ifdefined\tabu@c@loff \else \let\tabu@c@loff \@empty        \fi
-    \ifdim \tabu@on=\maxdimen \ifdim \tabu@off<\maxdimen
-                                  \tabu@on \tabulineon        \fi\fi
-    \ifdim \tabu@off=\maxdimen \ifdim \tabu@on<\maxdimen
-                                  \tabu@off \tabulineoff      \fi\fi
-    \ifodd 1\ifdim \tabu@off=\maxdimen \ifdim \tabu@on=\maxdimen 0 \fi\fi
-            \in@true    % <leaders>
-    \else   \in@false   % <rule>
-    \fi
-    \ifdim\tabu@thick=\maxdimen \def\tabu@thick{\arrayrulewidth}%
-    \else                       \edef\tabu@thick{\the\tabu@thick}%
-    \fi
-    \edef \tabu@thestyle ##1##2{\endgroup
-        \def\tabu@thestyle{%
-            \ifin@  \noexpand\tabu@leadersstyle {\tabu@thick}
-                                                {\the\tabu@on}{##1}
-                                                {\the\tabu@off}{##2}%
-            \else   \noexpand\tabu@rulesstyle
-                            {##1\vrule width \tabu@thick}%
-                            {##1\leaders \hrule height \tabu@thick \hfil}%
-            \fi}%
-    }\expandafter \expandafter
-        \expandafter \tabu@thestyle \expandafter
-            \expandafter \expandafter
-                {\expandafter\tabu@c@lon\expandafter}\expandafter{\tabu@c@loff}%
-}% \tabu@definestyle
-{\catcode`\O=\active \lccode`\O=`\o \catcode`\,=\active
-    \lowercase{\gdef\tabu@oXIII {\catcode`\o=\active \let O=\tabu@oxiii}}
-    \gdef\tabu@commaXIII {\catcode`\,=\active \let ,=\space}
-}% \catcode
-\def\tabu@oxiii #1{%
-    \ifcase  \ifx n#1\z@ \else
-             \ifx f#1\@ne\else
-             \tw@       \fi\fi
-          \expandafter\tabu@onxiii
-    \or   \expandafter\tabu@ofxiii
-    \else o%
-    \fi#1}%
-\def\tabu@onxiii #1#2{%
-    \ifcase  \ifx  !#2\tw@          \else
-             \ifcat.\noexpand#2\z@  \else
-             \ifx \tabu@spxiii#2\@ne\else
-             \tw@               \fi\fi\fi
-          \tabu@getparam{on}#2\expandafter\@gobble
-    \or   \expandafter\tabu@onxiii    % (space is active)
-    \else o\expandafter\@firstofone
-    \fi{#1#2}}%
-\def\tabu@ofxiii #1#2{%
-    \ifx #2f\expandafter\tabu@offxiii
-    \else   o\expandafter\@firstofone
-    \fi{#1#2}}
-\def\tabu@offxiii #1#2{%
-    \ifcase \ifx  !#2\tw@           \else
-            \ifcat.\noexpand#2\z@   \else
-            \ifx\tabu@spxiii#2\@ne  \else
-            \tw@                \fi\fi\fi
-          \tabu@getparam{off}#2\expandafter\@gobble
-    \or   \expandafter\tabu@offxiii   % (space is active)
-    \else o\expandafter\@firstofone
-    \fi{#1#2}}
-\def\tabu@getparam #1{\tabu@ \csname tabu@#1\endcsname=}
-\def\tabu@getcolor #1{% \tabu@ <- \tabu@getcolor after \edef
-    \ifx \tabu@#1\else   % no more spec
-        \let\tabu@theparam=#1\afterassignment \tabu@getc@l@r #1\fi
-}% \tabu@getcolor
-\def\tabu@getc@l@r #1\tabu@ {%
-    \def\tabu@temp{#1}\tabu@strtrim \tabu@temp
-    \ifx \tabu@temp\@empty
-    \else%\ifcsname \string\color@\tabu@temp \endcsname  % if the color exists
-        \ifx \tabu@theparam \tabu@off   \let\tabu@c@loff \tabu@c@l@r
-        \else                           \let\tabu@c@lon  \tabu@c@l@r
-        \fi
-    %\else \tabu@warncolour{\tabu@temp}%
-    \fi%\fi
-    \tabu@ % next spec
-}% \tabu@getc@l@r
-\def\tabu@warncolour #1{\PackageWarning{tabu}
-    {Color #1 is not defined. Default color used}%
-}% \tabu@warncolour
-\def\tabu@leadersstyle #1#2#3#4#5{\def\tabu@leaders{{#1}{#2}{#3}{#4}{#5}}%
-    \ifx \tabu@leaders\tabu@leaders@G \else
-                \tabu@LEADERS{#1}{#2}{#3}{#4}{#5}\fi
-}% \tabu@leadersstyle
-\def\tabu@rulesstyle #1#2{\let\tabu@leaders \@undefined
-        \gdef\tabu@thevrule{#1}\gdef\tabu@thehrule{#2}%
-}% \tabu@rulesstyle
-%% The leaders boxes ------------------------------------------------
-\def\tabu@LEADERS #1#2#3#4#5{%% width, dash, dash color, gap, gap color
-    {\let\color \tabu@color % => during trials ->  \color = \tabu@nocolor
-    {%                      %    but the leaders boxes should have colors !
-    \def\@therule{\vrule}\def\@thick{height}\def\@length{width}%
-    \def\@box{\hbox}\def\@unbox{\unhbox}\def\@elt{\wd}%
-    \def\@skip{\hskip}\def\@ss{\hss}\def\tabu@leads{\tabu@hleads}%
-    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
-    \global\let\tabu@thehleaders \tabu@theleaders
-    }%
-    {%
-    \def\@therule{\hrule}\def\@thick{width}\def\@length{height}%
-    \def\@box{\vbox}\def\@unbox{\unvbox}\def\@elt{\ht}%
-    \def\@skip{\vskip}\def\@ss{\vss}\def\tabu@leads{\tabu@vleads}%
-    \tabu@l@@d@rs {#1}{#2}{#3}{#4}{#5}%
-    \global\let\tabu@thevleaders \tabu@theleaders
-    }%
-    \gdef\tabu@leaders@G{{#1}{#2}{#3}{#4}{#5}}%
-    }%
-}% \tabu@LEADERS
-\def\tabu@therule #1#2{\@therule \@thick#1\@length\dimexpr#2/2 \@depth\z@}
-\def\tabu@l@@d@rs #1#2#3#4#5{%% width, dash, dash color, gap, gap color
-    \global\setbox \tabu@leads=\@box{%
-        {#3\tabu@therule{#1}{#2}}%
-        \ifx\\#5\\\@skip#4\else{#5\tabu@therule{#1}{#4*2}}\fi
-        {#3\tabu@therule{#1}{#2}}}%
-    \global\setbox\tabu@leads=\@box to\@elt\tabu@leads{\@ss
-        {#3\tabu@therule{#1}{#2}}\@unbox\tabu@leads}%
-    \edef\tabu@theleaders ##1{\def\noexpand\tabu@theleaders {%
-        {##1\tabu@therule{#1}{#2}}%
-        \xleaders \copy\tabu@leads \@ss
-        \tabu@therule{0pt}{-#2}{##1\tabu@therule{#1}{#2}}}%
-    }\tabu@theleaders{#3}%
-}% \tabu@l@@d@rs
-%% \tabu \endtabu \tabu* \longtabu \endlongtabu \longtabu* ----------
-\newcommand*\tabu {\tabu@longfalse
-    \ifmmode \def\tabu@ {\array}\def\endtabu {\endarray}%
-    \else  \def\tabu@ {\tabu@tabular}\def\endtabu {\endtabular}\fi
-    \expandafter\let\csname tabu*\endcsname \tabu
-    \expandafter\def\csname endtabu*\endcsname{\endtabu}%
-    \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
-}% {tabu}
-\let\tabu@tabular \tabular % <For LyX: some users redefine \tabular...>
-\expandafter\def\csname tabu*\endcsname{\tabuscantokenstrue \tabu}
-\newcommand*\longtabu {\tabu@longtrue
-   \ifmmode\PackageError{tabu}{longtabu not allowed in math mode}\fi
-   \def\tabu@{\longtable}\def\endlongtabu{\endlongtable}%
-   \LTchunksize=\@M
-   \expandafter\let\csname tabu*\endcsname \tabu
-   \expandafter\def\csname endlongtabu*\endcsname{\endlongtabu}%
-   \let\LT@startpbox \tabu@LT@startpbox % \everypar{ array struts }
-   \tabu@spreadfalse \tabu@negcoeffalse \tabu@settarget
-}% {longtabu}
-\expandafter\def\csname longtabu*\endcsname{\tabuscantokenstrue \longtabu}
-\def\tabu@nolongtabu{\PackageError{tabu}
-   {longtabu requires the longtable package}\@ehd}
-%% Read the target and  then : \tabular or \@array ------------------
-\def\tabu@settarget {\futurelet\@let@token \tabu@sett@rget }
-\def\tabu@sett@rget {\tabu@target \z@
-   \ifcase \ifx \bgroup\@let@token   \z@  \else
-           \ifx \@sptoken\@let@token \@ne \else
-           \if t\@let@token          \tw@ \else
-           \if s\@let@token          \thr@@\else
-           \z@\fi\fi\fi\fi
-         \expandafter\tabu@begin
-   \or   \expandafter\tabu@gobblespace\expandafter\tabu@settarget
-   \or   \expandafter\tabu@to
-   \or   \expandafter\tabu@spread
-   \fi
-}% \tabu@sett@rget
-\def\tabu@to to{\def\tabu@halignto{to}\tabu@gettarget}
-\def\tabu@spread spread{\tabu@spreadtrue\def\tabu@halignto{spread}\tabu@gettarget}
-\def\tabu@gettarget {\afterassignment\tabu@linegoaltarget \tabu@target }
-\def\tabu@linegoaltarget {\futurelet\tabu@temp \tabu@linegoalt@rget }
-\def\tabu@linegoalt@rget {%
-   \ifx \tabu@temp\LNGL@setlinegoal
-        \LNGL@setlinegoal \expandafter \@firstoftwo \fi % @gobbles \LNGL@setlinegoal
-   \tabu@begin
-}% \tabu@linegoalt@rget
-\def\tabu@begin #1#{%
-    \iftabu@measuring \expandafter\tabu@nestedmeasure \fi
-    \ifdim \tabu@target=\z@ \let\tabu@halignto \@empty
-    \else                   \edef\tabu@halignto{\tabu@halignto\the\tabu@target}%
-    \fi
-    \@testopt \tabu@tabu@ \tabu@aligndefault #1\@nil
-}% \tabu@begin
-\long\def\tabu@tabu@ [#1]#2\@nil #3{\tabu@setup
-   \def\tabu@align {#1}\def\tabu@savedpream{\NC@find #3}%
-   \tabu@ [\tabu@align ]#2{#3\tabu@rewritefirst }%
-}% \tabu@tabu@
-\def\tabu@nestedmeasure {%
-    \ifodd 1\iftabu@spread \else \ifdim\tabu@target=\z@ \else 0 \fi\fi\relax
-            \tabu@spreadtrue
-    \else   \begingroup \iffalse{\fi \ifnum0=`}\fi
-            \toks@{}\def\tabu@stack{b}%
-            \expandafter\tabu@collectbody\expandafter\tabu@quickrule
-                                         \expandafter\endgroup
-    \fi
-}% \tabu@nestedmeasure
-\def\tabu@quickrule {\indent\vrule height\z@ depth\z@ width\tabu@target}
-%% \tabu@setup  \tabu@init  \tabu@indent
-\def\tabu@setup{\tabu@alloc@
-    \ifcase \tabu@nested
-        \ifmmode \else \iftabu@spread\else \ifdim\tabu@target=\z@
-            \let\tabu@afterendpar \par
-        \fi\fi\fi
-        \def\tabu@aligndefault{c}\tabu@init \tabu@indent
-    \else       % <nested tabu>
-        \def\tabu@aligndefault{t}\let\tabudefaulttarget \linewidth
-    \fi
-    \let\tabu@thetarget \tabudefaulttarget \let\tabu@restored \@undefined
-    \edef\tabu@NC@list{\the\NC@list}\NC@list{\NC@do \tabu@rewritefirst}%
-    \everycr{}\let\@startpbox \tabu@startpbox % for nested tabu inside longtabu...
-              \let\@endpbox   \tabu@endpbox   % idem "    "    "    "    "    "
-              \let\@tabarray  \tabu@tabarray  % idem "    "    "    "    "    "
-    \tabu@setcleanup \tabu@setreset
-}% \tabu@setup
-\def\tabu@init{\tabu@starttimer \tabu@measuringfalse
-    \edef\tabu@hfuzz  {\the\dimexpr\hfuzz+1sp}\global\tabu@footnotes{}%
-    \let\firsthline    \tabu@firsthline   \let\lasthline      \tabu@lasthline
-    \let\firstline     \tabu@firstline    \let\lastline       \tabu@lastline
-    \let\hline         \tabu@hline        \let\@xhline        \tabu@xhline
-    \let\color         \tabu@color        \let\@arstrutbox    \tabu@arstrutbox
-    \iftabu@colortbl\else\let\LT@@hline   \tabu@LT@@hline \fi
-    \tabu@trivlist     %<restore \\=\@normalcr inside lists>
-    \let\@footnotetext \tabu@footnotetext \let\@xfootnotetext \tabu@xfootnotetext
-    \let\@xfootnote    \tabu@xfootnote    \let\centering      \tabu@centering
-    \let\raggedright   \tabu@raggedright  \let\raggedleft     \tabu@raggedleft
-    \let\tabudecimal   \tabu@tabudecimal  \let\Centering      \tabu@Centering
-    \let\RaggedRight   \tabu@RaggedRight  \let\RaggedLeft     \tabu@RaggedLeft
-    \let\justifying    \tabu@justifying   \let\rowfont        \tabu@rowfont
-    \let\fbox          \tabu@fbox         \let\color@b@x      \tabu@color@b@x
-    \let\tabu@@everycr \everycr           \let\tabu@@everypar \everypar
-    \let\tabu@prepnext@tokORI \prepnext@tok\let\prepnext@tok  \tabu@prepnext@tok
-    \let\tabu@multicolumnORI\multicolumn  \let\multicolumn    \tabu@multicolumn
-    \let\tabu@startpbox \@startpbox      % for nested tabu inside longtabu pfff !!!
-    \let\tabu@endpbox   \@endpbox        % idem  "    "    "    "    "    "    "
-    \let\tabu@tabarray  \@tabarray       % idem  "    "    "    "    "    "    "
-    \tabu@adl@fix      \let\endarray      \tabu@endarray % <fix> colortbl & arydshln (delarray)
-    \iftabu@colortbl\CT@everycr\expandafter{\expandafter\iftabu@everyrow \the\CT@everycr \fi}\fi
-}% \tabu@init
-\def\tabu@indent{% correction for indentation
-    \ifdim \parindent>\z@\ifx \linewidth\tabudefaulttarget
-    \everypar\expandafter{%
-        \the\everypar\everypar\expandafter{\the\everypar}%
-            \setbox\z@=\lastbox
-            \ifdim\wd\z@>\z@ \edef\tabu@thetarget
-                {\the\dimexpr -\wd\z@+\tabudefaulttarget}\fi
-            \box\z@}%
-    \fi\fi
-}% \tabu@indent
-\def\tabu@setcleanup {% saves last global assignments
-    \ifodd 1\ifmmode \else \iftabu@long \else 0\fi\fi\relax
-        \def\tabu@aftergroupcleanup{%
-                \def\tabu@aftergroupcleanup{\aftergroup\tabu@cleanup}}%
-    \else
-        \def\tabu@aftergroupcleanup{%
-                \aftergroup\aftergroup\aftergroup\tabu@cleanup
-                \let\tabu@aftergroupcleanup \relax}%
-    \fi
-    \let\tabu@arc@Gsave         \tabu@arc@G
-    \let\tabu@arc@G             \tabu@arc@L   % <init>
-    \let\tabu@drsc@Gsave        \tabu@drsc@G
-    \let\tabu@drsc@G            \tabu@drsc@L  % <init>
-    \let\tabu@ls@Gsave          \tabu@ls@G
-    \let\tabu@ls@G              \tabu@ls@L    % <init>
-    \let\tabu@rc@Gsave          \tabu@rc@G
-    \let\tabu@rc@G              \tabu@rc@L    % <init>
-    \let\tabu@evr@Gsave         \tabu@evr@G
-    \let\tabu@evr@G             \tabu@evr@L   % <init>
-    \let\tabu@celllalign@save   \tabu@celllalign
-    \let\tabu@cellralign@save   \tabu@cellralign
-    \let\tabu@cellleft@save     \tabu@cellleft
-    \let\tabu@cellright@save    \tabu@cellright
-    \let\tabu@@celllalign@save  \tabu@@celllalign
-    \let\tabu@@cellralign@save  \tabu@@cellralign
-    \let\tabu@@cellleft@save    \tabu@@cellleft
-    \let\tabu@@cellright@save   \tabu@@cellright
-    \let\tabu@rowfontreset@save \tabu@rowfontreset
-    \let\tabu@@rowfontreset@save\tabu@@rowfontreset
-    \let\tabu@rowfontreset      \@empty
-    \edef\tabu@alloc@save      {\the\tabu@alloc}%   restore at \tabu@reset
-    \edef\c@taburow@save       {\the\c@taburow}%
-    \edef\tabu@naturalX@save   {\the\tabu@naturalX}%
-    \let\tabu@naturalXmin@save  \tabu@naturalXmin
-    \let\tabu@naturalXmax@save  \tabu@naturalXmax
-    \let\tabu@mkarstrut@save    \tabu@mkarstrut
-    \edef\tabu@clarstrut{%
-        \extrarowheight \the\dimexpr \ht\@arstrutbox-\ht\strutbox \relax
-        \extrarowdepth \the\dimexpr \dp\@arstrutbox-\dp\strutbox \relax
-        \let\noexpand\@arraystretch \@ne \noexpand\tabu@rearstrut}%
-}% \tabu@setcleanup
-\def\tabu@cleanup {\begingroup
-    \globaldefs\@ne         \tabu@everyrowtrue
-    \let\tabu@arc@G         \tabu@arc@Gsave
-    \let\CT@arc@            \tabu@arc@G
-    \let\tabu@drsc@G        \tabu@drsc@Gsave
-    \let\CT@drsc@           \tabu@drsc@G
-    \let\tabu@ls@G          \tabu@ls@Gsave
-    \let\tabu@ls@           \tabu@ls@G
-    \let\tabu@rc@G          \tabu@rc@Gsave
-    \let\tabu@rc@           \tabu@rc@G
-    \let\CT@do@color        \relax
-    \let\tabu@evr@G         \tabu@evr@Gsave
-    \let\tabu@celllalign    \tabu@celllalign@save
-    \let\tabu@cellralign    \tabu@cellralign@save
-    \let\tabu@cellleft      \tabu@cellleft@save
-    \let\tabu@cellright     \tabu@cellright@save
-    \let\tabu@@celllalign   \tabu@@celllalign@save
-    \let\tabu@@cellralign   \tabu@@cellralign@save
-    \let\tabu@@cellleft     \tabu@@cellleft@save
-    \let\tabu@@cellright    \tabu@@cellright@save
-    \let\tabu@rowfontreset  \tabu@rowfontreset@save
-    \let\tabu@@rowfontreset \tabu@@rowfontreset@save
-    \tabu@naturalX         =\tabu@naturalX@save
-    \let\tabu@naturalXmax   \tabu@naturalXmax@save
-    \let\tabu@naturalXmin   \tabu@naturalXmin@save
-    \let\tabu@mkarstrut     \tabu@mkarstrut@save
-    \c@taburow             =\c@taburow@save
-    \ifcase \tabu@nested    \tabu@alloc \m@ne\fi
-    \endgroup               % <end of \globaldefs>
-    \ifcase \tabu@nested
-        \the\tabu@footnotes \global\tabu@footnotes{}%
-        \tabu@afterendpar   \tabu@elapsedtime
-    \fi
-    \tabu@clarstrut
-    \everyrow\expandafter   {\tabu@evr@G}%
-}% \tabu@cleanup
-\let\tabu@afterendpar \relax
-\def\tabu@setreset {%
-    \edef\tabu@savedparams {%         \relax for \tabu@message@save
-        \ifmmode \col@sep \the\arraycolsep
-        \else    \col@sep \the\tabcolsep \fi    \relax
-        \arrayrulewidth   \the\arrayrulewidth   \relax
-        \doublerulesep    \the\doublerulesep    \relax
-        \extratabsurround \the\extratabsurround \relax
-        \extrarowheight   \the\extrarowheight   \relax
-        \extrarowdepth    \the\extrarowdepth    \relax
-        \abovetabulinesep \the\abovetabulinesep \relax
-        \belowtabulinesep \the\belowtabulinesep \relax
-        \def\noexpand\arraystretch{\arraystretch}%
-        \ifdefined\minrowclearance \minrowclearance\the\minrowclearance\relax\fi}%
-    \begingroup
-        \@temptokena\expandafter{\tabu@savedparams}% => only for \savetabu / \usetabu
-        \ifx \tabu@arc@L\relax  \else \tabu@setsave \tabu@arc@L \fi
-        \ifx \tabu@drsc@L\relax \else \tabu@setsave \tabu@drsc@L \fi
-        \tabu@setsave \tabu@ls@L      \tabu@setsave \tabu@evr@L
-        \expandafter \endgroup \expandafter
-            \def\expandafter\tabu@saved@ \expandafter{\the\@temptokena
-                \let\tabu@arc@G  \tabu@arc@L
-                \let\tabu@drsc@G \tabu@drsc@L
-                \let\tabu@ls@G   \tabu@ls@L
-                \let\tabu@rc@G   \tabu@rc@L
-                \let\tabu@evr@G  \tabu@evr@L}%
-    \def\tabu@reset{\tabu@savedparams
-        \tabu@everyrowtrue  \c@taburow \z@
-        \let\CT@arc@        \tabu@arc@L
-        \let\CT@drsc@       \tabu@drsc@L
-        \let\tabu@ls@       \tabu@ls@L
-        \let\tabu@rc@       \tabu@rc@L
-        \global\tabu@alloc  \tabu@alloc@save
-        \everyrow\expandafter{\tabu@evr@L}}%
-}% \tabu@reset
-\def\tabu@setsave #1{\expandafter\tabu@sets@ve #1\@nil{#1}}
-\long\def\tabu@sets@ve #1\@nil #2{\@temptokena\expandafter{\the\@temptokena \def#2{#1}}}
-%% The Rewriting Process -------------------------------------------
-\def\tabu@newcolumntype #1{%
-    \expandafter\tabu@new@columntype
-        \csname NC@find@\string#1\expandafter\endcsname
-        \csname NC@rewrite@\string#1\endcsname
-        {#1}%
-}% \tabu@newcolumntype
-\def\tabu@new@columntype #1#2#3{%
-    \def#1##1#3{\NC@{##1}}%
-    \let#2\relax \newcommand*#2%
-}% \tabu@new@columntype
-\def\tabu@privatecolumntype #1{%
-    \expandafter\tabu@private@columntype
-        \csname NC@find@\string#1\expandafter\endcsname
-        \csname NC@rewrite@\string#1\expandafter\endcsname
-        \csname tabu@NC@find@\string#1\expandafter\endcsname
-        \csname tabu@NC@rewrite@\string#1\endcsname
-        {#1}%
-}% \tabu@privatecolumntype
-\def\tabu@private@columntype#1#2#3#4{%
-    \g@addto@macro\tabu@privatecolumns{\let#1#3\let#2#4}%
-    \tabu@new@columntype#3#4%
-}% \tabu@private@columntype
-\let\tabu@privatecolumns \@empty
-\newcommand*\tabucolumn [1]{\expandafter \def \expandafter
-    \tabu@highprioritycolumns\expandafter{\tabu@highprioritycolumns
-                                          \NC@do #1}}%
-\let\tabu@highprioritycolumns \@empty
-%% The  |  ``column'' : rewriting process --------------------------
-\tabu@privatecolumntype |{\tabu@rewritevline}
-\newcommand*\tabu@rewritevline[1][]{\tabu@vlinearg{#1}%
-                \expandafter \NC@find \tabu@rewritten}
-\def\tabu@lines #1{%
-    \ifx|#1\else \tabu@privatecolumntype #1{\tabu@rewritevline}\fi
-    \NC@list\expandafter{\the\NC@list \NC@do #1}%
-}% \tabu@lines@
-\def\tabu@vlinearg #1{%
-    \ifx\\#1\\\def\tabu@thestyle {\tabu@ls@}%
-    \else\tabu@getline {#1}%
-    \fi
-    \def\tabu@rewritten ##1{\def\tabu@rewritten{!{##1\tabu@thevline}}%
-    }\expandafter\tabu@rewritten\expandafter{\tabu@thestyle}%
-    \expandafter \tabu@keepls \tabu@thestyle \@nil
-}% \tabu@vlinearg
-\def\tabu@keepls #1\@nil{%
-    \ifcat $\@cdr #1\@nil $%
-    \ifx \relax#1\else
-    \ifx \tabu@ls@#1\else
-        \let#1\relax
-        \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
-                \tabu@savels\noexpand#1}\fi\fi\fi
-}% \tabu@keepls
-\def\tabu@thevline {\begingroup
-    \ifdefined\tabu@leaders
-        \setbox\@tempboxa=\vtop to\dimexpr
-                      \ht\@arstrutbox+\dp\@arstrutbox{{\tabu@thevleaders}}%
-        \ht\@tempboxa=\ht\@arstrutbox \dp\@tempboxa=\dp\@arstrutbox
-        \box\@tempboxa
-    \else
-                \tabu@thevrule
-    \fi             \endgroup
-}% \tabu@thevline
-\def\tabu@savels #1{%
-    \expandafter\let\csname\string#1\endcsname #1%
-    \expandafter\def\expandafter\tabu@reset\expandafter{\tabu@reset
-                                                    \tabu@resetls#1}}%
-\def\tabu@resetls #1{\expandafter\let\expandafter#1\csname\string#1\endcsname}%
-%% \multicolumn inside tabu environment -----------------------------
-\tabu@newcolumntype \tabu@rewritemulticolumn{%
-    \aftergroup \tabu@endrewritemulticolumn % after \@mkpream group
-    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
-    \tabu@savedecl
-    \tabu@privatecolumns
-    \NC@list\expandafter{\the\expandafter\NC@list \tabu@NC@list}%
-    \let\tabu@savels \relax
-    \NC@find
-}% \tabu@rewritemulticolumn
-\def\tabu@endrewritemulticolumn{\gdef\tabu@mkpreambuffer{}\endgroup}
-\def\tabu@multicolumn{\tabu@ifenvir \tabu@multic@lumn \tabu@multicolumnORI}
-\long\def\tabu@multic@lumn #1#2#3{\multispan{#1}\begingroup
-    \tabu@everyrowtrue
-    \NC@list{\NC@do \tabu@rewritemulticolumn}%
-    \expandafter\@gobbletwo % gobbles \multispan{#1}
-         \tabu@multicolumnORI{#1}{\tabu@rewritemulticolumn #2}%
-                {\iftabuscantokens \tabu@rescan \else \expandafter\@firstofone \fi
-                {#3}}%
-}% \tabu@multic@lumn
-%% The X column(s): rewriting process -----------------------------
-\tabu@privatecolumntype X[1][]{\begingroup \tabu@siunitx{\endgroup \tabu@rewriteX {#1}}}
-\def\tabu@nosiunitx #1{#1{}{}\expandafter \NC@find \tabu@rewritten }
-\def\tabu@siunitx   #1{\@ifnextchar \bgroup
-                     {\tabu@rewriteX@Ss{#1}}
-                      {\tabu@nosiunitx{#1}}}
-\def\tabu@rewriteX@Ss #1#2{\@temptokena{}%
-    \@defaultunits \let\tabu@temp =#2\relax\@nnil
-    \ifodd 1\ifx S\tabu@temp \else \ifx s\tabu@temp \else 0 \fi\fi
-        \def\NC@find{\def\NC@find >####1####2<####3\relax{#1 {####1}{####3}%
-            }\expandafter\NC@find \the\@temptokena \relax
-        }\expandafter\NC@rewrite@S \@gobble #2\relax
-    \else \tabu@siunitxerror
-    \fi
-    \expandafter \NC@find \tabu@rewritten
-}% \tabu@rewriteX@Ss
-\def\tabu@siunitxerror {\PackageError{tabu}{Not a S nor s column !
-        \MessageBreak X column can only embed siunitx S or s columns}\@ehd
-}% \tabu@siunitxerror
-\def\tabu@rewriteX #1#2#3{\tabu@Xarg {#1}{#2}{#3}%
-    \iftabu@measuring
-    \else \tabu@measuringtrue % first X column found in the preamble
-        \let\@halignto \relax   \let\tabu@halignto \relax
-        \iftabu@spread \tabu@spreadtarget \tabu@target \tabu@target \z@
-        \else          \tabu@spreadtarget \z@ \fi
-        \ifdim \tabu@target=\z@
-                \setlength\tabu@target \tabu@thetarget
-                \tabu@message{\tabu@message@defaulttarget}%
-        \else   \tabu@message{\tabu@message@target}\fi
-    \fi
-}% \tabu@rewriteX
-\def\tabu@rewriteXrestore #1#2#3{\let\@halignto \relax
-                                \def\tabu@rewritten{l}}
-\def\tabu@Xarg #1#2#3{%
-   \advance\tabu@Xcol \@ne      \let\tabu@Xlcr  \@empty
-   \let\tabu@Xdisp    \@empty   \let\tabu@Xmath \@empty
-    \ifx\\#1\\%    <shortcut when no option>
-         \def\tabu@rewritten{p}\tabucolX \p@        % <default coef = 1>
-    \else
-         \let\tabu@rewritten \@empty   \let\tabu@temp \@empty  \tabucolX \z@
-         \tabu@Xparse {}#1\relax
-    \fi
-    \tabu@Xrewritten{#2}{#3}%
-}% \tabu@Xarg
-\def\tabu@Xparse #1{\futurelet\@let@token \tabu@Xtest}
-\expandafter\def\expandafter\tabu@Xparsespace\space{\tabu@Xparse{}}
-\def\tabu@Xtest{%
-   \ifcase \ifx \relax\@let@token \z@ \else
-           \if ,\@let@token \m@ne\else
-           \if p\@let@token 1\else
-           \if m\@let@token 2\else
-           \if b\@let@token 3\else
-           \if l\@let@token 4\else
-           \if c\@let@token 5\else
-           \if r\@let@token 6\else
-           \if j\@let@token 7\else
-           \if L\@let@token 8\else
-           \if C\@let@token 9\else
-           \if R\@let@token 10\else
-           \if J\@let@token 11\else
-           \ifx \@sptoken\@let@token 12\else
-           \if .\@let@token 13\else
-           \if -\@let@token 13\else
-           \ifcat $\@let@token 14\else
-           15\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
-   \or \tabu@Xtype {p}%
-   \or \tabu@Xtype {m}%
-   \or \tabu@Xtype {b}%
-   \or \tabu@Xalign \raggedright\relax
-   \or \tabu@Xalign \centering\relax
-   \or \tabu@Xalign \raggedleft\relax
-   \or \tabu@Xalign \tabu@justify\relax
-   \or \tabu@Xalign \RaggedRight\raggedright
-   \or \tabu@Xalign \Centering\centering
-   \or \tabu@Xalign \RaggedLeft\raggedleft
-   \or \tabu@Xalign \justifying\tabu@justify
-   \or \expandafter \tabu@Xparsespace
-   \or \expandafter \tabu@Xcoef
-   \or \expandafter \tabu@Xm@th
-   \or \tabu@Xcoef{}%
-   \else\expandafter \tabu@Xparse
-   \fi
-}% \tabu@Xtest
-\def\tabu@Xalign #1#2{%
-    \ifx \tabu@Xlcr\@empty \else \PackageWarning{tabu}
-       {Duplicate horizontal alignment specification}\fi
-    \ifdefined#1\def\tabu@Xlcr{#1}\let#1\relax
-    \else       \def\tabu@Xlcr{#2}\let#2\relax\fi
-    \expandafter\tabu@Xparse
-}% \tabu@Xalign
-\def\tabu@Xtype #1{%
-    \ifx \tabu@rewritten\@empty \else \PackageWarning{tabu}
-            {Duplicate vertical alignment specification}\fi
-    \def\tabu@rewritten{#1}\expandafter\tabu@Xparse
-}% \tabu@Xtype
-\def\tabu@Xcoef#1{\edef\tabu@temp{\tabu@temp#1}%
-    \afterassignment\tabu@Xc@ef \tabu@cnt\number\if-#10\fi
-}% \tabu@Xcoef
-\def\tabu@Xc@ef{\advance\tabucolX \tabu@temp\the\tabu@cnt\p@
-    \tabu@Xparse{}%
-}% \tabu@Xc@ef
-\def\tabu@Xm@th #1{\futurelet \@let@token \tabu@Xd@sp}
-\def\tabu@Xd@sp{\let\tabu@Xmath=$%
-    \ifx $\@let@token \def\tabu@Xdisp{\displaystyle}%
-            \expandafter\tabu@Xparse
-    \else   \expandafter\tabu@Xparse\expandafter{\expandafter}%
-    \fi
-}% \tabu@Xd@sp
-\def\tabu@Xrewritten {%
-   \ifx  \tabu@rewritten\@empty \def\tabu@rewritten{p}\fi
-   \ifdim \tabucolX<\z@         \tabu@negcoeftrue
-   \else\ifdim \tabucolX=\z@    \tabucolX \p@
-   \fi\fi
-   \edef\tabu@temp{{\the\tabu@Xcol}{\tabu@strippt\tabucolX}}%
-   \edef\tabu@Xcoefs{\tabu@Xcoefs    \tabu@      \tabu@temp}%
-   \edef\tabu@rewritten ##1##2{\def\noexpand\tabu@rewritten{%
-        >{\tabu@Xlcr \ifx$\tabu@Xmath$\tabu@Xdisp\fi ##1}%
-                    \tabu@rewritten {\tabu@hsize \tabu@temp}%
-        <{##2\ifx$\tabu@Xmath$\fi}}%
-   }\tabu@rewritten
-}% \tabu@Xrewritten
-\def\tabu@hsize #1#2{%
-    \ifdim #2\p@<\z@
-        \ifdim \tabucolX=\maxdimen \tabu@wd{#1}\else
-        \ifdim \tabu@wd{#1}<-#2\tabucolX \tabu@wd{#1}\else -#2\tabucolX\fi
-        \fi
-   \else #2\tabucolX
-   \fi
-}% \tabu@hsize
-%% \usetabu  and  \preamble: rewriting process ---------------------
-\tabu@privatecolumntype \usetabu [1]{%
-    \ifx\\#1\\\tabu@saveerr{}\else
-        \@ifundefined{tabu@saved@\string#1}
-            {\tabu@saveerr{#1}}
-            {\let\tabu@rewriteX \tabu@rewriteXrestore
-             \csname tabu@saved@\string#1\expandafter\endcsname\expandafter\@ne}%
-    \fi
-}% \NC@rewrite@\usetabu
-\tabu@privatecolumntype \preamble [1]{%
-    \ifx\\#1\\\tabu@saveerr{}\else
-        \@ifundefined{tabu@saved@\string#1}
-            {\tabu@saveerr{#1}}
-            {\csname tabu@saved@\string#1\expandafter\endcsname\expandafter\z@}%
-    \fi
-}% \NC@rewrite@\preamble
-%% Controlling the rewriting process -------------------------------
-\tabu@newcolumntype \tabu@rewritefirst{%
-    \iftabu@long    \aftergroup \tabu@longpream  % <the whole implementation is here !>
-    \else           \aftergroup \tabu@pream
-    \fi
-    \let\tabu@          \relax      \let\tabu@hsize     \relax
-    \let\tabu@Xcoefs    \@empty     \let\tabu@savels    \relax
-    \tabu@Xcol          \z@         \tabu@cnt           \tw@
-    \gdef\tabu@mkpreambuffer{\tabu@{}}\tabu@measuringfalse
-    \global\setbox\@arstrutbox \box\@arstrutbox
-    \NC@list{\NC@do *}\tabu@textbar \tabu@lines
-    \NC@list\expandafter{\the\NC@list \NC@do X}%
-    \iftabu@siunitx     % <siunitx S and s columns>
-            \NC@list\expandafter{\the\NC@list \NC@do S\NC@do s}\fi
-    \NC@list\expandafter{\the\expandafter\NC@list \tabu@highprioritycolumns}%
-    \expandafter\def\expandafter\tabu@NC@list\expandafter{%
-                    \the\expandafter\NC@list \tabu@NC@list}%    % * | X S <original>
-    \NC@list\expandafter{\expandafter \NC@do \expandafter\usetabu
-                         \expandafter \NC@do \expandafter\preamble
-                         \the\NC@list \NC@do \tabu@rewritemiddle
-                                      \NC@do \tabu@rewritelast}%
-    \tabu@savedecl
-    \tabu@privatecolumns
-    \edef\tabu@prev{\the\@temptokena}\NC@find \tabu@rewritemiddle
-}% NC@rewrite@\tabu@rewritefirst
-\tabu@newcolumntype \tabu@rewritemiddle{%
-    \edef\tabu@temp{\the\@temptokena}\NC@find \tabu@rewritelast
-}% \NC@rewrite@\tabu@rewritemiddle
-\tabu@newcolumntype \tabu@rewritelast{%
-    \ifx \tabu@temp\tabu@prev   \advance\tabu@cnt \m@ne
-            \NC@list\expandafter{\tabu@NC@list \NC@do \tabu@rewritemiddle
-                                               \NC@do \tabu@rewritelast}%
-    \else \let\tabu@prev\tabu@temp
-    \fi
-    \ifcase \tabu@cnt   \expandafter\tabu@endrewrite
-    \else               \expandafter\NC@find \expandafter\tabu@rewritemiddle
-    \fi
-}% \NC@rewrite@\tabu@rewritelast
-%% Choosing the strategy --------------------------------------------
-\def\tabu@endrewrite {%
-    \let\tabu@temp \NC@find
-    \ifx \@arrayright\relax \let\@arrayright \@empty  \fi
-    \count@=%
-        \ifx \@finalstrut\tabu@finalstrut \z@ % outer in mode 0 print
-             \iftabu@measuring
-                \xdef\tabu@mkpreambuffer{\tabu@mkpreambuffer
-                    \tabu@target        \csname tabu@\the\tabu@nested.T\endcsname
-                    \tabucolX           \csname tabu@\the\tabu@nested.X\endcsname
-                    \edef\@halignto {\ifx\@arrayright\@empty to\tabu@target\fi}}%
-             \fi
-        \else\iftabu@measuring        4       % X columns
-                \xdef\tabu@mkpreambuffer{\tabu@{\tabu@mkpreambuffer
-                    \tabu@target        \the\tabu@target
-                    \tabu@spreadtarget  \the\tabu@spreadtarget}%
-                    \def\noexpand\tabu@Xcoefs{\tabu@Xcoefs}%
-                    \edef\tabu@halignto{\ifx \@arrayright\@empty to\tabu@target\fi}}%
-                 \let\tabu@Xcoefs \relax
-             \else\ifcase\tabu@nested \thr@@  % outer, no X
-                                      \global\let\tabu@afterendpar \relax
-                  \else               \@ne    % inner, no X, outer in mode 1 or 2
-                  \fi
-                  \ifdefined\tabu@usetabu
-                  \else \ifdim\tabu@target=\z@
-                  \else \let\tabu@temp \tabu@extracolsep
-                  \fi\fi
-             \fi
-        \fi
-    \xdef\tabu@mkpreambuffer{\count@ \the\count@ \tabu@mkpreambuffer}%
-    \tabu@temp
-}% \tabu@endrewrite
-\def\tabu@extracolsep{\@defaultunits    \expandafter\let
-    \expandafter\tabu@temp \expandafter=\the\@temptokena \relax\@nnil
-    \ifx \tabu@temp\@sptoken
-        \expandafter\tabu@gobblespace \expandafter\tabu@extracolsep
-    \else
-        \edef\tabu@temp{\noexpand\NC@find
-            \if |\noexpand\tabu@temp        @%
-            \else\if !\noexpand\tabu@temp   @%
-            \else                           !%
-            \fi\fi
-            {\noexpand\extracolsep\noexpand\@flushglue}}%
-    \fi
-    \tabu@temp
-}% \tabu@extrac@lsep
-%% Implementing the strategy ----------------------------------------
-\long\def\tabu@pream #1\@preamble {%
-    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
-    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
-    \ifdefined\tabu@usetabu \tabu@usetabu \tabu@target \z@ \fi
-    \let\tabu@savedpreamble \@preamble
-    \global\let\tabu@elapsedtime \relax
-    \tabu@thebody ={#1\tabu@aftergroupcleanup}%
-    \tabu@thebody =\expandafter{\the\expandafter\tabu@thebody
-                                                \@preamble}%
-    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
-    \tabu@select
-}% \tabu@pream
-\long\def\tabu@longpream #1\LT@bchunk #2\LT@bchunk{%
-    \let\tabu@ \tabu@@  \tabu@mkpreambuffer     \tabu@aftergroupcleanup
-    \NC@list\expandafter {\tabu@NC@list}%    in case of nesting...
-    \let\tabu@savedpreamble \@preamble
-    \global\let\tabu@elapsedtime \relax
-    \tabu@thebody ={#1\LT@bchunk #2\tabu@aftergroupcleanup \LT@bchunk}%
-    \edef\tabuthepreamble {\the\tabu@thebody}% ( no @ allowed for \scantokens )
-    \tabu@select
-}% \tabu@longpream
-\def\tabu@select {%
-    \ifnum\tabu@nested>\z@ \tabuscantokensfalse \fi
-    \ifnum \count@=\@ne \iftabu@measuring \count@=\tw@ \fi\fi
-    \ifcase \count@
-        \global\let\tabu@elapsedtime \relax
-        \tabu@seteverycr
-        \expandafter \tabuthepreamble       % vertical adjustment (inherited from outer)
-    \or      % exit in vertical measure + struts per cell because no X and outer in mode 3
-        \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
-        \def\tabu@cellralign{\tabu@verticalspacing}%
-        \tabu@seteverycr
-        \expandafter \tabuthepreamble
-    \or                            % exit without measure because no X and outer in mode 4
-        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
-        \tabu@seteverycr
-        \expandafter \tabuthepreamble
-    \else                                   % needs trials
-        \tabu@evr{}\tabu@celllalign@def{}\let\tabu@cellralign \@empty
-        \tabu@savecounters
-        \expandafter \tabu@setstrategy
-    \fi
-}% \tabu@select
-\def\tabu@@ {\gdef\tabu@mkpreambuffer}
-%% Protections to set up before trials ------------------------------
-\def\tabu@setstrategy {\begingroup  % <trials group>
-    \tabu@trialh@@k    \tabu@cnt    \z@  % number of trials
-    \hbadness          \@M          \let\hbadness          \@tempcnta
-    \hfuzz             \maxdimen    \let\hfuzz             \@tempdima
-    \let\write         \tabu@nowrite\let\GenericError      \tabu@GenericError
-    \let\savetabu      \@gobble     \let\tabudefaulttarget \linewidth
-    \let\@footnotetext \@gobble     \let\@xfootnote        \tabu@xfootnote
-    \let\color         \tabu@nocolor\let\rowcolor          \tabu@norowcolor
-    \let\tabu@aftergroupcleanup \relax % only after the last trial
-    \tabu@mkpreambuffer
-    \ifnum \count@>\thr@@ \let\@halignto \@empty  \tabucolX@init
-                          \def\tabu@lasttry{\m@ne\p@}\fi
-    \begingroup \iffalse{\fi \ifnum0=`}\fi
-        \toks@{}\def\tabu@stack{b}\iftabuscantokens \endlinechar=10 \obeyspaces \fi %
-                                  \tabu@collectbody \tabu@strategy %
-}% \tabu@setstrategy
-\def\tabu@savecounters{%
-    \def\@elt ##1{\csname c@##1\endcsname\the\csname c@##1\endcsname}%
-    \edef\tabu@clckpt {\begingroup \globaldefs=\@ne \cl@@ckpt \endgroup}\let\@elt \relax
-}% \tabu@savecounters
-\def\tabucolX@init {%  \tabucolX <= \tabu@target / (sum coefs > 0)
-    \dimen@ \z@ \tabu@Xsum \z@ \tabucolX \z@ \let\tabu@ \tabu@Xinit \tabu@Xcoefs
-    \ifdim \dimen@>\z@
-        \@tempdima \dimexpr \tabu@target *\p@/\dimen@ + \tabu@hfuzz\relax
-        \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
-    \fi
-}% \tabucolX@init
-\def\tabu@Xinit #1#2{\tabu@Xcol #1 \advance \tabu@Xsum
-    \ifdim #2\p@>\z@ #2\p@  \advance\dimen@ #2\p@
-    \else           -#2\p@  \tabu@negcoeftrue
-                            \@tempdima \dimexpr \tabu@target*\p@/\dimexpr-#2\p@\relax \relax
-                            \ifdim \tabucolX<\@tempdima \tabucolX \@tempdima \fi
-                            \tabu@wddef{#1}{0pt}%
-    \fi
-}% \tabu@Xinit
-%% Collecting the environment body ----------------------------------
-\long\def\tabu@collectbody #1#2\end #3{%
-    \edef\tabu@stack{\tabu@pushbegins #2\begin\end\expandafter\@gobble\tabu@stack}%
-    \ifx \tabu@stack\@empty
-        \toks@\expandafter{\expandafter\tabu@thebody\expandafter{\the\toks@ #2}%
-                \def\tabu@end@envir{\end{#3}}%
-                \iftabuscantokens
-                    \iftabu@long \def\tabu@endenvir {\end{#3}\tabu@gobbleX}%
-                    \else        \def\tabu@endenvir {\let\endarray \@empty
-                                                     \end{#3}\tabu@gobbleX}%
-                    \fi
-                \else           \def\tabu@endenvir  {\end{#3}}\fi}%
-        \let\tabu@collectbody \tabu@endofcollect
-    \else\def\tabu@temp{#3}%
-        \ifx \tabu@temp\@empty \toks@\expandafter{\the\toks@ #2\end }%
-        \else \ifx\tabu@temp\tabu@@spxiii \toks@\expandafter{\the\toks@ #2\end #3}%
-        \else \ifx\tabu@temp\tabu@X \toks@\expandafter{\the\toks@ #2\end #3}%
-        \else \toks@\expandafter{\the\toks@ #2\end{#3}}%
-        \fi\fi\fi
-    \fi
-    \tabu@collectbody{#1}%
-}% \tabu@collectbody
-\long\def\tabu@pushbegins#1\begin#2{\ifx\end#2\else b\expandafter\tabu@pushbegins\fi}%
-\def\tabu@endofcollect #1{\ifnum0=`{}\fi
-                          \expandafter\endgroup \the\toks@  #1%
-}% \tabu@endofcollect
-%% The trials: switching between strategies -------------------------
-\def\tabu@strategy {\relax  % stops \count@ assignment !
-    \ifcase\count@          % case 0 = print with vertical adjustment (outer is finished)
-        \expandafter \tabu@endoftrials
-    \or                     % case 1 = exit in vertical measure (outer in mode 3)
-        \expandafter\xdef\csname tabu@\the\tabu@nested.T\endcsname{\the\tabu@target}%
-        \expandafter\xdef\csname tabu@\the\tabu@nested.X\endcsname{\the\tabucolX}%
-        \expandafter \tabu@endoftrials
-    \or                     % case 2 = exit with a rule replacing the table (outer in mode 4)
-        \expandafter \tabu@quickend
-    \or                     % case 3 = outer is in mode 3 because of no X
-        \begingroup
-            \tabu@evr{\tabu@verticalinit}\tabu@celllalign@def{\tabu@verticalmeasure}%
-            \def\tabu@cellralign{\tabu@verticalspacing}%
-            \expandafter \tabu@measuring
-    \else                   % case 4 = horizontal measure
-        \begingroup
-            \global\let\tabu@elapsedtime \tabu@message@etime
-            \long\def\multicolumn##1##2##3{\multispan{##1}}%
-            \let\tabu@startpboxORI \@startpbox
-            \iftabu@spread
-                    \def\tabu@naturalXmax {\z@}%
-                    \let\tabu@naturalXmin \tabu@naturalXmax
-                    \tabu@evr{\global\tabu@naturalX \z@}%
-                    \let\@startpbox \tabu@startpboxmeasure
-            \else\iftabu@negcoef
-                    \let\@startpbox \tabu@startpboxmeasure
-            \else   \let\@startpbox \tabu@startpboxquick
-            \fi\fi
-            \expandafter \tabu@measuring
-    \fi
-}% \tabu@strategy
-\def\tabu@measuring{\expandafter \tabu@trial \expandafter
-                                                \count@ \the\count@ \tabu@endtrial
-}% \tabu@measuring
-\def\tabu@trial{\iftabu@long \tabu@longtrial \else \tabu@shorttrial \fi}
-\def\tabu@shorttrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
-    \ifx \tabu@savecounters\relax \else
-                \let\tabu@savecounters \relax \tabu@clckpt \fi
-    $\iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
-       \expandafter{\expandafter \tabuthepreamble
-                         \the\tabu@thebody
-                         \csname tabu@adl@endtrial\endcsname
-                         \endarray}$\egroup             % got \tabu@box
-}% \tabu@shorttrial
-\def\tabu@longtrial {\setbox\tabu@box \hbox\bgroup \tabu@seteverycr
-    \ifx \tabu@savecounters\relax \else
-                \let\tabu@savecounters \relax \tabu@clckpt \fi
-    \iftabuscantokens \tabu@rescan \else \expandafter\@secondoftwo \fi
-       \expandafter{\expandafter \tabuthepreamble
-                         \the\tabu@thebody
-                         \tabuendlongtrial}\egroup      % got \tabu@box
-}% \tabu@longtrial
-\def\tabuendlongtrial{% no @ allowed for \scantokens
-    \LT@echunk  \global\setbox\@ne \hbox{\unhbox\@ne}\kern\wd\@ne
-                \LT@get@widths
-}% \tabuendlongtrial
-\def\tabu@adl@endtrial{% <arydshln in nested trials - problem for global column counters!>
-    \crcr \noalign{\global\adl@ncol \tabu@nbcols}}% anything global is crap, junky and fails !
-\def\tabu@seteverycr {\tabu@reset
-    \everycr \expandafter{\the\everycr  \tabu@everycr}%
-    \let\everycr \tabu@noeverycr                      % <for ialign>
-}% \tabu@seteverycr
-\def\tabu@noeverycr{{\aftergroup\tabu@restoreeverycr \afterassignment}\toks@}
-\def\tabu@restoreeverycr {\let\everycr \tabu@@everycr}
-\def\tabu@everycr {\iftabu@everyrow \noalign{\tabu@everyrow}\fi}
-\def\tabu@endoftrials {%
-    \iftabuscantokens   \expandafter\@firstoftwo
-    \else               \expandafter\@secondoftwo
-    \fi
-        {\expandafter \tabu@closetrialsgroup \expandafter
-         \tabu@rescan \expandafter{%
-                    \expandafter\tabuthepreamble
-                        \the\expandafter\tabu@thebody
-                                    \iftabu@long \else \endarray \fi}}
-        {\expandafter\tabu@closetrialsgroup \expandafter
-                    \tabuthepreamble
-                        \the\tabu@thebody}%
-                                        \tabu@endenvir      % Finish !
-}% \tabu@endoftrials
-\def\tabu@closetrialsgroup {%
-    \toks@\expandafter{\tabu@endenvir}%
-    \edef\tabu@bufferX{\endgroup
-        \tabucolX       \the\tabucolX
-        \tabu@target    \the\tabu@target
-        \tabu@cnt       \the\tabu@cnt
-        \def\noexpand\tabu@endenvir{\the\toks@}%
-        %Quid de \@halignto = \tabu@halignto ??
-    }% \tabu@bufferX
-    \tabu@bufferX
-    \ifcase\tabu@nested % print out (outer in mode 0)
-        \global\tabu@cnt \tabu@cnt
-        \tabu@evr{\tabu@verticaldynamicadjustment}%
-        \tabu@celllalign@def{\everypar{}}\let\tabu@cellralign \@empty
-        \let\@finalstrut \tabu@finalstrut
-    \else               % vertical measure of nested tabu
-        \tabu@evr{\tabu@verticalinit}%
-        \tabu@celllalign@def{\tabu@verticalmeasure}%
-        \def\tabu@cellralign{\tabu@verticalspacing}%
-    \fi
-    \tabu@clckpt \let\@halignto \tabu@halignto
-    \let\@halignto \@empty
-    \tabu@seteverycr
-    \ifdim \tabustrutrule>\z@ \ifnum\tabu@nested=\z@
-        \setbox\@arstrutbox \box\voidb@x % force \@arstrutbox to be rebuilt (visible struts)
-    \fi\fi
-}% \tabu@closetrialsgroup
-\def\tabu@quickend {\expandafter \endgroup \expandafter
-                        \tabu@target \the\tabu@target \tabu@quickrule
-                        \let\endarray \relax \tabu@endenvir
-}% \tabu@quickend
-\def\tabu@endtrial {\relax      % stops \count@ assignment !
-    \ifcase \count@ \tabu@err   % case 0 = impossible here
-    \or             \tabu@err   % case 1 = impossible here
-    \or             \tabu@err   % case 2 = impossible here
-    \or                         % case 3 = outer goes into mode 0
-        \def\tabu@bufferX{\endgroup}\count@ \z@
-    \else                       % case 4 = outer goes into mode 3
-        \iftabu@spread  \tabu@spreadarith % inner into mode 1 (outer in mode 3)
-        \else           \tabu@arith       %              or 2 (outer in mode 4)
-        \fi
-        \count@=%
-            \ifcase\tabu@nested     \thr@@  % outer goes into mode 3
-            \else\iftabu@measuring  \tw@    % outer is in mode 4
-            \else                   \@ne    % outer is in mode 3
-            \fi\fi
-        \edef\tabu@bufferX{\endgroup
-                           \tabucolX        \the\tabucolX
-                           \tabu@target     \the\tabu@target}%
-    \fi
-    \expandafter \tabu@bufferX \expandafter
-                                    \count@ \the\count@  \tabu@strategy
-}% \tabu@endtrial
-\def\tabu@err{\errmessage{(tabu) Internal impossible error! (\count@=\the\count@)}}
-%% The algorithms: compute the widths / stop or go on ---------------
-\def\tabu@arithnegcoef {%
-    \@tempdima \z@ \dimen@ \z@ \let\tabu@ \tabu@arith@negcoef \tabu@Xcoefs
-}% \tabu@arithnegcoef
-\def\tabu@arith@negcoef #1#2{%
-    \ifdim #2\p@>\z@    \advance\dimen@     #2\p@       % saturated by definition
-                        \advance\@tempdima  #2\tabucolX
-    \else
-        \ifdim -#2\tabucolX <\tabu@wd{#1}% c_i X < natural width <= \tabu@target-> saturated
-                        \advance\dimen@     -#2\p@
-                        \advance\@tempdima  -#2\tabucolX
-        \else
-                        \advance\@tempdima \tabu@wd{#1}% natural width <= c_i X => neutralised
-                        \ifdim \tabu@wd{#1}<\tabu@target \else % neutralised
-                        \advance\dimen@     -#2\p@ % saturated (natural width = tabu@target)
-                        \fi
-        \fi
-    \fi
-}% \tabu@arith@negcoef
-\def\tabu@givespace #1#2{% here \tabu@DELTA < \z@
-    \ifdim \@tempdima=\z@
-        \tabu@wddef{#1}{\the\dimexpr -\tabu@DELTA*\p@/\tabu@Xsum}%
-    \else
-        \tabu@wddef{#1}{\the\dimexpr \tabu@hsize{#1}{#2}
-                    *(\p@ -\tabu@DELTA*\p@/\@tempdima)/\p@\relax}%
-    \fi
-}% \tabu@givespace
-\def\tabu@arith {\advance\tabu@cnt \@ne
-    \ifnum \tabu@cnt=\@ne \tabu@message{\tabu@titles}\fi
-    \tabu@arithnegcoef
-    \@tempdimb \dimexpr \wd\tabu@box -\@tempdima \relax % <incompressible material>
-    \tabu@DELTA = \dimexpr \wd\tabu@box - \tabu@target \relax
-    \tabu@message{\tabu@message@arith}%
-    \ifdim \tabu@DELTA <\tabu@hfuzz
-        \ifdim \tabu@DELTA<\z@          % wd (tabu)<\tabu@target ?
-            \let\tabu@ \tabu@givespace \tabu@Xcoefs
-            \advance\@tempdima \@tempdimb \advance\@tempdima -\tabu@DELTA % for message
-        \else   % already converged: nothing to do but nearly impossible...
-        \fi
-        \tabucolX \maxdimen
-        \tabu@measuringfalse
-    \else                               % need for narrower X columns
-        \tabucolX =\dimexpr (\@tempdima -\tabu@DELTA) *\p@/\tabu@Xsum \relax
-        \tabu@measuringtrue
-        \@whilesw \iftabu@measuring\fi {%
-            \advance\tabu@cnt \@ne
-            \tabu@arithnegcoef
-            \tabu@DELTA =\dimexpr \@tempdima+\@tempdimb -\tabu@target \relax % always < 0 here
-            \tabu@message{\tabu@header
-                \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
-                \tabu@msgalign \@tempdima+\@tempdimb { }{ }{ }{ }{ }\@@
-                \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
-                \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
-                \ifdim -\tabu@DELTA<\tabu@hfuzz \tabu@spaces target ok\else
-                \tabu@msgalign \dimexpr -\tabu@DELTA *\p@/\dimen@ {}{}{}{}{}\@@
-                \fi}%
-            \ifdim -\tabu@DELTA<\tabu@hfuzz
-                \advance\@tempdima \@tempdimb % for message
-                \tabu@measuringfalse
-            \else
-                \advance\tabucolX \dimexpr -\tabu@DELTA *\p@/\dimen@ \relax
-            \fi
-        }%
-    \fi
-    \tabu@message{\tabu@message@reached}%
-    \edef\tabu@bufferX{\endgroup \tabu@cnt    \the\tabu@cnt
-                                 \tabucolX    \the\tabucolX
-                                 \tabu@target \the\tabu@target}%
-}% \tabu@arith
-\def\tabu@spreadarith {%
-    \dimen@ \z@ \@tempdima \tabu@naturalXmax \let\tabu@ \tabu@spread@arith \tabu@Xcoefs
-    \edef\tabu@naturalXmin {\the\dimexpr\tabu@naturalXmin*\dimen@/\p@}%
-    \@tempdimc =\dimexpr \wd\tabu@box -\tabu@naturalXmax+\tabu@naturalXmin \relax
-    \iftabu@measuring
-        \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
-        \edef\tabu@bufferX{\endgroup \tabucolX \the\tabucolX \tabu@target\the\tabu@target}%
-    \else
-        \tabu@message{\tabu@message@spreadarith}%
-        \ifdim \dimexpr \@tempdimc+\tabu@spreadtarget >\tabu@target
-            \tabu@message{(tabu) spread
-                \ifdim \@tempdimc>\tabu@target useless here: default target used%
-                \else too large: reduced to fit default target\fi.}%
-        \else
-            \tabu@target =\dimexpr \@tempdimc+\tabu@spreadtarget \relax
-            \tabu@message{(tabu) spread: New target set to \the\tabu@target^^J}%
-        \fi
-        \begingroup \let\tabu@wddef \@gobbletwo
-            \@tempdimb \@tempdima
-            \tabucolX@init
-            \tabu@arithnegcoef
-            \wd\tabu@box =\dimexpr \wd\tabu@box +\@tempdima-\@tempdimb \relax
-        \expandafter\endgroup \expandafter\tabucolX \the\tabucolX
-        \tabu@arith
-    \fi
-}% \tabu@spreadarith
-\def\tabu@spread@arith #1#2{%
-    \ifdim #2\p@>\z@ \advance\dimen@ #2\p@
-    \else            \advance\@tempdima \tabu@wd{#1}\relax
-    \fi
-}% \tabu@spread@arith
-%% Reporting in the .log file ---------------------------------------
-\def\tabu@message@defaulttarget{%
-    \ifnum\tabu@nested=\z@^^J(tabu) Default target:
-    \ifx\tabudefaulttarget\linewidth    \string\linewidth
-        \ifdim \tabu@thetarget=\linewidth \else
-            -\the\dimexpr\linewidth-\tabu@thetarget\fi  =
-    \else\ifx\tabudefaulttarget\linegoal\string\linegoal=
-    \fi\fi
-    \else (tabu) Default target (nested): \fi
-    \the\tabu@target \on@line
-    \ifnum\tabu@nested=\z@ , page \the\c@page\fi}
-\def\tabu@message@target {^^J(tabu) Target specified:
-   \the\tabu@target \on@line, page \the\c@page}
-\def\tabu@message@arith {\tabu@header
-    \tabu@msgalign \tabucolX { }{ }{ }{ }{ }\@@
-    \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{ }\@@
-    \tabu@msgalign \tabu@target { }{ }{ }{ }{ }\@@
-    \tabu@msgalign@PT \dimen@ { }{}{}{}{}{}{}\@@
-    \ifdim \tabu@DELTA<\tabu@hfuzz giving space\else
-    \tabu@msgalign \dimexpr (\@tempdima-\tabu@DELTA) *\p@/\tabu@Xsum -\tabucolX {}{}{}{}{}\@@
-    \fi
-}% \tabu@message@arith
-\def\tabu@message@spreadarith {\tabu@spreadheader
-   \tabu@msgalign \tabu@spreadtarget { }{ }{ }{ }{}\@@
-   \tabu@msgalign \wd\tabu@box { }{ }{ }{ }{}\@@
-   \tabu@msgalign -\tabu@naturalXmax { }{}{}{}{}\@@
-   \tabu@msgalign \tabu@naturalXmin { }{ }{ }{ }{}\@@
-   \tabu@msgalign \ifdim \dimexpr\@tempdimc>\tabu@target \tabu@target
-                  \else  \@tempdimc+\tabu@spreadtarget \fi
-                  {}{}{}{}{}\@@}
-\def\tabu@message@negcoef #1#2{
-    \tabu@spaces\tabu@spaces\space * #1. X[\rem@pt#2]:
-    \space width = \tabu@wd {#1}
-        \expandafter\string\csname tabu@\the\tabu@nested.W\number#1\endcsname
-    \ifdim -\tabu@pt#2\tabucolX<\tabu@target
-    < \number-\rem@pt#2 X
-    = \the\dimexpr -\tabu@pt#2\tabucolX \relax
-    \else
-    <= \the\tabu@target\space < \number-\rem@pt#2 X\fi}
-\def\tabu@message@reached{\tabu@header
-     ******* Reached Target:
-            hfuzz = \tabu@hfuzz\on@line\space *******}
-\def\tabu@message@etime{\edef\tabu@stoptime{\the\pdfelapsedtime}%
-    \tabu@message{(tabu)\tabu@spaces Time elapsed during measure:
-    \the\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax sec
-    \the\numexpr\numexpr(\tabu@stoptime-\tabu@starttime)
-    -\numexpr(\tabu@stoptime-\tabu@starttime-32767)/65536\relax*65536\relax
-    *1000/65536\relax ms \tabu@spaces(\the\tabu@cnt\space
-                                        cycle\ifnum\tabu@cnt>\@ne s\fi)^^J^^J}}
-\def\tabu@message@verticalsp {%
-    \ifdim \@tempdima>\tabu@ht
-        \ifdim \@tempdimb>\tabu@dp
-        \expandafter\expandafter\expandafter\string\tabu@ht =
-            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@
-        \expandafter\expandafter\expandafter\string\tabu@dp =
-            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J%
-        \else
-        \expandafter\expandafter\expandafter\string\tabu@ht =
-            \tabu@msgalign \@tempdima { }{ }{ }{ }{ }\@@^^J%
-        \fi
-    \else\ifdim \@tempdimb>\tabu@dp
-        \tabu@spaces\tabu@spaces\tabu@spaces
-        \expandafter\expandafter\expandafter\string\tabu@dp =
-            \tabu@msgalign \@tempdimb { }{ }{ }{ }{ }\@@^^J\fi
-    \fi
-}% \tabu@message@verticalsp
-\edef\tabu@spaces{\@spaces}
-\def\tabu@strippt{\expandafter\tabu@pt\the}
-{\@makeother\P \@makeother\T\lowercase{\gdef\tabu@pt #1PT{#1}}}
-\def\tabu@msgalign{\expandafter\tabu@msg@align\the\dimexpr}
-\def\tabu@msgalign@PT{\expandafter\tabu@msg@align\romannumeral-`\0\tabu@strippt}
-\def\do #1{%
-    \def\tabu@msg@align##1.##2##3##4##5##6##7##8##9\@@{%
-    \ifnum##1<10 #1 #1\else
-    \ifnum##1<100 #1 \else
-    \ifnum##1<\@m #1\fi\fi\fi
-    ##1.##2##3##4##5##6##7##8#1}%
-    \def\tabu@header{(tabu) \ifnum\tabu@cnt<10 #1\fi\the\tabu@cnt) }%
-    \def\tabu@titles{\ifnum \tabu@nested=\z@
-      (tabu) Try#1 #1 tabu X #1 #1 #1tabu Width #1 #1 Target
-                  #1 #1 #1 Coefs #1 #1 #1 Update^^J\fi}%
-    \def\tabu@spreadheader{%
-      (tabu) Try#1 #1 Spread #1 #1 tabu Width #1 #1 #1 Nat. X #1 #1 #1 #1Nat. Min.
-                                                      #1 New Target^^J%
-      (tabu) sprd}
-    \def\tabu@message@save {\begingroup
-        \def\x ####1{\tabu@msg@align ####1{ }{ }{ }{ }{}\@@}
-        \def\z ####1{\expandafter\x\expandafter{\romannumeral-`\0\tabu@strippt
-                                                     \dimexpr####1\p@{ }{ }}}%
-        \let\color \relax \def\tabu@rulesstyle ####1####2{\detokenize{####1}}%
-        \let\CT@arc@ \relax \let\@preamble \@gobble
-        \let\tabu@savedpream  \@firstofone
-        \let\tabu@savedparams \@firstofone
-        \def\tabu@target ####1\relax   {(tabu) target #1 #1 #1 #1 #1 = \x{####1}^^J}%
-        \def\tabucolX ####1\relax      {(tabu) X columns width#1 = \x{####1}^^J}%
-        \def\tabu@nbcols ####1\relax   {(tabu) Number of columns: \z{####1}^^J}%
-        \def\tabu@aligndefault    ####1{(tabu) Default alignment: #1 #1 ####1^^J}%
-        \def\col@sep ####1\relax       {(tabu) column sep #1 #1 #1 = \x{####1}^^J}%
-        \def\arrayrulewidth ####1\relax{(tabu) arrayrulewidth #1 = \x{####1}}%
-        \def\doublerulesep ####1\relax { doublerulesep = \x{####1}^^J}%
-        \def\extratabsurround####1\relax{(tabu) extratabsurround = \x{####1}^^J}%
-        \def\extrarowheight ####1\relax{(tabu) extrarowheight #1 = \x{####1}}%
-        \def\extrarowdepth ####1\relax {extrarowdepth = \x{####1}^^J}%
-        \def\abovetabulinesep####1\relax{(tabu) abovetabulinesep=\x{####1} }%
-        \def\belowtabulinesep####1\relax{ belowtabulinesep=\x{####1}^^J}%
-        \def\arraystretch         ####1{(tabu) arraystretch #1 #1 = \z{####1}^^J}%
-        \def\minrowclearance####1\relax{(tabu) minrowclearance #1 = \x{####1}^^J}%
-        \def\tabu@arc@L           ####1{(tabu) taburulecolor #1 #1 = ####1^^J}%
-        \def\tabu@drsc@L          ####1{(tabu) tabudoublerulecolor=  ####1^^J}%
-        \def\tabu@evr@L           ####1{(tabu) everyrow #1 #1 #1 #1 = \detokenize{####1}^^J}%
-        \def\tabu@ls@L            ####1{(tabu) line style = \detokenize{####1}^^J}%
-        \def\NC@find ####1\@nil{(tabu) tabu preamble#1 #1 = \detokenize{####1}^^J}%
-        \def\tabu@wddef####1####2{(tabu) Natural width ####1 = \x{####2}^^J}%
-        \let\edef \@gobbletwo \let\def \@empty \let\let \@gobbletwo
-        \tabu@message{%
-         (tabu) \string\savetabu{\tabu@temp}: \on@line^^J%
-         \tabu@usetabu \@nil^^J}%
-        \endgroup}
-}\do{ }
-%% Measuring the natural width (varwidth) - store the results -------
-\def\tabu@startpboxmeasure #1{\bgroup   % entering \vtop
-    \edef\tabu@temp{\expandafter\@secondoftwo \ifx\tabu@hsize #1\else\relax\fi}%
-    \ifodd 1\ifx \tabu@temp\@empty 0 \else      % starts with \tabu@hsize ?
-            \iftabu@spread           \else      % if spread -> measure
-            \ifdim \tabu@temp\p@>\z@ 0 \fi\fi\fi% if coef>0 -> do not measure
-        \let\@startpbox \tabu@startpboxORI      % restore immediately (nesting)
-        \tabu@measuringtrue                     % for the quick option...
-        \tabu@Xcol =\expandafter\@firstoftwo\ifx\tabu@hsize #1\fi
-        \ifdim \tabu@temp\p@>\z@ \ifdim \tabu@temp\tabucolX<\tabu@target
-                                        \tabu@target=\tabu@temp\tabucolX \fi\fi
-        \setbox\tabu@box  \hbox \bgroup
-            \begin{varwidth}\tabu@target
-                \let\FV@ListProcessLine \tabu@FV@ListProcessLine  % \hbox to natural width...
-                \narrowragged \arraybackslash \parfillskip \@flushglue
-                \ifdefined\pdfadjustspacing \pdfadjustspacing\z@ \fi
-                \bgroup \aftergroup\tabu@endpboxmeasure
-                \ifdefined \cellspacetoplimit \tabu@cellspacepatch \fi
-    \else \expandafter\@gobble
-                            \tabu@startpboxquick{#1}% \@gobble \bgroup
-    \fi
-}% \tabu@startpboxmeasure
-\def\tabu@cellspacepatch{\def\bcolumn##1\@nil{}\let\ecolumn\@empty
-                                          \bgroup\color@begingroup}
-\def\tabu@endpboxmeasure {%
-    \@finalstrut \@arstrutbox
-                    \end{varwidth}\egroup    % <got my \tabu@box>
-    \ifdim \tabu@temp\p@ <\z@   % neg coef
-        \ifdim \tabu@wd\tabu@Xcol <\wd\tabu@box
-            \tabu@wddef\tabu@Xcol {\the\wd\tabu@box}%
-            \tabu@debug{\tabu@message@endpboxmeasure}%
-        \fi
-    \else                       % spread coef>0
-        \global\advance \tabu@naturalX \wd\tabu@box
-        \@tempdima =\dimexpr \wd\tabu@box *\p@/\dimexpr \tabu@temp\p@\relax \relax
-        \ifdim \tabu@naturalXmax <\tabu@naturalX
-            \xdef\tabu@naturalXmax {\the\tabu@naturalX}\fi
-        \ifdim \tabu@naturalXmin <\@tempdima
-            \xdef\tabu@naturalXmin {\the\@tempdima}\fi
-    \fi
-   \box\tabu@box \egroup % end of \vtop (measure) restore \tabu@target
-}% \tabu@endpboxmeasure
-\def\tabu@wddef #1{\expandafter\xdef
-                   \csname tabu@\the\tabu@nested.W\number#1\endcsname}
-\def\tabu@wd    #1{\csname tabu@\the\tabu@nested.W\number#1\endcsname}
-\def\tabu@message@endpboxmeasure{\tabu@spaces\tabu@spaces<-> % <-> save natural wd
-    \the\tabu@Xcol. X[\tabu@temp]:
-    target = \the\tabucolX \space
-    \expandafter\expandafter\expandafter\string\tabu@wd\tabu@Xcol
-    =\tabu@wd\tabu@Xcol
-}% \tabu@message@endpboxmeasure
-\def\tabu@startpboxquick {\bgroup
-    \let\@startpbox \tabu@startpboxORI  % restore immediately
-    \let\tabu \tabu@quick               % \begin is expanded before...
-    \expandafter\@gobble \@startpbox    % gobbles \bgroup
-}% \tabu@startpboxquick
-\def\tabu@quick {\begingroup \iffalse{\fi \ifnum0=`}\fi
-    \toks@{}\def\tabu@stack{b}\tabu@collectbody \tabu@endquick
-}% \tabu@quick
-\def\tabu@endquick {%
-    \ifodd 1\ifx\tabu@end@envir\tabu@endtabu  \else
-            \ifx\tabu@end@envir\tabu@endtabus \else 0\fi\fi\relax
-            \endgroup
-    \else   \let\endtabu \relax
-            \tabu@end@envir
-    \fi
-}% \tabu@quick
-\def\tabu@endtabu   {\end{tabu}}
-\def\tabu@endtabus  {\end{tabu*}}
-%% Measuring the heights and depths - store the results -------------
-\def\tabu@verticalmeasure{\everypar{}%
-    \ifnum \currentgrouptype>12         % 14=semi-simple, 15=math shift group
-        \setbox\tabu@box =\hbox\bgroup
-            \let\tabu@verticalspacing \tabu@verticalsp@lcr
-            \d@llarbegin                % after \hbox ...
-    \else
-        \edef\tabu@temp{\ifnum\currentgrouptype=5\vtop
-                        \else\ifnum\currentgrouptype=12\vcenter
-                        \else\vbox\fi\fi}%
-        \setbox\tabu@box \hbox\bgroup$\tabu@temp \bgroup
-            \let\tabu@verticalspacing \tabu@verticalsp@pmb
-    \fi
-}% \tabu@verticalmeasure
-\def\tabu@verticalsp@lcr{%
-    \d@llarend \egroup       % <got my \tabu@box>
-    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
-    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
-        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
-    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
-    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
-    \noindent\vrule height\@tempdima depth\@tempdimb
-}% \tabu@verticalsp@lcr
-\def\tabu@verticalsp@pmb{% inserts struts as needed
-    \par \expandafter\egroup
-            \expandafter$\expandafter
-                    \egroup \expandafter
-                            \@tempdimc \the\prevdepth
-    \@tempdima \dimexpr \ht\tabu@box+\abovetabulinesep
-    \@tempdimb \dimexpr \dp\tabu@box+\belowtabulinesep \relax
-        \ifdim\tabustrutrule>\z@ \tabu@debug{\tabu@message@verticalsp}\fi
-    \ifdim \tabu@ht<\@tempdima    \tabu@htdef{\the\@tempdima}\fi
-    \ifdim \tabu@dp<\@tempdimb    \tabu@dpdef{\the\@tempdimb}\fi
-    \let\@finalstrut \@gobble
-    \hrule height\@tempdima depth\@tempdimb width\hsize
-%%    \box\tabu@box
-}% \tabu@verticalsp@pmb
-
-\def\tabu@verticalinit{%
-    \ifnum \c@taburow=\z@ \tabu@rearstrut \fi       % after \tabu@reset !
-    \advance\c@taburow \@ne
-    \tabu@htdef{\the\ht\@arstrutbox}\tabu@dpdef{\the\dp\@arstrutbox}%
-    \advance\c@taburow \m@ne
-}% \tabu@verticalinit
-\def\tabu@htdef {\expandafter\xdef \csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
-\def\tabu@ht                      {\csname tabu@\the\tabu@nested.H\the\c@taburow\endcsname}
-\def\tabu@dpdef {\expandafter\xdef \csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
-\def\tabu@dp                      {\csname tabu@\the\tabu@nested.D\the\c@taburow\endcsname}
-\def\tabu@verticaldynamicadjustment {%
-    \advance\c@taburow \@ne
-        \extrarowheight \dimexpr\tabu@ht - \ht\strutbox
-        \extrarowdepth  \dimexpr\tabu@dp - \dp\strutbox
-        \let\arraystretch \@empty
-    \advance\c@taburow \m@ne
-}% \tabu@verticaldynamicadjustment
-\def\tabuphantomline{\crcr \noalign{%
-    {\globaldefs \@ne
-        \setbox\@arstrutbox     \box\voidb@x
-        \let\tabu@@celllalign   \tabu@celllalign
-        \let\tabu@@cellralign   \tabu@cellralign
-        \let\tabu@@cellleft     \tabu@cellleft
-        \let\tabu@@cellright    \tabu@cellright
-        \let\tabu@@thevline     \tabu@thevline
-        \let\tabu@celllalign    \@empty
-        \let\tabu@cellralign    \@empty
-        \let\tabu@cellright     \@empty
-        \let\tabu@cellleft      \@empty
-        \let\tabu@thevline      \relax}%
-    \edef\tabu@temp{\tabu@multispan \tabu@nbcols{\noindent &}}%
-    \toks@\expandafter{\tabu@temp \noindent\tabu@everyrowfalse \cr
-        \noalign{\tabu@rearstrut
-            {\globaldefs\@ne
-                \let\tabu@celllalign \tabu@@celllalign
-                \let\tabu@cellralign \tabu@@cellralign
-                \let\tabu@cellleft   \tabu@@cellleft
-                \let\tabu@cellright  \tabu@@cellright
-                \let\tabu@thevline   \tabu@@thevline}}}%
-    \expandafter}\the\toks@
-}% \tabuphantomline
-%% \firsthline and \lasthline corrections ---------------------------
-\def\tabu@firstline {\tabu@hlineAZ  \tabu@firsthlinecorrection     {}}
-\def\tabu@firsthline{\tabu@hlineAZ  \tabu@firsthlinecorrection \hline}
-\def\tabu@lastline  {\tabu@hlineAZ  \tabu@lasthlinecorrection      {}}
-\def\tabu@lasthline {\tabu@hlineAZ  \tabu@lasthlinecorrection  \hline}
-\def\tabu@hline {% replaces \hline if no colortbl (see \AtBeginDocument)
-    \noalign{\ifnum0=`}\fi
-    {\CT@arc@\hrule height\arrayrulewidth}%
-    \futurelet \tabu@temp \tabu@xhline
-}% \tabu@hline
-\def\tabu@xhline{%
-    \ifx \tabu@temp \hline
-        {\ifx \CT@drsc@\relax \vskip
-         \else\ifx \CT@drsc@\@empty \vskip
-         \else \CT@drsc@\hrule height
-         \fi\fi
-         \doublerulesep}%
-    \fi
-    \ifnum0=`{\fi}%
-}% \tabu@xhline
-\def\tabu@hlineAZ #1#2{\noalign{\ifnum0=`}\fi \dimen@ \z@ \count@ \z@
-    \toks@{}\def\tabu@hlinecorrection{#1}\def\tabu@temp{#2}%
-    \tabu@hlineAZsurround
-}% \tabu@hlineAZ
-\newcommand*\tabu@hlineAZsurround[1][\extratabsurround]{%
-    \extratabsurround #1\let\tabucline \tabucline@scan
-    \let\hline     \tabu@hlinescan \let\firsthline \hline
-    \let\cline     \tabu@clinescan \let\lasthline  \hline
-    \expandafter \futurelet \expandafter \tabu@temp
-                \expandafter \tabu@nexthlineAZ \tabu@temp
-}% \tabu@hlineAZsurround
-\def\tabu@hlinescan   {\tabu@thick \arrayrulewidth \tabu@xhlineAZ \hline}
-\def\tabu@clinescan #1{\tabu@thick \arrayrulewidth \tabu@xhlineAZ {\cline{#1}}}
-\def\tabucline@scan{\@testopt \tabucline@sc@n {}}
-\def\tabucline@sc@n #1[#2]{\tabu@xhlineAZ {\tabucline[{#1}]{#2}}}
-\def\tabu@nexthlineAZ{%
-    \ifx \tabu@temp\hline \else
-    \ifx \tabu@temp\cline \else
-    \ifx \tabu@temp\tabucline \else
-         \tabu@hlinecorrection
-    \fi\fi\fi
-}% \tabu@nexthlineAZ
-\def\tabu@xhlineAZ #1{%
-    \toks@\expandafter{\the\toks@ #1}%
-    \@tempdimc \tabu@thick                  % The last line width
-    \ifcase\count@ \@tempdimb \tabu@thick   % The first line width
-    \else \advance\dimen@ \dimexpr \tabu@thick+\doublerulesep \relax
-    \fi
-    \advance\count@ \@ne    \futurelet \tabu@temp \tabu@nexthlineAZ
-}% \tabu@xhlineAZ
-\def\tabu@firsthlinecorrection{% \count@ = number of \hline -1
-    \@tempdima \dimexpr \ht\@arstrutbox+\dimen@
-    \edef\firsthline{%      <local in \noalign>
-        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
-                    height \the\dimexpr\@tempdima+\extratabsurround
-                    depth  \dp\@arstrutbox
-                    width  \tabustrutrule}\hss}\cr
-        \noalign{\vskip -\the\dimexpr   \@tempdima+\@tempdimb
-                                        +\dp\@arstrutbox \relax}%
-        \the\toks@
-   }\ifnum0=`{\fi
-            \expandafter}\firsthline % we are then !
-}% \tabu@firsthlinecorrection
-\def\tabu@lasthlinecorrection{%
-    \@tempdima \dimexpr  \dp\@arstrutbox+\dimen@+\@tempdimb+\@tempdimc
-    \edef\lasthline{%   <local in \noalign>
-        \the\toks@
-        \noalign{\vskip -\the\dimexpr\dimen@+\@tempdimb+\dp\@arstrutbox}%
-        \omit \hbox to\z@{\hss{\noexpand\tabu@DBG{yellow}\vrule
-                    depth \the\dimexpr \dp\@arstrutbox+\@tempdimb+\dimen@
-                                       +\extratabsurround-\@tempdimc
-                    height \z@
-                    width \tabustrutrule}\hss}\cr
-    }\ifnum0=`{\fi
-            \expandafter}\lasthline % we are then !
-}% \tabu@lasthlinecorrection
-\def\tabu@LT@@hline{%
-    \ifx\LT@next\hline
-        \global\let\LT@next \@gobble
-        \ifx \CT@drsc@\relax
-            \gdef\CT@LT@sep{%
-                \noalign{\penalty-\@medpenalty\vskip\doublerulesep}}%
-        \else
-            \gdef\CT@LT@sep{%
-                \multispan\LT@cols{%
-                \CT@drsc@\leaders\hrule\@height\doublerulesep\hfill}\cr}%
-        \fi
-    \else
-        \global\let\LT@next\empty
-        \gdef\CT@LT@sep{%
-            \noalign{\penalty-\@lowpenalty\vskip-\arrayrulewidth}}%
-    \fi
-    \ifnum0=`{\fi}%
-    \multispan\LT@cols
-        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
-    \CT@LT@sep
-    \multispan\LT@cols
-        {\CT@arc@\leaders\hrule\@height\arrayrulewidth\hfill}\cr
-    \noalign{\penalty\@M}%
-    \LT@next
-}% \tabu@LT@@hline
-%% Horizontal lines : \tabucline ------------------------------------
-\let\tabu@start \@tempcnta
-\let\tabu@stop  \@tempcntb
-\newcommand*\tabucline{\noalign{\ifnum0=`}\fi \tabu@cline}
-\newcommand*\tabu@cline[2][]{\tabu@startstop{#2}%
-   \ifnum \tabu@stop<\z@   \toks@{}%
-   \else \tabu@clinearg{#1}\tabu@thestyle
-        \edef\tabucline{\toks@{%
-            \ifnum \tabu@start>\z@ \omit
-                  \tabu@multispan\tabu@start {\span\omit}&\fi
-            \omit \tabu@multispan\tabu@stop {\span\omit}%
-                                        \tabu@thehline\cr
-        }}\tabucline
-        \tabu@tracinglines{(tabu:tabucline) Style: #1^^J\the\toks@^^J^^J}%
-    \fi
-    \futurelet \tabu@temp \tabu@xcline
-}% \tabu@cline
-\def\tabu@clinearg #1{%
-    \ifx\\#1\\\let\tabu@thestyle \tabu@ls@
-    \else \@defaultunits \expandafter\let\expandafter\@tempa
-                                    \romannumeral-`\0#1\relax \@nnil
-        \ifx \hbox\@tempa           \tabu@clinebox{#1}%
-        \else\ifx \box\@tempa       \tabu@clinebox{#1}%
-        \else\ifx \vbox\@tempa      \tabu@clinebox{#1}%
-        \else\ifx \vtop\@tempa      \tabu@clinebox{#1}%
-        \else\ifx \copy\@tempa      \tabu@clinebox{#1}%
-        \else\ifx \leaders\@tempa   \tabu@clineleads{#1}%
-        \else\ifx \cleaders\@tempa  \tabu@clineleads{#1}%
-        \else\ifx \xleaders\@tempa  \tabu@clineleads{#1}%
-        \else\tabu@getline {#1}%
-        \fi\fi\fi\fi\fi\fi\fi\fi
-    \fi
-}% \tabu@clinearg
-\def\tabu@clinebox #1{\tabu@clineleads{\xleaders#1\hss}}
-\def\tabu@clineleads #1{%
-    \let\tabu@thestyle \relax \let\tabu@leaders \@undefined
-    \gdef\tabu@thehrule{#1}}
-\def\tabu@thehline{\begingroup
-    \ifdefined\tabu@leaders
-            \noexpand\tabu@thehleaders
-    \else   \noexpand\tabu@thehrule
-    \fi            \endgroup
-}% \tabu@thehline
-\def\tabu@xcline{%
-    \ifx \tabu@temp\tabucline
-        \toks@\expandafter{\the\toks@ \noalign
-        {\ifx\CT@drsc@\relax \vskip
-         \else \CT@drsc@\hrule height
-         \fi
-         \doublerulesep}}%
-    \fi
-    \tabu@docline
-}% \tabu@xcline
-\def\tabu@docline {\ifnum0=`{\fi \expandafter}\the\toks@}
-\def\tabu@docline@evr {\xdef\tabu@doclineafter{\the\toks@}%
-              \ifnum0=`{\fi}\aftergroup\tabu@doclineafter}
-\def\tabu@multispan #1#2{%
-    \ifnum\numexpr#1>\@ne #2\expandafter\tabu@multispan
-    \else                   \expandafter\@gobbletwo
-    \fi  {#1-1}{#2}%
-}% \tabu@multispan
-\def\tabu@startstop #1{\tabu@start@stop #1\relax 1-\tabu@nbcols \@nnil}
-\def\tabu@start@stop #1-#2\@nnil{%
-   \@defaultunits   \tabu@start\number 0#1\relax    \@nnil
-   \@defaultunits   \tabu@stop \number 0#2\relax    \@nnil
-   \tabu@stop   \ifnum \tabu@start>\tabu@nbcols     \m@ne
-                \else\ifnum \tabu@stop=\z@          \tabu@nbcols
-                \else\ifnum \tabu@stop>\tabu@nbcols \tabu@nbcols
-                \else                               \tabu@stop
-                \fi\fi\fi
-   \advance\tabu@start \m@ne
-   \ifnum \tabu@start>\z@ \advance\tabu@stop -\tabu@start \fi
-}% \tabu@start@stop
-%% Numbers: siunitx S columns  (and \tabudecimal) -------------------
-\def\tabu@tabudecimal #1{%
-    \def\tabu@decimal{#1}\@temptokena{}%
-    \let\tabu@getdecimal@ \tabu@getdecimal@ignorespaces
-    \tabu@scandecimal
-}% \tabu@tabudecimal
-\def\tabu@scandecimal{\futurelet \tabu@temp \tabu@getdecimal@}
-\def\tabu@skipdecimal#1{#1\tabu@scandecimal}
-\def\tabu@getdecimal@ignorespaces{%
-    \ifcase 0\ifx\tabu@temp\ignorespaces\else
-             \ifx\tabu@temp\@sptoken1\else
-             2\fi\fi\relax
-            \let\tabu@getdecimal@ \tabu@getdecimal
-            \expandafter\tabu@skipdecimal
-    \or     \expandafter\tabu@gobblespace\expandafter\tabu@scandecimal
-    \else   \expandafter\tabu@skipdecimal
-    \fi
-}% \tabu@getdecimal@ignorespaces
-\def\tabu@get@decimal#1{\@temptokena\expandafter{\the\@temptokena #1}%
-                        \tabu@scandecimal}
-\def\do#1{%
-    \def\tabu@get@decimalspace#1{%
-        \@temptokena\expandafter{\the\@temptokena #1}\tabu@scandecimal}%
-}\do{ }
-\let\tabu@@tabudecimal \tabu@tabudecimal
-\def\tabu@getdecimal{%
-   \ifcase    0\ifx 0\tabu@temp\else
-               \ifx 1\tabu@temp\else
-               \ifx 2\tabu@temp\else
-               \ifx 3\tabu@temp\else
-               \ifx 4\tabu@temp\else
-               \ifx 5\tabu@temp\else
-               \ifx 6\tabu@temp\else
-               \ifx 7\tabu@temp\else
-               \ifx 8\tabu@temp\else
-               \ifx 9\tabu@temp\else
-               \ifx .\tabu@temp\else
-               \ifx ,\tabu@temp\else
-               \ifx -\tabu@temp\else
-               \ifx +\tabu@temp\else
-               \ifx e\tabu@temp\else
-               \ifx E\tabu@temp\else
-               \ifx\tabu@cellleft\tabu@temp1\else
-               \ifx\ignorespaces\tabu@temp1\else
-               \ifx\@sptoken\tabu@temp2\else
-            3\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\fi\relax
-       \expandafter\tabu@get@decimal
-   \or \expandafter\tabu@skipdecimal
-   \or \expandafter\tabu@get@decimalspace
-   \else\expandafter\tabu@printdecimal
-   \fi
-}% \tabu@getdecimal
-\def\tabu@printdecimal{%
-    \edef\tabu@temp{\the\@temptokena}%
-    \ifx\tabu@temp\@empty\else
-    \ifx\tabu@temp\space\else
-        \expandafter\tabu@decimal\expandafter{\the\@temptokena}%
-    \fi\fi
-}% \tabu@printdecimal
-%% Verbatim inside X columns ----------------------------------------
-\def\tabu@verbatim{%
-    \let\verb \tabu@verb
-    \let\FV@DefineCheckEnd \tabu@FV@DefineCheckEnd
-}% \tabu@verbatim
-\let\tabu@ltx@verb \verb
-\def\tabu@verb{\@ifstar {\tabu@ltx@verb*} \tabu@ltx@verb}
-\def\tabu@fancyvrb {%
-    \def\tabu@FV@DefineCheckEnd ##1{%
-        \def\tabu@FV@DefineCheckEnd{%
-            ##1% <original definition (if fancyvrb is loaded)>
-            \let\FV@CheckEnd     \tabu@FV@CheckEnd
-            \let\FV@@CheckEnd    \tabu@FV@@CheckEnd
-            \let\FV@@@CheckEnd   \tabu@FV@@@CheckEnd
-            \edef\FV@EndScanning{%
-            \def\noexpand\next{\noexpand\end{\FV@EnvironName}}%
-                \global\let\noexpand\FV@EnvironName\relax
-                \noexpand\next}%
-            \xdef\FV@EnvironName{\detokenize\expandafter{\FV@EnvironName}}}%
-    }\expandafter\tabu@FV@DefineCheckEnd\expandafter{\FV@DefineCheckEnd}
-}% \tabu@fancyvrb
-\def\tabu@FV@CheckEnd  #1{\expandafter\FV@@CheckEnd \detokenize{#1\end{}}\@nil}
-\edef\tabu@FV@@@CheckEnd {\detokenize{\end{}}}
-\begingroup
-\catcode`\[1      \catcode`\]2
-\@makeother\{     \@makeother\}
-   \edef\x[\endgroup
-      \def\noexpand\tabu@FV@@CheckEnd ##1\detokenize[\end{]##2\detokenize[}]##3%
-   ]\x               \@nil{\def\@tempa{#2}\def\@tempb{#3}}
-\def\tabu@FV@ListProcessLine #1{%
-  \hbox {%to \hsize{%
-    \kern\leftmargin
-    \hbox {%to \linewidth{%
-      \FV@LeftListNumber
-      \FV@LeftListFrame
-      \FancyVerbFormatLine{#1}\hss
-%% DG/SR modification begin - Jan. 28, 1998 (for numbers=right add-on)
-%%      \FV@RightListFrame}%
-      \FV@RightListFrame
-      \FV@RightListNumber}%
-%% DG/SR modification end
-    \hss}}
-%% \savetabu --------------------------------------------------------
-\newcommand*\savetabu[1]{\noalign{%
-    \tabu@sanitizearg{#1}\tabu@temp
-    \ifx \tabu@temp\@empty  \tabu@savewarn{}{The tabu will not be saved}\else
-        \@ifundefined{tabu@saved@\tabu@temp}{}{\tabu@savewarn{#1}{Overwriting}}%
-        \ifdefined\tabu@restored \expandafter\let
-            \csname tabu@saved@\tabu@temp \endcsname \tabu@restored
-        \else {\tabu@save}%
-        \fi
-    \fi}%
-}% \savetabu
-\def\tabu@save {%
-    \toks0\expandafter{\tabu@saved@}%
-    \iftabu@negcoef
-        \let\tabu@wddef \relax \let\tabu@ \tabu@savewd \edef\tabu@savewd{\tabu@Xcoefs}%
-        \toks0\expandafter{\the\toks\expandafter0\tabu@savewd}\fi
-    \toks1\expandafter{\tabu@savedpream}%
-    \toks2\expandafter{\tabu@savedpreamble}%
-    \let\@preamble \relax
-    \let\tabu@savedpream \relax \let\tabu@savedparams \relax
-    \edef\tabu@preamble{%
-        \def\noexpand\tabu@aligndefault{\tabu@align}%
-        \def\tabu@savedparams {\noexpand\the\toks0}%
-        \def\tabu@savedpream  {\noexpand\the\toks1}}%
-    \edef\tabu@usetabu{%
-        \def\@preamble {\noexpand\the\toks2}%
-        \tabu@target \the\tabu@target \relax
-        \tabucolX    \the\tabucolX    \relax
-        \tabu@nbcols \the\tabu@nbcols \relax
-        \def\noexpand\tabu@aligndefault{\tabu@align}%
-        \def\tabu@savedparams {\noexpand\the\toks0}%
-        \def\tabu@savedpream  {\noexpand\the\toks1}}%
-    \let\tabu@aligndefault \relax \let\@sharp \relax
-    \edef\@tempa{\noexpand\tabu@s@ved
-                          {\tabu@usetabu}
-                         {\tabu@preamble}
-                            {\the\toks1}}\@tempa
-    \tabu@message@save
-}% \tabu@save
-\long\def\tabu@s@ved #1#2#3{%
-    \def\tabu@usetabu{#1}% <for \tabu@message@save>
-    \expandafter\gdef\csname tabu@saved@\tabu@temp\endcsname ##1{%
-        \ifodd ##1%     \usetabu
-            \tabu@measuringfalse \tabu@spreadfalse  % Just in case...
-            \gdef\tabu@usetabu {%
-                \ifdim \tabu@target>\z@ \tabu@warn@usetabu \fi
-                \global\let\tabu@usetabu \@undefined
-                \def\@halignto {to\tabu@target}%
-                #1%
-                \ifx \tabu@align\tabu@aligndefault@text
-                \ifnum \tabu@nested=\z@
-                       \let\tabu@align \tabu@aligndefault \fi\fi}%
-        \else     %     \preamble
-            \gdef\tabu@preamble {%
-                \global\let\tabu@preamble \@undefined
-                #2%
-                \ifx \tabu@align\tabu@aligndefault@text
-                \ifnum \tabu@nested=\z@
-                       \let\tabu@align \tabu@aligndefault \fi\fi}%
-        \fi
-        #3}%
-}% \tabu@s@ved
-\def\tabu@aligndefault@text {\tabu@aligndefault}%
-\def\tabu@warn@usetabu {\PackageWarning{tabu}
-    {Specifying a target with \string\usetabu\space is useless
-    \MessageBreak The target cannot be changed!}}
-\def\tabu@savewd #1#2{\ifdim #2\p@<\z@ \tabu@wddef{#1}{\tabu@wd{#1}}\fi}
-\def\tabu@savewarn#1#2{\PackageInfo{tabu}
-    {User-name `#1' already used for \string\savetabu
-    \MessageBreak #2}}%
-\def\tabu@saveerr#1{\PackageError{tabu}
-    {User-name `#1' is unknown for \string\usetabu
-    \MessageBreak I cannot restore an unknown preamble!}\@ehd}
-%% \rowfont ---------------------------------------------------------
-\newskip \tabu@cellskip
-\def\tabu@rowfont{\ifdim \baselineskip=\z@\noalign\fi
-                    {\ifnum0=`}\fi    \tabu@row@font}
-\newcommand*\tabu@row@font[2][]{%
-    \ifnum7=\currentgrouptype
-        \global\let\tabu@@cellleft    \tabu@cellleft
-        \global\let\tabu@@cellright   \tabu@cellright
-        \global\let\tabu@@celllalign  \tabu@celllalign
-        \global\let\tabu@@cellralign  \tabu@cellralign
-        \global\let\tabu@@rowfontreset\tabu@rowfontreset
-    \fi
-    \global\let\tabu@rowfontreset \tabu@rowfont@reset
-    \expandafter\gdef\expandafter\tabu@cellleft\expandafter{\tabu@cellleft #2}%
-    \ifcsname tabu@cell@#1\endcsname       % row alignment
-            \csname tabu@cell@#1\endcsname \fi
-    \ifnum0=`{\fi}% end of group / noalign group
-}% \rowfont
-\def\tabu@ifcolorleavevmode #1{\let\color \tabu@leavevmodecolor #1\let\color\tabu@color}%
-\def\tabu@rowfont@reset{%
-    \global\let\tabu@rowfontreset \tabu@@rowfontreset
-    \global\let\tabu@cellleft     \tabu@@cellleft
-    \global\let\tabu@cellright    \tabu@@cellright
-    \global\let\tabu@cellfont     \@empty
-    \global\let\tabu@celllalign   \tabu@@celllalign
-    \global\let\tabu@cellralign   \tabu@@cellralign
-}% \tabu@@rowfontreset
-\let\tabu@rowfontreset \@empty     % overwritten \AtBeginDocument if colortbl
-%% \tabu@prepnext@tok -----------------------------------------------
-\newif \iftabu@cellright
-\def\tabu@prepnext@tok{%
-    \ifnum \count@<\z@   % <first initialisation>
-            \@tempcnta  \@M   % <not initialized by array.sty>
-            \tabu@nbcols\z@
-            \let\tabu@fornoopORI \@fornoop
-            \tabu@cellrightfalse
-    \else
-        \ifcase \numexpr \count@-\@tempcnta \relax % (case 0): prev. token is left
-                \advance \tabu@nbcols \@ne
-                \iftabu@cellright % before-previous token is right and is finished
-                    \tabu@cellrightfalse % <only once>
-                    \tabu@righttok
-                \fi
-                \tabu@lefttok
-        \or                     % (case 1) previous token is right
-                \tabu@cellrighttrue \let\@fornoop \tabu@lastnoop
-        \else % special column: do not change the token
-                \iftabu@cellright    % before-previous token is right
-                    \tabu@cellrightfalse
-                    \tabu@righttok
-                \fi
-        \fi % \ifcase
-    \fi
-    \tabu@prepnext@tokORI
-}% \tabu@prepnext@tok
-\long\def\tabu@lastnoop#1\@@#2#3{\tabu@lastn@@p #2\@nextchar \in@\in@@}
-\def\tabu@lastn@@p #1\@nextchar #2#3\in@@{%
-    \ifx \in@#2\else
-        \let\@fornoop \tabu@fornoopORI
-        \xdef\tabu@mkpreambuffer{\tabu@nbcols\the\tabu@nbcols \tabu@mkpreambuffer}%
-        \toks0\expandafter{\expandafter\tabu@everyrowtrue \the\toks0}%
-        \expandafter\prepnext@tok
-    \fi
-}% \tabu@lastnoop
-\def\tabu@righttok{%
-    \advance \count@ \m@ne
-    \toks\count@\expandafter {\the\toks\count@ \tabu@cellright \tabu@cellralign}%
-    \advance \count@ \@ne
-}% \tabu@righttok
-\def\tabu@lefttok{\toks\count@\expandafter{\expandafter\tabu@celllalign
-                                    \the\toks\count@ \tabu@cellleft}% after because of $
-}% \tabu@lefttok
-%% Neutralisation of glues ------------------------------------------
-\let\tabu@cellleft   \@empty
-\let\tabu@cellright  \@empty
-\tabu@celllalign@def{\tabu@cellleft}%
-\let\tabu@cellralign \@empty
-\def\tabu@cell@align #1#2#3{%
-    \let\tabu@maybesiunitx \toks@ \tabu@celllalign
-    \global \expandafter \tabu@celllalign@def \expandafter {\the\toks@ #1}%
-    \toks@\expandafter{\tabu@cellralign #2}%
-    \xdef\tabu@cellralign{\the\toks@}%
-    \toks@\expandafter{\tabu@cellleft #3}%
-    \xdef\tabu@cellleft{\the\toks@}%
-}% \tabu@cell@align
-\def\tabu@cell@l{% force alignment to left
-   \tabu@cell@align
-      {\tabu@removehfil \raggedright \tabu@cellleft}% left
-      {\tabu@flush1\tabu@ignorehfil}%                 right
-      \raggedright
-}% \tabu@cell@l
-\def\tabu@cell@c{% force alignment to center
-   \tabu@cell@align
-      {\tabu@removehfil \centering \tabu@flush{.5}\tabu@cellleft}
-      {\tabu@flush{.5}\tabu@ignorehfil}
-      \centering
-}% \tabu@cell@c
-\def\tabu@cell@r{% force alignment to right
-   \tabu@cell@align
-      {\tabu@removehfil \raggedleft \tabu@flush1\tabu@cellleft}
-      \tabu@ignorehfil
-      \raggedleft
-}% \tabu@cell@r
-\def\tabu@cell@j{% force justification (for p, m, b columns)
-      \tabu@cell@align
-         {\tabu@justify\tabu@cellleft}
-         {}
-         \tabu@justify
-}% \tabu@cell@j
-\def\tabu@justify{%
-   \leftskip\z@skip \@rightskip\leftskip \rightskip\@rightskip
-   \parfillskip\@flushglue
-}% \tabu@justify
-%% ragged2e settings
-\def\tabu@cell@L{% force alignment to left (ragged2e)
-   \tabu@cell@align
-      {\tabu@removehfil \RaggedRight \tabu@cellleft}
-      {\tabu@flush 1\tabu@ignorehfil}
-      \RaggedRight
-}% \tabu@cell@L
-\def\tabu@cell@C{% force alignment to center (ragged2e)
-   \tabu@cell@align
-      {\tabu@removehfil \Centering \tabu@flush{.5}\tabu@cellleft}
-      {\tabu@flush{.5}\tabu@ignorehfil}
-      \Centering
-}% \tabu@cell@C
-\def\tabu@cell@R{% force alignment to right (ragged2e)
-   \tabu@cell@align
-      {\tabu@removehfil \RaggedLeft \tabu@flush 1\tabu@cellleft}
-      \tabu@ignorehfil
-      \RaggedLeft
-}% \tabu@cell@R
-\def\tabu@cell@J{% force justification (ragged2e)
-   \tabu@cell@align
-      {\justifying \tabu@cellleft}
-      {}
-      \justifying
-}% \tabu@cell@J
-\def\tabu@flush#1{%
-    \iftabu@colortbl      % colortbl uses \hfill rather than \hfil
-        \hskip \ifnum13<\currentgrouptype \stretch{#1}%
-        \else  \ifdim#1pt<\p@ \tabu@cellskip
-        \else  \stretch{#1}
-        \fi\fi \relax
-    \else                % array.sty
-        \ifnum 13<\currentgrouptype
-                \hfil \hskip1sp \relax  \fi
-    \fi
-}% \tabu@flush
-\let\tabu@hfil  \hfil
-\let\tabu@hfill \hfill
-\let\tabu@hskip \hskip
-\def\tabu@removehfil{%
-    \iftabu@colortbl
-        \unkern \tabu@cellskip =\lastskip
-        \ifnum\gluestretchorder\tabu@cellskip =\tw@ \hskip-\tabu@cellskip
-        \else \tabu@cellskip \z@skip
-        \fi
-    \else
-        \ifdim\lastskip=1sp\unskip\fi
-        \ifnum\gluestretchorder\lastskip =\@ne
-            \hfilneg % \hfilneg for array.sty but not for colortbl...
-        \fi
-    \fi
-}% \tabu@removehfil
-\def\tabu@ignorehfil{\aftergroup \tabu@nohfil}
-\def\tabu@nohfil{% \hfil -> do nothing + restore original \hfil
-   \def\hfil{\let\hfil \tabu@hfil}%   local to (alignment template) group
-}% \tabu@nohfil
-\def\tabu@colortblalignments {% if colortbl
-    \def\tabu@nohfil{%
-        \def\hfil  {\let\hfil \tabu@hfil}% local to (alignment template) group
-        \def\hfill {\let\hfill \tabu@hfill}% (colortbl uses \hfill) pfff...
-        \def\hskip ####1\relax{\let\hskip \tabu@hskip}}% local
-}% \tabu@colortblalignments
-%% Taking care of footnotes and hyperfootnotes ----------------------
-\long\def\tabu@footnotetext #1{%
-   \edef\@tempa{\the\tabu@footnotes
-      \noexpand\footnotetext [\the\csname c@\@mpfn\endcsname]}%
-   \global\tabu@footnotes\expandafter{\@tempa {#1}}}%
-\long\def\tabu@xfootnotetext [#1]#2{%
-   \global\tabu@footnotes\expandafter{\the\tabu@footnotes
-                               \footnotetext [{#1}]{#2}}}
-\let\tabu@xfootnote \@xfootnote
-\long\def\tabu@Hy@ftntext{\tabu@Hy@ftntxt {\the \c@footnote }}
-\long\def\tabu@Hy@xfootnote [#1]{%
-   \begingroup
-      \value\@mpfn #1\relax
-      \protected@xdef \@thefnmark  {\thempfn}%
-   \endgroup
-   \@footnotemark \tabu@Hy@ftntxt {#1}%
-}% \tabu@Hy@xfootnote
-\long\def\tabu@Hy@ftntxt #1#2{%
-    \edef\@tempa{%
-        \the\tabu@footnotes
-        \begingroup
-            \value\@mpfn #1\relax
-            \noexpand\protected@xdef\noexpand\@thefnmark {\noexpand\thempfn}%
-            \expandafter \noexpand \expandafter
-                \tabu@Hy@footnotetext \expandafter{\Hy@footnote@currentHref}%
-    }%
-    \global\tabu@footnotes\expandafter{\@tempa {#2}%
-                                         \endgroup}%
-}% \tabu@Hy@ftntxt
-\long\def\tabu@Hy@footnotetext #1#2{%
-    \H@@footnotetext{%
-        \ifHy@nesting
-            \hyper@@anchor {#1}{#2}%
-        \else
-            \Hy@raisedlink{%
-                \hyper@@anchor {#1}{\relax}%
-            }%
-            \def\@currentHref {#1}%
-            \let\@currentlabelname \@empty
-            #2%
-        \fi
-    }%
-}% \tabu@Hy@footnotetext
-%% No need for \arraybackslash ! ------------------------------------
-\def\tabu@latextwoe {%
-\def\tabu@temp##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
-\tabu@temp \tabu@centering   \centering   \arraybackslash
-\tabu@temp \tabu@raggedleft  \raggedleft  \arraybackslash
-\tabu@temp \tabu@raggedright \raggedright \arraybackslash
-}% \tabu@latextwoe
-\def\tabu@raggedtwoe {%
-\def\tabu@temp ##1##2##3{{\toks@\expandafter{##2##3}\xdef##1{\the\toks@}}}
-\tabu@temp \tabu@Centering   \Centering   \arraybackslash
-\tabu@temp \tabu@RaggedLeft  \RaggedLeft  \arraybackslash
-\tabu@temp \tabu@RaggedRight \RaggedRight \arraybackslash
-\tabu@temp \tabu@justifying  \justifying  \arraybackslash
-}% \tabu@raggedtwoe
-\def\tabu@normalcrbackslash{\let\\\@normalcr}
-\def\tabu@trivlist{\expandafter\def\expandafter\@trivlist\expandafter{%
-                       \expandafter\tabu@normalcrbackslash \@trivlist}}
-%% Utilities: \fbox  \fcolorbox  and \tabudecimal -------------------
-\def\tabu@fbox      {\leavevmode\afterassignment\tabu@beginfbox \setbox\@tempboxa\hbox}
-\def\tabu@beginfbox {\bgroup \kern\fboxsep
-                     \bgroup\aftergroup\tabu@endfbox}
-\def\tabu@endfbox   {\kern\fboxsep\egroup\egroup
-                     \@frameb@x\relax}
-\def\tabu@color@b@x #1#2{\leavevmode \bgroup
-    \def\tabu@docolor@b@x{#1{#2\color@block{\wd\z@}{\ht\z@}{\dp\z@}\box\z@}}%
-    \afterassignment\tabu@begincolor@b@x \setbox\z@ \hbox
-}% \tabu@color@b@x
-\def\tabu@begincolor@b@x {\kern\fboxsep \bgroup
-       \aftergroup\tabu@endcolor@b@x \set@color}
-\def\tabu@endcolor@b@x {\kern\fboxsep \egroup
-    \dimen@\ht\z@ \advance\dimen@ \fboxsep \ht\z@ \dimen@
-    \dimen@\dp\z@ \advance\dimen@ \fboxsep \dp\z@ \dimen@
-    \tabu@docolor@b@x \egroup
-}% \tabu@endcolor@b@x
-%% Corrections (arydshln, delarray, colortbl) -----------------------
-\def\tabu@fix@arrayright {%% \@arrayright is missing from \endarray
-    \iftabu@colortbl
-        \ifdefined\adl@array  % <colortbl + arydshln>
-        \def\tabu@endarray{%
-            \adl@endarray \egroup \adl@arrayrestore \CT@end \egroup %<original>
-            \@arrayright      % <FC>
-            \gdef\@preamble{}}% <FC>
-        \else                 % <colortbl / no arydshln>
-        \def\tabu@endarray{%
-            \crcr \egroup \egroup    %<original>
-            \@arrayright             % <FC>
-            \gdef\@preamble{}\CT@end}%
-        \fi
-    \else
-        \ifdefined\adl@array  % <arydshln / no colortbl>
-        \def\tabu@endarray{%
-            \adl@endarray \egroup \adl@arrayrestore \egroup %<original>
-            \@arrayright      % <FC>
-            \gdef\@preamble{}}% <FC>
-    \else                   % <no arydshln / no colotbl + \@arrayright missing>
-        \PackageWarning{tabu}
-        {\string\@arrayright\space is missing from the
-        \MessageBreak definition of \string\endarray.
-        \MessageBreak Compatibility with delarray.sty is broken.}%
-    \fi\fi
-}% \tabu@fix@arrayright
-\def\tabu@adl@xarraydashrule #1#2#3{%
-     \ifnum\@lastchclass=\adl@class@start\else
-     \ifnum\@lastchclass=\@ne\else
-     \ifnum\@lastchclass=5 \else % <FC> @-arg (class 5) and !-arg (class 1)
-             \adl@leftrulefalse \fi\fi           % must be treated the same
-     \fi
-     \ifadl@zwvrule\else \ifadl@inactive\else
-             \@addtopreamble{\vrule\@width\arrayrulewidth
-                     \@height\z@ \@depth\z@}\fi \fi
-     \ifadl@leftrule
-             \@addtopreamble{\adl@vlineL{\CT@arc@}{\adl@dashgapcolor}%
-                     {\number#1}#3}%
-     \else   \@addtopreamble{\adl@vlineR{\CT@arc@}{\adl@dashgapcolor}%
-                     {\number#2}#3}
-     \fi
-}% \tabu@adl@xarraydashrule
-\def\tabu@adl@act@endpbox {%
-    \unskip \ifhmode \nobreak \fi    \@finalstrut \@arstrutbox
-    \egroup \egroup
-    \adl@colhtdp \box\adl@box \hfil
-}% \tabu@adl@act@endpbox
-\def\tabu@adl@fix {%
-    \let\adl@xarraydashrule \tabu@adl@xarraydashrule % <fix> arydshln
-    \let\adl@act@endpbox    \tabu@adl@act@endpbox    % <fix> arydshln
-    \let\adl@act@@endpbox   \tabu@adl@act@endpbox    % <fix> arydshln
-    \let\@preamerror        \@preamerr               % <fix> arydshln
-}% \tabu@adl@fix
-%% Correction for longtable' \@startbox definition ------------------
-%%    => \everypar is ``missing'' : TeX should be in vertical mode
-\def\tabu@LT@startpbox #1{%
-    \bgroup
-        \let\@footnotetext\LT@p@ftntext
-        \setlength\hsize{#1}%
-        \@arrayparboxrestore
-        \everypar{%
-            \vrule \@height \ht\@arstrutbox \@width \z@
-            \everypar{}}%
-}% \tabu@LT@startpbox
-%% \tracingtabu  and  the package options ------------------
-\DeclareOption{delarray}{\AtEndOfPackage{\RequirePackage{delarray}}}
-\DeclareOption{linegoal}{%
-   \AtEndOfPackage{%
-      \RequirePackage{linegoal}[2010/12/07]%
-      \let\tabudefaulttarget \linegoal% \linegoal is \linewidth if not pdfTeX
-}}
-\DeclareOption{scantokens}{\tabuscantokenstrue}
-\DeclareOption{debugshow}{\AtEndOfPackage{\tracingtabu=\tw@}}
-\def\tracingtabu {\begingroup\@ifnextchar=%
-    {\afterassignment\tabu@tracing\count@}
-    {\afterassignment\tabu@tracing\count@1\relax}}
-\def\tabu@tracing{\expandafter\endgroup
-    \expandafter\tabu@tr@cing \the\count@ \relax
-}% \tabu@tracing
-\def\tabu@tr@cing #1\relax {%
-    \ifnum#1>\thr@@ \let\tabu@tracinglines\message
-    \else           \let\tabu@tracinglines\@gobble
-    \fi
-    \ifnum#1>\tw@   \let\tabu@DBG        \tabu@@DBG
-                    \def\tabu@mkarstrut {\tabu@DBG@arstrut}%
-                    \tabustrutrule      1.5\p@
-    \else           \let\tabu@DBG        \@gobble
-                    \def\tabu@mkarstrut {\tabu@arstrut}%
-                    \tabustrutrule      \z@
-    \fi
-    \ifnum#1>\@ne   \let\tabu@debug      \message
-    \else           \let\tabu@debug      \@gobble
-    \fi
-    \ifnum#1>\z@
-        \let\tabu@message             \message
-        \let\tabu@tracing@save        \tabu@message@save
-        \let\tabu@starttimer          \tabu@pdftimer
-    \else
-        \let\tabu@message             \@gobble
-        \let\tabu@tracing@save        \@gobble
-        \let\tabu@starttimer          \relax
-    \fi
-}% \tabu@tr@cing
-%% Setup \AtBeginDocument
-\AtBeginDocument{\tabu@AtBeginDocument}
-\def\tabu@AtBeginDocument{\let\tabu@AtBeginDocument \@undefined
-    \ifdefined\arrayrulecolor   \tabu@colortbltrue       % <colortbl>
-                                \tabu@colortblalignments % different glues are used
-    \else                       \tabu@colortblfalse \fi
-    \ifdefined\CT@arc@ \else \let\CT@arc@  \relax \fi
-    \ifdefined\CT@drsc@\else \let\CT@drsc@ \relax \fi
-    \let\tabu@arc@L \CT@arc@ \let\tabu@drsc@L \CT@drsc@
-    \ifodd 1\ifcsname siunitx_table_collect_begin:Nn\endcsname   % <siunitx: ok>
-            \expandafter\ifx
-                \csname siunitx_table_collect_begin:Nn\endcsname\relax 0\fi\fi\relax
-            \tabu@siunitxtrue
-    \else   \let\tabu@maybesiunitx   \@firstofone                % <not siunitx: setup>
-            \let\tabu@siunitx        \tabu@nosiunitx
-            \tabu@siunitxfalse
-    \fi
-    \ifdefined\adl@array        % <arydshln>
-    \else     \let\tabu@adl@fix \relax
-              \let\tabu@adl@endtrial \@empty \fi
-    \ifdefined\longtable        % <longtable>
-    \else     \let\longtabu \tabu@nolongtabu \fi
-    \ifdefined\cellspacetoplimit \tabu@warn@cellspace\fi
-    \csname\ifcsname ifHy@hyperfootnotes\endcsname % <hyperfootnotes>
-            ifHy@hyperfootnotes\else iffalse\fi\endcsname
-        \let\tabu@footnotetext \tabu@Hy@ftntext
-        \let\tabu@xfootnote    \tabu@Hy@xfootnote \fi
-    \ifdefined\FV@DefineCheckEnd% <fancyvrb>
-            \tabu@fancyvrb  \fi
-    \ifdefined\color            % <color / xcolor>
-        \let\tabu@color \color
-        \def\tabu@leavevmodecolor ##1{%
-            \def\tabu@leavevmodecolor {\leavevmode ##1}%
-        }\expandafter\tabu@leavevmodecolor\expandafter{\color}%
-    \else
-        \let\tabu@color           \tabu@nocolor
-        \let\tabu@leavevmodecolor \@firstofone \fi
-    \tabu@latextwoe
-    \ifdefined\@raggedtwoe@everyselectfont    % <ragged2e>
-        \tabu@raggedtwoe
-    \else
-        \let\tabu@cell@L \tabu@cell@l
-        \let\tabu@cell@R \tabu@cell@r
-        \let\tabu@cell@C \tabu@cell@c
-        \let\tabu@cell@J \tabu@cell@j   \fi
-    \expandafter\in@ \expandafter\@arrayright \expandafter{\endarray}%
-    \ifin@ \let\tabu@endarray \endarray
-    \else  \tabu@fix@arrayright \fi% <fix for colortbl & arydshln (delarray)>
-    \everyrow{}%
-}% \tabu@AtBeginDocument
-\def\tabu@warn@cellspace{%
-    \PackageWarning{tabu}{%
-                  Package cellspace has some limitations
-    \MessageBreak And redefines some macros of array.sty.
-    \MessageBreak Please use \string\tabulinesep\space to control
-    \MessageBreak vertical spacing of lines inside tabu environment}%
-}% \tabu@warn@cellspace
-%% tabu Package initialisation
-\tabuscantokensfalse
-\let\tabu@arc@G         \relax
-\let\tabu@drsc@G        \relax
-\let\tabu@evr@G         \@empty
-\let\tabu@rc@G          \@empty
-\def\tabu@ls@G          {\tabu@linestyle@}%
-\let\tabu@@rowfontreset \@empty % <init>
-\let\tabu@@celllalign   \@empty
-\let\tabu@@cellralign   \@empty
-\let\tabu@@cellleft     \@empty
-\let\tabu@@cellright    \@empty
-\def\tabu@naturalXmin   {\z@}
-\def\tabu@naturalXmax   {\z@}
-\let\tabu@rowfontreset  \@empty
-\def\tabulineon {4pt}\let\tabulineoff \tabulineon
-\tabu@everyrowtrue
-\ifdefined\pdfelapsedtime                   % <pdfTeX>
-        \def\tabu@pdftimer {\xdef\tabu@starttime{\the\pdfelapsedtime}}%
-\else   \let\tabu@pdftimer \relax \let\tabu@message@etime \relax
-\fi
-\tracingtabu=\z@
-\newtabulinestyle {=\maxdimen}% creates the 'factory' settings \tabu@linestyle@
-\tabulinestyle{}
-\taburowcolors{}
-\let\tabudefaulttarget  \linewidth
-\ProcessOptions*                % \ProcessOptions* is quicker !
-\endinput
-%%
-%% End of file `tabu.sty'.
diff --git a/docs/latex/terminal__usage_8md.tex b/docs/latex/terminal__usage_8md.tex
deleted file mode 100644
index d8a4a52..0000000
--- a/docs/latex/terminal__usage_8md.tex
+++ /dev/null
@@ -1,2 +0,0 @@
-\doxysection{capabilities2\+\_\+server/docs/terminal\+\_\+usage.md File Reference}
-\hypertarget{terminal__usage_8md}{}\label{terminal__usage_8md}\index{capabilities2\_server/docs/terminal\_usage.md@{capabilities2\_server/docs/terminal\_usage.md}}
diff --git a/docs/latex/test_8cpp.tex b/docs/latex/test_8cpp.tex
deleted file mode 100644
index 29801f1..0000000
--- a/docs/latex/test_8cpp.tex
+++ /dev/null
@@ -1,26 +0,0 @@
-\doxysection{capabilities2\+\_\+server/test/test.cpp File Reference}
-\hypertarget{test_8cpp}{}\label{test_8cpp}\index{capabilities2\_server/test/test.cpp@{capabilities2\_server/test/test.cpp}}
-{\ttfamily \#include $<$iostream$>$}\newline
-{\ttfamily \#include $<$rclcpp/rclcpp.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+server/capabilities\+\_\+server.\+hpp$>$}\newline
-Include dependency graph for test.\+cpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{test_8cpp__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Functions}
-\begin{DoxyCompactItemize}
-\item 
-int \mbox{\hyperlink{test_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}{main}} (int argc, char \texorpdfstring{$\ast$}{*}\texorpdfstring{$\ast$}{*}argv)
-\end{DoxyCompactItemize}
-
-
-\doxysubsection{Function Documentation}
-\Hypertarget{test_8cpp_a3c04138a5bfe5d72780bb7e82a18e627}\label{test_8cpp_a3c04138a5bfe5d72780bb7e82a18e627} 
-\index{test.cpp@{test.cpp}!main@{main}}
-\index{main@{main}!test.cpp@{test.cpp}}
-\doxysubsubsection{\texorpdfstring{main()}{main()}}
-{\footnotesize\ttfamily int main (\begin{DoxyParamCaption}\item[{int}]{argc,  }\item[{char \texorpdfstring{$\ast$}{*}\texorpdfstring{$\ast$}{*}}]{argv }\end{DoxyParamCaption})}
-
diff --git a/docs/latex/test_8cpp__incl.md5 b/docs/latex/test_8cpp__incl.md5
deleted file mode 100644
index aa91007..0000000
--- a/docs/latex/test_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-5cd9b86cb9640eea66290ecf15b6a808
\ No newline at end of file
diff --git a/docs/latex/test_8cpp__incl.pdf b/docs/latex/test_8cpp__incl.pdf
deleted file mode 100644
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diff --git a/docs/latex/threadtrigger__runner_8hpp.tex b/docs/latex/threadtrigger__runner_8hpp.tex
deleted file mode 100644
index ac48856..0000000
--- a/docs/latex/threadtrigger__runner_8hpp.tex
+++ /dev/null
@@ -1,34 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/threadtrigger\+\_\+runner.hpp File Reference}
-\hypertarget{threadtrigger__runner_8hpp}{}\label{threadtrigger__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/threadtrigger\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/threadtrigger\_runner.hpp}}
-{\ttfamily \#include $<$chrono$>$}\newline
-{\ttfamily \#include $<$map$>$}\newline
-{\ttfamily \#include $<$atomic$>$}\newline
-{\ttfamily \#include $<$mutex$>$}\newline
-{\ttfamily \#include $<$thread$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/runner\+\_\+base.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+events/uuid\+\_\+generator.\+hpp$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+msgs/msg/capability\+\_\+event\+\_\+code.\+hpp$>$}\newline
-Include dependency graph for threadtrigger\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{threadtrigger__runner_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{threadtrigger__runner_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{capabilities2\+\_\+runner\+::\+Thread\+Trigger\+Runner}}
-\begin{DoxyCompactList}\small\item\em add threaded trigger execution to the runner \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/threadtrigger__runner_8hpp__dep__incl.md5 b/docs/latex/threadtrigger__runner_8hpp__dep__incl.md5
deleted file mode 100644
index c3701f2..0000000
--- a/docs/latex/threadtrigger__runner_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-ad18fd76bf3e83f2c95fe3ac0fd8474e
\ No newline at end of file
diff --git a/docs/latex/threadtrigger__runner_8hpp__dep__incl.pdf b/docs/latex/threadtrigger__runner_8hpp__dep__incl.pdf
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diff --git a/docs/latex/threadtrigger__runner_8hpp_source.tex b/docs/latex/threadtrigger__runner_8hpp_source.tex
deleted file mode 100644
index a3bd589..0000000
--- a/docs/latex/threadtrigger__runner_8hpp_source.tex
+++ /dev/null
@@ -1,112 +0,0 @@
-\doxysection{threadtrigger\+\_\+runner.\+hpp}
-\hypertarget{threadtrigger__runner_8hpp_source}{}\label{threadtrigger__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/threadtrigger\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/threadtrigger\_runner.hpp}}
-\mbox{\hyperlink{threadtrigger__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <chrono>}}
-\DoxyCodeLine{00004\ \textcolor{preprocessor}{\#include\ <map>}}
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <atomic>}}
-\DoxyCodeLine{00006\ \textcolor{preprocessor}{\#include\ <mutex>}}
-\DoxyCodeLine{00007\ \textcolor{preprocessor}{\#include\ <thread>}}
-\DoxyCodeLine{00008\ }
-\DoxyCodeLine{00009\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{runner__base_8hpp}{capabilities2\_runner/runner\_base.hpp}}>}}
-\DoxyCodeLine{00010\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{uuid__generator_8hpp}{capabilities2\_events/uuid\_generator.hpp}}>}}
-\DoxyCodeLine{00011\ \textcolor{preprocessor}{\#include\ <capabilities2\_msgs/msg/capability\_event\_code.hpp>}}
-\DoxyCodeLine{00012\ }
-\DoxyCodeLine{00013\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00014\ \{}
-\DoxyCodeLine{00015\ }
-\DoxyCodeLine{00020\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}}
-\DoxyCodeLine{00021\ \{}
-\DoxyCodeLine{00022\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00030\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{bond\_from\_thread\_id}}(\textcolor{keyword}{const}\ std::string\&\ thread\_id)}
-\DoxyCodeLine{00031\ \ \ \{}
-\DoxyCodeLine{00032\ \ \ \ \ \textcolor{comment}{//\ extract\ bond\_id\ from\ thread\_id\ (format:\ "{}bond\_id/trigger\_id"{})}}
-\DoxyCodeLine{00033\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ slash\_pos\ =\ thread\_id.find(\textcolor{charliteral}{'/'});}
-\DoxyCodeLine{00034\ \ \ \ \ std::string\ bond\_id\ =\ (slash\_pos\ !=\ std::string::npos)\ ?\ thread\_id.substr(0,\ slash\_pos)\ :\ thread\_id;}
-\DoxyCodeLine{00035\ \ \ \ \ \textcolor{keywordflow}{return}\ bond\_id;}
-\DoxyCodeLine{00036\ \ \ \}}
-\DoxyCodeLine{00037\ }
-\DoxyCodeLine{00044\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{instance\_from\_thread\_id}}(\textcolor{keyword}{const}\ std::string\&\ thread\_id)}
-\DoxyCodeLine{00045\ \ \ \{}
-\DoxyCodeLine{00046\ \ \ \ \ \textcolor{comment}{//\ extract\ instance\_id\ from\ thread\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
-\DoxyCodeLine{00047\ \ \ \ \ \textcolor{keywordtype}{size\_t}\ slash\_pos\ =\ thread\_id.find(\textcolor{charliteral}{'/'});}
-\DoxyCodeLine{00048\ \ \ \ \ std::string\ instance\_id\ =\ (slash\_pos\ !=\ std::string::npos)\ ?\ thread\_id.substr(slash\_pos\ +\ 1)\ :\ \textcolor{stringliteral}{"{}"{}};}
-\DoxyCodeLine{00049\ \ \ \ \ \textcolor{keywordflow}{return}\ instance\_id;}
-\DoxyCodeLine{00050\ \ \ \}}
-\DoxyCodeLine{00051\ }
-\DoxyCodeLine{00052\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00053\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a88e489fd1a04dd9f308e2fd7f792035c}{ThreadTriggerRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase}{RunnerBase}}(),\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}}(),\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\_}}(),\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\_should\_stop\_}}(false)}
-\DoxyCodeLine{00054\ \ \ \{}
-\DoxyCodeLine{00055\ \ \ \}}
-\DoxyCodeLine{00056\ }
-\DoxyCodeLine{00057\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a990e91bdda8c272274eb4120bd62293f}{\string~ThreadTriggerRunner}}()}
-\DoxyCodeLine{00058\ \ \ \{}
-\DoxyCodeLine{00059\ \ \ \ \ \textcolor{comment}{//\ stop\ any\ running\ threads\ on\ destruction}}
-\DoxyCodeLine{00060\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7}{stop\_execution}}(std::chrono::milliseconds(500));}
-\DoxyCodeLine{00061\ \ \ \}}
-\DoxyCodeLine{00062\ }
-\DoxyCodeLine{00073\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_aae61a479d081029f9203e842dfa9884d}{trigger}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\&\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ bond\_id,}
-\DoxyCodeLine{00074\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ instance\_id)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00075\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00076\ \ \ \ \ \textcolor{comment}{//\ namespace\ the\ thread\ id\ with\ bond\ id\ for\ later}}
-\DoxyCodeLine{00077\ \ \ \ \ \textcolor{comment}{//\ could\ list\ all\ threads\ related\ to\ a\ bond\ if\ needed}}
-\DoxyCodeLine{00078\ \ \ \ \ std::string\ thread\_id\ =\ bond\_id\ +\ \textcolor{stringliteral}{"{}/"{}}\ +\ instance\_id;}
-\DoxyCodeLine{00079\ }
-\DoxyCodeLine{00080\ \ \ \ \ \textcolor{comment}{//\ start\ execution\ thread}}
-\DoxyCodeLine{00081\ \ \ \ \ \{}
-\DoxyCodeLine{00082\ \ \ \ \ \ \ std::scoped\_lock\ lock(\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\_}});}
-\DoxyCodeLine{00083\ \ \ \ \ \ \ \textcolor{comment}{//\ TODO:\ consider\ emitting\ on\ start\ event\ here}}
-\DoxyCodeLine{00084\ \ \ \ \ \ \ \textcolor{comment}{//\ emit\_event(bond\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::ON\_STARTED,\ updated\_on\_started(parameters));}}
-\DoxyCodeLine{00085\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}}[thread\_id]\ =\ std::thread(\&\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{ThreadTriggerRunner::execution}},\ \textcolor{keyword}{this},\ parameters,\ thread\_id);}
-\DoxyCodeLine{00086\ \ \ \ \ \}}
-\DoxyCodeLine{00087\ }
-\DoxyCodeLine{00088\ \ \ \ \ \textcolor{comment}{//\ emit\ trigger\ event}}
-\DoxyCodeLine{00089\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1EventNode_ad1b79fbe33fd75339bcaa77417240e57}{emit\_event}}(bond\_id,\ instance\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::TRIGGERED);}
-\DoxyCodeLine{00090\ }
-\DoxyCodeLine{00091\ \ \ \ \ \textcolor{comment}{//\ BUG:\ thread\ management?}}
-\DoxyCodeLine{00092\ }
-\DoxyCodeLine{00093\ \ \ \ \ \textcolor{comment}{//\ TODO:\ consider\ emitting\ on\ stop\ event\ here}}
-\DoxyCodeLine{00094\ \ \ \ \ \textcolor{comment}{//\ emit\_event(bond\_id,\ capabilities2\_msgs::msg::CapabilityEventCode::ON\_STOPPED,\ updated\_on\_stopped(parameters));}}
-\DoxyCodeLine{00095\ }
-\DoxyCodeLine{00096\ \ \ \ \ RCLCPP\_DEBUG(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}started\ execution\ thread\ for\ thread\ id:\ \%s"{}},\ thread\_id.c\_str());}
-\DoxyCodeLine{00097\ \ \ \}}
-\DoxyCodeLine{00098\ }
-\DoxyCodeLine{00099\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00110\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a9e8c878821f673722b4d2da51df274e9}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\ =\ 0;}
-\DoxyCodeLine{00111\ }
-\DoxyCodeLine{00112\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00114\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a7f2f5b100251310d3b9ccb6cf093c6e7}{stop\_execution}}(std::chrono::milliseconds\ timeout\ =\ std::chrono::milliseconds(500))}
-\DoxyCodeLine{00115\ \ \ \{}
-\DoxyCodeLine{00116\ \ \ \ \ \textcolor{comment}{//\ signal\ listening\ threads\ to\ stop}}
-\DoxyCodeLine{00117\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\_should\_stop\_}}\ =\ \textcolor{keyword}{true};}
-\DoxyCodeLine{00118\ }
-\DoxyCodeLine{00119\ \ \ \ \ \textcolor{comment}{//\ try\ join\ in\ a\ non-\/blocking\ way\ and\ log\ if\ threads\ are\ not\ cleaned\ up\ properly}}
-\DoxyCodeLine{00120\ \ \ \ \ \{}
-\DoxyCodeLine{00121\ \ \ \ \ \ \ std::scoped\_lock\ lock(\mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\_}});}
-\DoxyCodeLine{00122\ \ \ \ \ \ \ \textcolor{keywordflow}{for}\ (\textcolor{keyword}{auto}\&\ [thread\_id,\ exec\_thread]\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}})}
-\DoxyCodeLine{00123\ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00124\ \ \ \ \ \ \ \ \ \textcolor{keywordflow}{if}\ (exec\_thread.joinable())}
-\DoxyCodeLine{00125\ \ \ \ \ \ \ \ \ \{}
-\DoxyCodeLine{00126\ \ \ \ \ \ \ \ \ \ \ \textcolor{comment}{//\ TODO:\ FIX\ THIS\ FUTURE\ MICHAEL}}
-\DoxyCodeLine{00127\ \ \ \ \ \ \ \ \ \ \ exec\_thread.join();}
-\DoxyCodeLine{00128\ \ \ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00129\ \ \ \ \ \ \ \}}
-\DoxyCodeLine{00130\ }
-\DoxyCodeLine{00131\ \ \ \ \ \ \ \textcolor{comment}{//\ clear\ the\ thread\ pool}}
-\DoxyCodeLine{00132\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}}.clear();}
-\DoxyCodeLine{00133\ \ \ \ \ \}}
-\DoxyCodeLine{00134\ \ \ \}}
-\DoxyCodeLine{00135\ }
-\DoxyCodeLine{00136\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00140\ \ \ std::map<std::string,\ std::thread>\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ac20f6188631fe57af28627273fe86e64}{execution\_thread\_pool\_}};}
-\DoxyCodeLine{00141\ }
-\DoxyCodeLine{00145\ \ \ std::mutex\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_ae5b5363dde31c25ddc3c324ef6d3f08e}{mutex\_}};}
-\DoxyCodeLine{00146\ }
-\DoxyCodeLine{00150\ \ \ std::atomic<bool>\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_abb0aca7529033b5c7f5e36a72253e552}{execution\_should\_stop\_}};}
-\DoxyCodeLine{00151\ \};}
-\DoxyCodeLine{00152\ }
-\DoxyCodeLine{00153\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/topic__runner_8hpp.tex b/docs/latex/topic__runner_8hpp.tex
deleted file mode 100644
index 5f727f7..0000000
--- a/docs/latex/topic__runner_8hpp.tex
+++ /dev/null
@@ -1,21 +0,0 @@
-\doxysection{capabilities2\+\_\+runner/include/capabilities2\+\_\+runner/topic\+\_\+runner.hpp File Reference}
-\hypertarget{topic__runner_8hpp}{}\label{topic__runner_8hpp}\index{capabilities2\_runner/include/capabilities2\_runner/topic\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/topic\_runner.hpp}}
-{\ttfamily \#include $<$memory$>$}\newline
-{\ttfamily \#include $<$capabilities2\+\_\+runner/threadtrigger\+\_\+runner.\+hpp$>$}\newline
-Include dependency graph for topic\+\_\+runner.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{topic__runner_8hpp__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{capabilities2\+\_\+runner\+::\+Topic\+Runner$<$ Topic\+T $>$}}
-\begin{DoxyCompactList}\small\item\em Topic runner base class. \end{DoxyCompactList}\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\+\_\+runner}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/topic__runner_8hpp__incl.md5 b/docs/latex/topic__runner_8hpp__incl.md5
deleted file mode 100644
index d3aa76e..0000000
--- a/docs/latex/topic__runner_8hpp__incl.md5
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diff --git a/docs/latex/topic__runner_8hpp_source.tex b/docs/latex/topic__runner_8hpp_source.tex
deleted file mode 100644
index cdea242..0000000
--- a/docs/latex/topic__runner_8hpp_source.tex
+++ /dev/null
@@ -1,108 +0,0 @@
-\doxysection{topic\+\_\+runner.\+hpp}
-\hypertarget{topic__runner_8hpp_source}{}\label{topic__runner_8hpp_source}\index{capabilities2\_runner/include/capabilities2\_runner/topic\_runner.hpp@{capabilities2\_runner/include/capabilities2\_runner/topic\_runner.hpp}}
-\mbox{\hyperlink{topic__runner_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <memory>}}
-\DoxyCodeLine{00004\ }
-\DoxyCodeLine{00005\ \textcolor{preprocessor}{\#include\ <\mbox{\hyperlink{threadtrigger__runner_8hpp}{capabilities2\_runner/threadtrigger\_runner.hpp}}>}}
-\DoxyCodeLine{00006\ }
-\DoxyCodeLine{00007\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__runner}{capabilities2\_runner}}}
-\DoxyCodeLine{00008\ \{}
-\DoxyCodeLine{00009\ }
-\DoxyCodeLine{00015\ \textcolor{keyword}{template}\ <\textcolor{keyword}{typename}\ TopicT>}
-\DoxyCodeLine{00016\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner}{TopicRunner}}\ :\ \textcolor{keyword}{public}\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}}
-\DoxyCodeLine{00017\ \{}
-\DoxyCodeLine{00018\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00022\ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_ac99cd688150e5cfe539e69866e01ae20}{TopicRunner}}()\ :\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner}{ThreadTriggerRunner}}()}
-\DoxyCodeLine{00023\ \ \ \{}
-\DoxyCodeLine{00024\ \ \ \}}
-\DoxyCodeLine{00025\ }
-\DoxyCodeLine{00033\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a485da884c40ea98cef38f74ba5b27684}{init\_subscriber}}(rclcpp::Node::SharedPtr\ node,\ \textcolor{keyword}{const}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__opts}{runner\_opts}}\&\ run\_config,}
-\DoxyCodeLine{00034\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \textcolor{keyword}{const}\ std::string\&\ topic\_name)}
-\DoxyCodeLine{00035\ \ \ \{}
-\DoxyCodeLine{00036\ \ \ \ \ \textcolor{comment}{//\ initialize\ the\ runner\ base\ by\ storing\ node\ pointer\ and\ run\ config}}
-\DoxyCodeLine{00037\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a737681af5f4227037a06390bf0bca3e0}{init\_base}}(node,\ run\_config);}
-\DoxyCodeLine{00038\ }
-\DoxyCodeLine{00039\ \ \ \ \ \textcolor{comment}{//\ create\ an\ service\ client}}
-\DoxyCodeLine{00040\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}{subscription\_}}\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>create\_subscription<TopicT>(}
-\DoxyCodeLine{00041\ \ \ \ \ \ \ \ \ topic\_name,\ 10,\ [\textcolor{keyword}{this}](\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ TopicT::SharedPtr\ msg)\ \{\ this-\/>\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3}{callback}}(msg);\ \});}
-\DoxyCodeLine{00042\ \ \ \}}
-\DoxyCodeLine{00043\ }
-\DoxyCodeLine{00048\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1d9dc95f217c829002f3b84660590659}{stop}}(\textcolor{keyword}{const}\ std::string\&\ bond\_id,\ \textcolor{keyword}{const}\ std::string\&\ instance\_id\ =\ \textcolor{stringliteral}{"{}"{}})\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00049\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00050\ \ \ \ \ \textcolor{comment}{//\ if\ the\ node\ pointer\ is\ empty\ then\ throw\ an\ error}}
-\DoxyCodeLine{00051\ \ \ \ \ \textcolor{comment}{//\ this\ means\ that\ the\ runner\ was\ not\ started\ and\ is\ being\ used\ out\ of\ order}}
-\DoxyCodeLine{00052\ }
-\DoxyCodeLine{00053\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}})}
-\DoxyCodeLine{00054\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ that\ was\ not\ started"{}});}
-\DoxyCodeLine{00055\ }
-\DoxyCodeLine{00056\ \ \ \ \ \textcolor{comment}{//\ throw\ an\ error\ if\ the\ subscription\ is\ null}}
-\DoxyCodeLine{00057\ \ \ \ \ \textcolor{comment}{//\ this\ can\ happen\ if\ the\ runner\ is\ not\ able\ to\ find\ the\ topic\ resource}}
-\DoxyCodeLine{00058\ }
-\DoxyCodeLine{00059\ \ \ \ \ \textcolor{keywordflow}{if}\ (!\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}{subscription\_}})}
-\DoxyCodeLine{00060\ \ \ \ \ \ \ \textcolor{keywordflow}{throw}\ \mbox{\hyperlink{structcapabilities2__runner_1_1runner__exception}{runner\_exception}}(\textcolor{stringliteral}{"{}cannot\ stop\ runner\ subscriber\ that\ was\ not\ started"{}});}
-\DoxyCodeLine{00061\ }
-\DoxyCodeLine{00062\ \ \ \ \ \textcolor{comment}{//\ emit\ stop\ event}}
-\DoxyCodeLine{00063\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_af6414218a6741b276f305e4b266878fb}{emit\_stopped}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a93d5da8c0c64d0154911a9b3ff143fff}{param\_on\_stopped}}());}
-\DoxyCodeLine{00064\ }
-\DoxyCodeLine{00065\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}runner\ cleaned.\ stopping.."{}});}
-\DoxyCodeLine{00066\ \ \ \}}
-\DoxyCodeLine{00067\ }
-\DoxyCodeLine{00068\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00077\ \ \ \textcolor{keyword}{virtual}\ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a5ee42f409bc9001b397d767a264bf4f6}{execution}}(\mbox{\hyperlink{structcapabilities2__events_1_1EventParameters}{capabilities2\_events::EventParameters}}\ parameters,\ \textcolor{keyword}{const}\ std::string\&\ thread\_id)\textcolor{keyword}{\ override}}
-\DoxyCodeLine{00078\ \textcolor{keyword}{\ \ }\{}
-\DoxyCodeLine{00079\ \ \ \ \ \textcolor{comment}{//\ split\ thread\_id\ to\ get\ bond\_id\ and\ instance\_id\ (format:\ "{}bond\_id/instance\_id"{})}}
-\DoxyCodeLine{00080\ \ \ \ \ std::string\ bond\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_a10133774ae4ef6f39f9d94ebbed1b58c}{ThreadTriggerRunner::bond\_from\_thread\_id}}(thread\_id);}
-\DoxyCodeLine{00081\ \ \ \ \ std::string\ instance\_id\ =\ \mbox{\hyperlink{classcapabilities2__runner_1_1ThreadTriggerRunner_af750ef563c71182944a9a0ec380f78de}{ThreadTriggerRunner::instance\_from\_thread\_id}}(thread\_id);}
-\DoxyCodeLine{00082\ }
-\DoxyCodeLine{00083\ \ \ \ \ \textcolor{comment}{//\ emit\ started\ event}}
-\DoxyCodeLine{00084\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ac92696dfbfe4b50331ca156c4449954c}{emit\_started}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a68a4f300a106474d09ccda51efc57a5a}{param\_on\_started}}());}
-\DoxyCodeLine{00085\ }
-\DoxyCodeLine{00086\ \ \ \ \ \textcolor{comment}{//\ block\ until\ a\ message\ is\ received\ in\ the\ callback\ and\ stored\ in\ latest\_message\_}}
-\DoxyCodeLine{00087\ \ \ \ \ std::unique\_lock<std::mutex>\ lock(\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0}{block\_mutex\_}});}
-\DoxyCodeLine{00088\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\_}}\ =\ \textcolor{keyword}{false};}
-\DoxyCodeLine{00089\ }
-\DoxyCodeLine{00090\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Waiting\ for\ Message."{}});}
-\DoxyCodeLine{00091\ }
-\DoxyCodeLine{00092\ \ \ \ \ \textcolor{comment}{//\ Conditional\ wait}}
-\DoxyCodeLine{00093\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}{cv\_}}.wait(lock,\ [\textcolor{keyword}{this}]\ \{\ \textcolor{keywordflow}{return}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\_}};\ \});}
-\DoxyCodeLine{00094\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Message\ Received."{}});}
-\DoxyCodeLine{00095\ }
-\DoxyCodeLine{00096\ \ \ \ \ \textcolor{keywordflow}{if}\ (\mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}{latest\_message\_}})}
-\DoxyCodeLine{00097\ \ \ \ \ \{}
-\DoxyCodeLine{00098\ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ success\ event}}
-\DoxyCodeLine{00099\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5865a398c1ad27e89d4d6947ef9404c2}{emit\_succeeded}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a561039712ffa38c2617baf266fc22896}{param\_on\_success}}());}
-\DoxyCodeLine{00100\ \ \ \ \ \}}
-\DoxyCodeLine{00101\ \ \ \ \ \textcolor{keywordflow}{else}}
-\DoxyCodeLine{00102\ \ \ \ \ \{}
-\DoxyCodeLine{00103\ \ \ \ \ \ \ RCLCPP\_ERROR(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Message\ receiving\ failed."{}});}
-\DoxyCodeLine{00104\ \ \ \ \ \ \ \textcolor{comment}{//\ emit\ failed\ event}}
-\DoxyCodeLine{00105\ \ \ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a5dcd2ac4205bb7f3cf069e0273ec46b7}{emit\_failed}}(bond\_id,\ instance\_id,\ \mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_a9a5419cab317ef239d2f197714136660}{param\_on\_failure}}());}
-\DoxyCodeLine{00106\ \ \ \ \ \}}
-\DoxyCodeLine{00107\ }
-\DoxyCodeLine{00108\ \ \ \ \ RCLCPP\_INFO(\mbox{\hyperlink{classcapabilities2__runner_1_1RunnerBase_ab92e5d0bb295489656b6ac35b23eef8e}{node\_}}-\/>get\_logger(),\ \textcolor{stringliteral}{"{}Thread\ closing."{}});}
-\DoxyCodeLine{00109\ \ \ \}}
-\DoxyCodeLine{00110\ }
-\DoxyCodeLine{00111\ \textcolor{keyword}{protected}:}
-\DoxyCodeLine{00120\ \ \ \textcolor{keywordtype}{void}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a53228a48218f60e37c93cefe61a314e3}{callback}}(\textcolor{keyword}{const}\ \textcolor{keyword}{typename}\ TopicT::SharedPtr\&\ msg)}
-\DoxyCodeLine{00121\ \ \ \{}
-\DoxyCodeLine{00122\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}{latest\_message\_}}\ =\ msg;}
-\DoxyCodeLine{00123\ }
-\DoxyCodeLine{00124\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\_}}\ =\ \textcolor{keyword}{true};}
-\DoxyCodeLine{00125\ \ \ \ \ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}{cv\_}}.notify\_all();}
-\DoxyCodeLine{00126\ \ \ \}}
-\DoxyCodeLine{00127\ }
-\DoxyCodeLine{00131\ \ \ \textcolor{keyword}{typename}\ rclcpp::Subscription<TopicT>::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a28f3527e78cec46978b03415d429fc71}{subscription\_}};}
-\DoxyCodeLine{00132\ }
-\DoxyCodeLine{00136\ \ \ \textcolor{keyword}{mutable}\ \textcolor{keyword}{typename}\ TopicT::SharedPtr\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a0285a6ba6a5f467af952df7590aeef20}{latest\_message\_}};}
-\DoxyCodeLine{00137\ }
-\DoxyCodeLine{00141\ \ \ std::condition\_variable\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a970cca16e147cccc27c0a7d19ff64a22}{cv\_}};}
-\DoxyCodeLine{00142\ \ \ std::mutex\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_acf54f261d74e3fa6a41a2189c1a914a0}{block\_mutex\_}};}
-\DoxyCodeLine{00143\ \ \ \textcolor{keywordtype}{bool}\ \mbox{\hyperlink{classcapabilities2__runner_1_1TopicRunner_a1f44e38371bd8e9e1feaee371a370d55}{completed\_}};}
-\DoxyCodeLine{00144\ \};}
-\DoxyCodeLine{00145\ }
-\DoxyCodeLine{00146\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_runner}}
-
-\end{DoxyCode}
diff --git a/docs/latex/uuid__generator_8cpp.tex b/docs/latex/uuid__generator_8cpp.tex
deleted file mode 100644
index 2123c05..0000000
--- a/docs/latex/uuid__generator_8cpp.tex
+++ /dev/null
@@ -1,16 +0,0 @@
-\doxysection{capabilities2\+\_\+events/src/uuid\+\_\+generator.cpp File Reference}
-\hypertarget{uuid__generator_8cpp}{}\label{uuid__generator_8cpp}\index{capabilities2\_events/src/uuid\_generator.cpp@{capabilities2\_events/src/uuid\_generator.cpp}}
-{\ttfamily \#include $<$capabilities2\+\_\+events/uuid\+\_\+generator.\+hpp$>$}\newline
-{\ttfamily \#include $<$uuid/uuid.\+h$>$}\newline
-Include dependency graph for uuid\+\_\+generator.\+cpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=286pt]{uuid__generator_8cpp__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/uuid__generator_8cpp__incl.md5 b/docs/latex/uuid__generator_8cpp__incl.md5
deleted file mode 100644
index ab35adb..0000000
--- a/docs/latex/uuid__generator_8cpp__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
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diff --git a/docs/latex/uuid__generator_8hpp.tex b/docs/latex/uuid__generator_8hpp.tex
deleted file mode 100644
index 6653ad9..0000000
--- a/docs/latex/uuid__generator_8hpp.tex
+++ /dev/null
@@ -1,27 +0,0 @@
-\doxysection{capabilities2\+\_\+events/include/capabilities2\+\_\+events/uuid\+\_\+generator.hpp File Reference}
-\hypertarget{uuid__generator_8hpp}{}\label{uuid__generator_8hpp}\index{capabilities2\_events/include/capabilities2\_events/uuid\_generator.hpp@{capabilities2\_events/include/capabilities2\_events/uuid\_generator.hpp}}
-{\ttfamily \#include $<$string$>$}\newline
-Include dependency graph for uuid\+\_\+generator.\+hpp\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=232pt]{uuid__generator_8hpp__incl}
-\end{center}
-\end{figure}
-This graph shows which files directly or indirectly include this file\+:\nopagebreak
-\begin{figure}[H]
-\begin{center}
-\leavevmode
-\includegraphics[width=350pt]{uuid__generator_8hpp__dep__incl}
-\end{center}
-\end{figure}
-\doxysubsubsection*{Classes}
-\begin{DoxyCompactItemize}
-\item 
-class \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{capabilities2\+\_\+events\+::\+UUIDGenerator}}
-\end{DoxyCompactItemize}
-\doxysubsubsection*{Namespaces}
-\begin{DoxyCompactItemize}
-\item 
-namespace \mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\+\_\+events}}
-\end{DoxyCompactItemize}
diff --git a/docs/latex/uuid__generator_8hpp__dep__incl.md5 b/docs/latex/uuid__generator_8hpp__dep__incl.md5
deleted file mode 100644
index b9815ec..0000000
--- a/docs/latex/uuid__generator_8hpp__dep__incl.md5
+++ /dev/null
@@ -1 +0,0 @@
-b0e496a5d67407ffe80c3b5f7d5ba118
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diff --git a/docs/latex/uuid__generator_8hpp__dep__incl.pdf b/docs/latex/uuid__generator_8hpp__dep__incl.pdf
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diff --git a/docs/latex/uuid__generator_8hpp_source.tex b/docs/latex/uuid__generator_8hpp_source.tex
deleted file mode 100644
index 1eb4ff4..0000000
--- a/docs/latex/uuid__generator_8hpp_source.tex
+++ /dev/null
@@ -1,24 +0,0 @@
-\doxysection{uuid\+\_\+generator.\+hpp}
-\hypertarget{uuid__generator_8hpp_source}{}\label{uuid__generator_8hpp_source}\index{capabilities2\_events/include/capabilities2\_events/uuid\_generator.hpp@{capabilities2\_events/include/capabilities2\_events/uuid\_generator.hpp}}
-\mbox{\hyperlink{uuid__generator_8hpp}{Go to the documentation of this file.}}
-\begin{DoxyCode}{0}
-\DoxyCodeLine{00001\ \textcolor{preprocessor}{\#pragma\ once}}
-\DoxyCodeLine{00002\ }
-\DoxyCodeLine{00003\ \textcolor{preprocessor}{\#include\ <string>}}
-\DoxyCodeLine{00004\ }
-\DoxyCodeLine{00005\ \textcolor{keyword}{namespace\ }\mbox{\hyperlink{namespacecapabilities2__events}{capabilities2\_events}}}
-\DoxyCodeLine{00006\ \{}
-\DoxyCodeLine{00007\ \textcolor{keyword}{class\ }\mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}}
-\DoxyCodeLine{00008\ \{}
-\DoxyCodeLine{00009\ \textcolor{keyword}{public}:}
-\DoxyCodeLine{00015\ \ \ \textcolor{keyword}{static}\ \textcolor{keyword}{const}\ std::string\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ad7966c639f088e11a3d19a7410956421}{gen\_uuid\_str}}();}
-\DoxyCodeLine{00016\ }
-\DoxyCodeLine{00017\ \textcolor{keyword}{private}:}
-\DoxyCodeLine{00018\ \ \ \textcolor{comment}{//\ delete\ constructor\ and\ assignment\ operator\ to\ prevent\ instantiation}}
-\DoxyCodeLine{00019\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_ac16e657db07c4d6368089cb8b846e434}{UUIDGenerator}}()\ =\ \textcolor{keyword}{delete};}
-\DoxyCodeLine{00020\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_a7b54cb7556182732e476d7b6734acbe7}{UUIDGenerator}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}\&)\ =\ \textcolor{keyword}{delete};}
-\DoxyCodeLine{00021\ \ \ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}\&\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator_a9a621130c12a95d1e1311a456a4c8a35}{operator=}}(\textcolor{keyword}{const}\ \mbox{\hyperlink{classcapabilities2__events_1_1UUIDGenerator}{UUIDGenerator}}\&)\ =\ \textcolor{keyword}{delete};}
-\DoxyCodeLine{00022\ \};}
-\DoxyCodeLine{00023\ \}\ \ \textcolor{comment}{//\ namespace\ capabilities2\_events}}
-
-\end{DoxyCode}